CN113995669B - Physiotherapy robot and control method thereof - Google Patents
Physiotherapy robot and control method thereof Download PDFInfo
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- CN113995669B CN113995669B CN202111270971.4A CN202111270971A CN113995669B CN 113995669 B CN113995669 B CN 113995669B CN 202111270971 A CN202111270971 A CN 202111270971A CN 113995669 B CN113995669 B CN 113995669B
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- 238000000554 physical therapy Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 95
- 230000036541 health Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 9
- 238000001467 acupuncture Methods 0.000 description 8
- 210000001624 hip Anatomy 0.000 description 5
- 230000037396 body weight Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 210000001981 hip bone Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 208000035824 paresthesia Diseases 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000001991 scapula Anatomy 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/0625—Warming the body, e.g. hyperthermia treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0658—Radiation therapy using light characterised by the wavelength of light used
- A61N2005/0659—Radiation therapy using light characterised by the wavelength of light used infrared
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Finger-Pressure Massage (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to the field of health care equipment, in particular to a physiotherapy robot and a control method thereof. The invention provides a robot capable of adjusting massage positions and massage strength and massaging and physiotherapy waist acupoints.
Description
Technical Field
The invention relates to the field of health care instruments, in particular to a physiotherapy robot and a control method thereof.
Background
Along with the faster and faster pace of life, the working pressure increases, and more people work in offices for a long time while keeping sitting postures, so that the lumbar vertebrae of the people are damaged to different degrees, and the back and waist muscles of the human body are easy to cause symptoms such as tingling or ache due to the influences of the working environment and the working posture of the people. In order to relieve the fatigue of cervical vertebra and lumbar vertebra, people often choose to massage to relax the body, and a massage physiotherapy bed is one of the common massage devices for people.
The prior massage physiotherapy bed mainly provides a lying space for a user and presses and relaxs waist acupoints through massage points fixedly arranged at some positions. However, the prior art has the defects that firstly, the massage points in the prior art are usually arranged at fixed positions, the massage positions and the massage intensity cannot be adjusted according to different stature and body types and individual condition requirements, and the use feeling is poor; secondly, when the human body lies on the physiotherapy couch, the massage points cannot be guaranteed to be just above the massage points, so that the massage points cannot accurately position the waist acupoints, and the massage effect is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a novel physiotherapy robot which is compact in structure and can massage waist acupoints.
In order to achieve the above purpose, the present invention provides the following technical solutions: a physiotherapy robot comprises a main body, a plurality of auxiliary bodies,
the physiotherapy couch body comprises a frame and a movable couch board movably arranged on the frame;
the vibration mechanism is fixedly arranged on the physiotherapy couch body and drives the movable couch plate to vibrate;
the movable bed board comprises a movable bed board, a movable mechanism, a acupoint massage mechanism and an electromagnetic wave generating device, wherein the movable mechanism is fixedly arranged at the bottom of the movable bed board and is used for driving the acupoint massage mechanism to move, the movable mechanism comprises a lifting mechanism and a horizontal movement mechanism connected to the lifting mechanism, the acupoint massage mechanism is arranged on the horizontal movement mechanism, the movable mechanism controls the position distance between the acupoint massage mechanism and the movable bed board, and the acupoint massage mechanism is used for generating electromagnetic waves towards a human body. Further improved, the lifting mechanism comprises a fixing frame, a vertical guide rod and a first driving motor fixedly arranged on the fixing frame, wherein the output end of the first driving motor is connected with a vertical first screw rod, and two ends of the horizontal moving mechanism are respectively and movably connected with the first screw rod and the vertical guide rod.
Further improved, the horizontal moving mechanism comprises a second driving motor fixedly arranged on the fixing frame and a second screw rod horizontally connected with the second driving motor, two ends of the second screw rod are respectively connected with the second driving motor and the vertical guide rod, and the acupoint massage mechanism is arranged on the second screw rod.
Further improved, the horizontal moving mechanism further comprises a horizontal guide rod movably connected between the first screw rod and the vertical guide rod, a first sliding block is connected to the second screw rod, a plurality of first sliding grooves are vertically formed in the outer side of the first sliding block, the acupoint massage mechanism is movably arranged on the horizontal guide rod, a plurality of guide plates matched with the first sliding grooves are arranged at the upper end of the acupoint massage mechanism, and the second driving motor drives the first sliding block to horizontally move so as to drive the acupoint massage mechanism to horizontally move.
Further improved, the vibration mechanism comprises a connecting plate and a vibration motor fixedly arranged on the physiotherapy couch body, the vibration motor is fixedly connected with the center of the connecting plate, the connecting plate is connected with the movable couch plate, and the vibration motor drives the movable couch plate to vibrate through the connecting plate.
Further improved, the vibration mechanism further comprises an amplitude modulation motor fixedly arranged on the movable bed plate, the output end of the amplitude modulation motor is horizontally connected with a third screw rod, a second sliding block is mounted on the third screw rod, a second sliding groove is horizontally arranged at the bottom of the connecting plate, a distance adjusting piece is movably mounted in the second sliding groove, one end of the distance adjusting piece is fixedly connected with the second sliding block, and the amplitude modulation motor controls the eccentric distance of the connection point of the vibration motor and the movable bed plate by moving the horizontal position of the second sliding block, so that the vibration amplitude of the movable bed plate is controlled.
The invention also provides a control method for controlling the physiotherapy robot, which comprises the following steps:
s1, identifying the position of a human body: obtaining the pressure value of each pressure point on the physiotherapy couch and confirming the position of the human body;
s2, judging the position of the human body: judging whether the human body is positioned in the middle of the physiotherapy couch, if the human body is positioned deviating from the middle of the physiotherapy couch, executing the step S3, and if the human body is positioned at the correct position, directly executing the step S4;
s3, prompting a replacement position: prompting a user to move to the middle part of the physiotherapy couch through a voice module;
s4, calculating the weight of the human body and starting massage: the weight of the human body is calculated according to the pressure value of each pressure point on the physiotherapy bed, and the corresponding vibration mode and vibration frequency and the massage position of the acupoint massage mechanism are automatically selected according to the weight of the human body, so that the massage is started.
Preferably, a plurality of pressure sensors are uniformly arranged on the physiotherapy couch, and the physiotherapy couch obtains the pressure values of all pressure points on the physiotherapy couch through the pressure sensors.
Preferably, in step S4, the physiotherapy couch further includes a wireless unit and a control panel, and the user can select the vibration mode and the vibration frequency through the wireless unit and the control panel.
Preferably, the acupoint position of the human spine part is obtained through calculation of data collected by the pressure sensor, the acupoint massage mechanism is moved to the position right below the acupoint to start acupoint massage, and the acupoint massage mechanism is a terahertz generator or an infrared moxibustion instrument. Compared with the prior art, the invention has the following advantages:
(1) The acupoint massage mechanism is arranged at the bottom of the movable bed board of the physiotherapy bed and comprises a lifting mechanism and a horizontal movement mechanism, and when the physiotherapy bed is used, the horizontal mechanism and the acupoint massage mechanism are driven to move up and down together by controlling the lifting, so that the aim of adjusting corresponding massage intensity according to different human body data is fulfilled, and the massage feeling is improved. The acupoint massage mechanism is arranged on the horizontal moving mechanism, and is controlled to move in the horizontal direction by the horizontal moving mechanism so as to adapt to different acupoint positions, thereby improving the practicability and diversifying the massage.
(2) The pressure sensor is arranged on the physiotherapy couch, the lying position of the human body is obtained through the pressure point, and the user is prompted by voice to move to the middle part of the physiotherapy couch, namely right above the massage point, so that the acupoint massage mechanism can be accurately positioned at the corresponding position of the waist acupoint during massage, and the massage effect is improved.
(3) The invention also provides a vibration mechanism, which comprises a vibration motor fixedly arranged on the physiotherapy bed body, wherein the vibration motor is connected with the movable bed board through a distance adjusting piece which is horizontally arranged, and when the vibration motor works, vibration is transmitted to the movable bed board through the distance adjusting piece to massage a human body positioned on the movable bed board; meanwhile, one side of the distance adjusting piece is connected with an amplitude modulation motor, the eccentric distance between the outer end of the distance adjusting piece and the output center of the vibration motor is adjusted through the amplitude modulation motor, so that the effect of controlling vibration amplitude is achieved, the massage strength is controllable, and the user experience and the use effect are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a side view of the overall structure of the present invention;
FIG. 2 is a schematic view of the bottom of the overall structure of the present invention;
FIG. 3 is a schematic diagram of a mobile structure installation of the present invention;
FIG. 4 is a schematic diagram of a vibration structure according to the present invention;
FIG. 5 is a partial exploded view of the vibrating structure of the present invention;
in the figure:
1. a physiotherapy couch body;
11. a U-shaped fixing member;
2. a vibration mechanism;
21. a connecting plate; 22. a vibration motor; 23. an amplitude modulation motor; 24. a third screw rod; 25. a second slider; 26. a distance adjusting piece; 27. a guide housing;
211. a second chute; 212. a first clamping block; 251. a second clamping groove; 261. a first clamping groove; 271. a limit groove;
3. a movable bed board;
4. a moving mechanism;
41. a lifting mechanism; 42. a horizontal movement mechanism;
411. a fixing frame; 412. a vertical guide bar; 413. a first driving motor; 414. a first screw rod; 421. a second driving motor; 422. a second screw rod; 423. a first slider; 424. a horizontal guide bar; 4231. a first chute;
5. an acupoint massage mechanism;
51. and a guide plate.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Example 1:
referring to fig. 1-5, a physiotherapy robot includes a physiotherapy couch body 1, the physiotherapy couch body 1 includes a frame, a movable couch board 3 movably disposed on the frame, a U-shaped fixing member 11 is disposed below the frame, a vibration mechanism 2 is fixedly mounted above the U-shaped fixing member 11, and the vibration mechanism 2 is connected with the movable couch board 3 to fix and control the movable couch board 3 to perform vibration massage. The bottom of the movable bed board 3 is also fixedly provided with a moving mechanism 4, the moving mechanism 4 comprises a lifting mechanism 41 and a horizontal moving mechanism 42 connected to the lifting mechanism 41, and the horizontal moving mechanism 42 is provided with an acupoint massage mechanism 5. The acupoint massage mechanism 5 is a terahertz generator or an infrared moxibustion instrument. The lifting mechanism 41 comprises a U-shaped fixing frame 411 and a vertical guide rod 412, a first driving motor 413 is fixedly installed on the fixing frame 411, the output end of the first driving motor 413 is connected with a first screw rod 414 which is vertically arranged, and the first screw rod 414 is arranged in the U-shaped groove of the fixing frame 411 through a through hole on the fixing frame 411.
Referring to fig. 3, the horizontal moving mechanism 42 includes a second driving motor 421 fixedly disposed on the fixing frame 411 and a second screw rod 422 horizontally connected to the second driving motor 421, one end of the second screw rod 422 passes through the fixing frame 411 and is connected to the second driving motor 421, the other end of the second screw rod 422 is rotatably connected to the vertical guiding rod 412, and a first slider 423 is connected to the second screw rod 422. When the second driving motor 421 works, the first slider 423 moves back and forth according to the rotation direction of the screw. A horizontal guide rod 424 is further arranged between the first screw rod 414 and the vertical guide rod 412, one end of the horizontal guide rod 424 is in threaded connection with the first screw rod 414, and the other end of the horizontal guide rod 424 is in sliding connection with the vertical guide rod 412. When the first driving motor 413 is operated, the horizontal guide rod 424 moves up and down under the action of the first screw 414. In this scheme, acupuncture point massage mechanism 5 movable mounting is in on the horizontal guide bar 424, first slider 423 is vertical respectively to be provided with first spout 4231 in both sides relatively, acupuncture point massage mechanism 5 upper end be provided with first spout 4231 complex deflector 51, second driving motor 421 drive first slider 423 horizontal migration, and then drive acupuncture point massage mechanism 5 horizontal migration makes simultaneously acupuncture point massage mechanism 5 is all spacing in horizontal and vertical direction, makes the installation relationship more stable.
In this embodiment, the horizontal guide rod 424 and the second screw rod 422 are disposed parallel to the bottom surface of the movable bed board 3, and the vertical projections between the horizontal guide rod 424 and the second screw rod 422 overlap. The horizontal guide rod 424 and the second screw rod 422 are arranged at the center line of the movable bed board 3.
Working principle: the first driving motor 413 controls the horizontal guide rod 424 and the acupoint massage mechanism 5 on the horizontal guide rod 424 to move up and down by controlling the first screw rod 414 to rotate forward and backward, so as to achieve the purpose of controlling the distance between the acupoint massage mechanism 5 and the movable bed plate 3, and realize the regulation and control of the massage intensity. Meanwhile, the acupoint massage mechanism 5 is driven by the first slide block 423 to horizontally move along the direction of the horizontal guide rod 424 through the cooperation of the guide plate 51 and the first slide groove 4231, the second driving motor 421 controls the second screw rod 422 to rotate positively and negatively so as to control the first slide block 423 to horizontally move, and the first slide block 423 drives the acupoint massage mechanism 5 to horizontally move so as to control the position of the acupoint massage mechanism 5 on the middle line of the bed body, so that the acupoint massage mechanism can be used for massaging different acupoints, and the practicability is improved.
Referring to fig. 4-5, the vibration mechanism 2 includes a vibration motor 22 fixedly disposed on the U-shaped fixing member 11, an output end of the vibration motor 22 is fixedly connected with a center of a horizontal connecting plate 21, a second sliding groove 211 is formed in a bottom of the connecting plate 21, and a distance adjusting member 26 is movably disposed in the second sliding groove 211. The movable bed board 3 is also fixedly provided with an amplitude modulation motor 23, the output end of the amplitude modulation motor 23 is horizontally connected with a third screw rod 24, a second sliding block 25 is installed on the third screw rod 24, and the outer end of the distance adjusting piece 26 is fixedly connected with the second sliding block 25.
In this embodiment, a hollow guiding shell 27 is fixedly disposed in the middle of the movable bed board 3, the third screw rod 24 passes through two ends of the guiding shell 27 and is disposed in the guiding shell 27, and the guiding shell 27 protects the third screw rod 24. The bottom of the guide shell 27 is provided with a limiting groove 271 communicated with the inside of the guide shell 27, the bottom of the second sliding block 25 moves in the guide shell 27, and the top of the second sliding block 25 passes through the limiting groove 271 and is connected with the distance adjusting piece 26. The third screw 24, the limit groove 271, the distance adjusting member 26 and the connecting plate 21 are located on the same vertical plane.
Preferably, the two sides of the distance adjusting member 26 are respectively provided with a first clamping groove 261, and the inner side wall of the second sliding groove 211 is provided with a first clamping block 212 adapted to the first clamping groove 261, so that the distance adjusting member 26 is not easy to fall off in the moving process, and the structural stability is improved. Second clamping grooves 251 are symmetrically formed in two side walls of the top of the second sliding block 25, the second clamping grooves 251 are just clamped with the top plates of the guide shells 27 on two sides of the limiting grooves 271, so that the second sliding block 25 can only move horizontally and linearly along the direction of the third screw rod 24, and the structural stability is further improved.
Working principle: the vibration motor 22 drives the distance adjusting piece 26 and the second sliding block 25 to vibrate simultaneously through the connecting plate 21, so that the guide shell 27 and the movable bed plate 3 are driven to vibrate, a human body positioned on the bed plate is massaged, and the vibration frequency of the vibration motor 22 is adjustable so as to be suitable for different user groups. The vibration center point of the movable bed board 3 is the position of the second sliding block 25. The second slider 25 is connected to the third screw rod 24, and the amplitude modulation motor 23 controls the position of the second slider 25 through the third screw rod 24, so as to drive the distance adjusting member 26 to be far away from or close to the center point of the connecting plate 21, so as to adjust the eccentricity between the output center of the vibration motor 22 and the vibration center of the movable bed plate 3, and achieve the effect of controlling the vibration amplitude of the movable bed plate 3.
Example 2:
the invention provides a control method for controlling the physiotherapy robot, which comprises the following steps: s1, identifying the position of a human body: a plurality of pressure sensors are uniformly arranged on the physiotherapy couch, and the pressure values of all pressure points on the physiotherapy couch are read through the pressure sensors and the positions of human bodies are confirmed;
in step S1, when the user lies on the bed, the pressure of the back spine, head, scapula, pelvis, etc. on the mattress will be relatively high, and the pressure of the other parts will be relatively low. The pressure sensor determines the head position according to the maximum pressure point of the head, then determines the positions of the left and right shoulder blades and the positions of the sacrum and the hip bone according to the maximum pressure values of other directions on the mattress, and further determines the position of the human body on the physiotherapy couch. Preferably, the pressure sensors are densely distributed at each position on the physiotherapy couch, so that measured data are more accurate, and the positions of human bodies can be conveniently confirmed.
S2, judging the position of the human body: judging whether the human body is positioned in the middle of the physiotherapy couch, if the human body is positioned deviating from the middle of the physiotherapy couch, executing the step S3, and if the human body is positioned in the middle of the physiotherapy couch, directly executing the step S4;
s3, prompting a replacement position: prompting a user to move to the middle part of the physiotherapy couch through a voice module until the user is correctly identified by a pressure sensor, and entering step S4;
s4, calculating the weight of the human body and starting massage: the weight of the human body is calculated according to the pressure measured by the pressure sensor, the corresponding vibration mode and vibration frequency are automatically selected according to the weight of the human body to start massage, meanwhile, the position of the human body spine can be confirmed through the lying position, the position of the acupuncture point of the human body spine is confirmed, and the acupuncture point massage mechanism is moved to the position right below the acupuncture point to start acupuncture point massage.
In step S4, the physiotherapy couch further includes a wireless unit and a control panel, and the control system may automatically select a corresponding massage mode according to the data calculated by the pressure sensor, or the user may manually select a vibration mode and a vibration frequency by connecting the wireless unit with the control system of the physiotherapy couch or operating the control panel, so as to improve the massage feeling, and meanwhile, use more conveniently and intelligently.
In this embodiment, when the control system is automatically controlled, the massage mode of the vibration mechanism is as follows in table 1:
TABLE 1
| Body weight (KG) | 20-30 | 30-40 | 40-50 | 50-60 | 60 or more |
| Frequency (Hz) | 30 | 45 | 70 | 100 | 140 |
| Eccentricity (cm) | 5 | 7 | 10 | 13 | 16 |
The eccentricity is the deviation distance between the vibration output center of the vibration motor 22 and the vibration center of the movable bed plate 3, and the vibration center of the movable bed plate 3 is the vertical projection position of the second sliding block 25, and the larger the eccentricity is, the larger the vibration amplitude is. The frequency is the operating frequency of the vibration motor 22. Therefore, as the weight increases, the frequency and eccentricity increase, and the vibration is gradually enhanced.
In this embodiment, the acupoint massage device uses a terahertz generator, and terahertz waves refer to electromagnetic waves with a frequency of 0.1 to 10THz, and are suitable for frequencies between a high-frequency edge (300 GHz) of a millimeter wave band and a far-infrared band edge (3000 GHz) of a low frequency of electromagnetic radiation, and the radiation with corresponding wavelengths ranges from 0.03mm to 3mm in the frequency band. Terahertz has the effects and functions of improving human magnetic field, enhancing cell activity, promoting metabolism, delaying aging and the like when being used for human physiotherapy.
The positional relationship between the terahertz generator and the human body is shown in the following table 2:
TABLE 2
The massage effect is weaker as the distance between the terahertz generator and the human body is longer, so that the distance between the terahertz generator and the human body is continuously reduced along with the increase of the body weight.
Example 3:
based on the embodiment 2, the acupoint massage mechanism adopts an infrared moxibustion instrument, and the infrared moxibustion instrument heats moxa by infrared rays, so that the moxa is aligned to the acupoints of a human body under baking to release heat, and a corresponding massage effect is achieved.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A physiotherapy robot is characterized by comprising,
the physiotherapy couch comprises a physiotherapy couch body (1), wherein the physiotherapy couch body (1) comprises a frame and a movable couch board (3) movably arranged on the frame;
a vibration mechanism (2) fixedly arranged on the physiotherapy couch body (1), wherein the vibration mechanism (2) drives the movable couch plate (3) to vibrate;
the moving mechanism (4) is fixedly arranged at the bottom of the movable bed plate (3), the moving mechanism (4) is used for driving the acupoint massage mechanism (5) to move, and the moving mechanism (4) controls the position distance between the acupoint massage mechanism (5) and the movable bed plate (3), and the acupoint massage mechanism (5) is used for generating electromagnetic waves or heat energy towards a human body;
the control method of the physiotherapy robot comprises the following steps:
s1, identifying the position of a human body: obtaining the pressure value of each pressure point on the physiotherapy couch and confirming the position of the human body;
s2, judging the position of the human body: judging whether the human body is positioned in the middle of the physiotherapy couch, if the human body is positioned deviating from the middle of the physiotherapy couch, executing the step S3, and if the human body is positioned at the correct position, directly executing the step S4;
s3, prompting a replacement position: prompting a user to move to the middle part of the physiotherapy couch through a voice module;
s4, calculating the weight of the human body and starting massage: calculating the weight of the human body according to the pressure value of each pressure point on the physiotherapy bed, and automatically selecting a corresponding vibration mode and vibration frequency and the massage position of the acupoint massage mechanism according to the weight of the human body to start massage;
in step S1, a plurality of pressure sensors are uniformly arranged on the physiotherapy couch, and the physiotherapy couch obtains the pressure values of each pressure point on the physiotherapy couch through the pressure sensors;
in step S4, the physiotherapy couch further includes a wireless unit and a control panel, and the user can select a vibration mode and a vibration frequency through the wireless unit and the control panel;
in step S4, calculating and obtaining the acupoint position of the spine part of the human body through the data collected by the pressure sensor, and moving an acupoint massage mechanism to the position right below the acupoint to start acupoint massage, wherein the acupoint massage mechanism is a terahertz generator or an infrared moxibustion instrument;
the vibration mechanism (2) comprises a connecting plate (21) and a vibration motor (22) fixedly arranged on the physiotherapy couch body (1), the vibration motor (22) is fixedly connected with the center of the connecting plate (21), the connecting plate (21) is connected with the movable couch plate (3), and the vibration motor (22) drives the movable couch plate (3) to vibrate through the connecting plate (21);
the vibration mechanism (2) further comprises an amplitude modulation motor (23) fixedly arranged on the movable bed board (3), the output end of the amplitude modulation motor (23) is horizontally connected with a third screw rod (24), a second sliding block (25) is arranged on the third screw rod (24), a second sliding groove (211) is horizontally arranged at the bottom of the connecting plate (21), a distance adjusting piece (26) is movably arranged in the second sliding groove (211), one end of the distance adjusting piece (26) is fixedly connected with the second sliding block (25), and the amplitude modulation motor (23) controls the eccentric distance of a connecting point of the vibration motor (22) and the movable bed board (3) by moving the horizontal position of the second sliding block (25), so as to control the vibration amplitude of the movable bed board (3);
a hollow guide shell (27) is fixedly arranged in the middle of the movable bed plate (3), the third screw rod (24) passes through two ends of the guide shell (27) and is arranged in the guide shell (27), and the guide shell (27) plays a role in protecting the third screw rod (24); the bottom of the guide shell (27) is provided with a limiting groove (271) communicated with the inside of the guide shell (27), the bottom of the second sliding block (25) moves in the guide shell (27), and the top of the second sliding block (25) passes through the limiting groove (271) to be connected with the distance adjusting piece (26); the third screw rod (24), the limiting groove (271), the distance adjusting piece (26) and the connecting plate (21) are positioned on the same vertical plane;
the two sides of the distance adjusting piece (26) are respectively provided with a first clamping groove (261), and the inner side wall of the second sliding groove (211) is provided with a first clamping block (212) which is matched with the first clamping groove (261); second clamping grooves (251) are symmetrically formed in two side walls of the top of the second sliding block (25), the second clamping grooves (251) are just clamped with top plates of guide shells (27) on two sides of the limiting grooves (271), and the second sliding block (25) can only move horizontally and linearly along the direction of the third screw rod (24).
2. The physiotherapy robot according to claim 1, characterized in that the moving mechanism (4) comprises a lifting mechanism (41) and a horizontal moving mechanism (42) connected to the lifting mechanism (41), the acupoint massage mechanism (5) is arranged on the horizontal moving mechanism (42), the lifting mechanism (41) comprises a fixing frame (411), a vertical guide rod (412) and a first driving motor (413) fixedly arranged on the fixing frame (411), the output end of the first driving motor (413) is connected with a vertical first screw rod (414), and two ends of the horizontal moving mechanism (42) are movably connected with the first screw rod (414) and the vertical guide rod (412) respectively.
3. The physiotherapy robot according to claim 2, characterized in that the horizontal movement mechanism (42) comprises a second driving motor (421) fixedly arranged on the fixing frame (411) and a second screw rod (422) horizontally connected with the second driving motor (421), two ends of the second screw rod (422) are respectively connected with the second driving motor (421) and the vertical guide rod (412), and the acupoint massage mechanism (5) is arranged on the second screw rod (422).
4. A physiotherapy robot according to claim 3, characterized in that the horizontal movement mechanism (42) further comprises a horizontal guide rod (424) movably connected between the first screw rod (414) and the vertical guide rod (412), the second screw rod (422) is connected with a first sliding block (423), a plurality of first sliding grooves (4231) are vertically arranged on the outer side of the first sliding block (423), the acupoint massage mechanism (5) is movably arranged on the horizontal guide rod (424), a plurality of guide plates (51) matched with the first sliding grooves (4231) are arranged at the upper end of the acupoint massage mechanism (5), and the second driving motor (421) drives the first sliding block (423) to horizontally move, so as to drive the acupoint massage mechanism (5) to horizontally move.
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