CN109011174A - Cloud intelligent rehabilitation physical therapeutic system, passive bionic movement rehabilitation physical therapy machine people - Google Patents
Cloud intelligent rehabilitation physical therapeutic system, passive bionic movement rehabilitation physical therapy machine people Download PDFInfo
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Classifications
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- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
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- A—HUMAN NECESSITIES
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- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- 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
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- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/02—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains adapted for simultaneous treatment with light, heat or drugs
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- A61N2/00—Magnetotherapy
- A61N2/002—Magnetotherapy in combination with another treatment
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- A—HUMAN NECESSITIES
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- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
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- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
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- A—HUMAN NECESSITIES
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
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- A—HUMAN NECESSITIES
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- A61N5/06—Radiation therapy using light
- A61N2005/0658—Radiation therapy using light characterised by the wavelength of light used
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- A61N2005/066—Radiation therapy using light characterised by the wavelength of light used infrared far infrared
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The present invention provides a kind of cloud intelligent rehabilitation physical therapeutic system and passive bionic movement rehabilitation physical therapy machine people, healthy cloud platform in the system is communicated by network with rehabilitation physical therapy machine people, for providing big data analysis and support for physiotherapy patient, realization is docked with medical social security sector and remote diagnosis；Rehabilitation physical therapy machine people, for providing magnetic therapy, thermotherapy, massage, medicine-smoking, the treatment of passive bionic movement for physiotherapy patient.The present invention is based on bionic designs, it allows human body prostrate to do bionical passive movement human synovial and muscle, while warming massaging point, gravity influences and muscular exertion bring pain when avoiding movement, therapeutic process is painless, form a low level, it is painless, loosen passive aerobic exercise new treatment；Meanwhile not limited by individual constitution, even if cannot walk, quadriplegic can also easily carry out motion exercise treatment, to gradually wake up the self-healing function of human body itself.
Description
Technical Field
The invention belongs to the field of rehabilitation physiotherapy instruments, and particularly relates to a cloud intelligent rehabilitation physiotherapy system and a passive bionic motion rehabilitation physiotherapy robot.
Background
Along with the deepening of the social civilization degree, the life rhythm of people is faster and faster, the working time is longer and longer, the time of exercise and fitness is shorter and shorter, and bad working habits such as long-time fixed posture and irregular diet are easily developed by long-time work. Meanwhile, the improvement of social science and technology enables people to spend more time on leisure time through televisions, computers, handheld intelligent equipment and the like, and the problem of environmental pollution is increasingly aggravated, so that sub-health crowds are continuously enlarged, various difficult and complicated diseases are various, particularly neck, shoulder, waist and leg diseases become common diseases of middle-aged and elderly people, according to investigation of relevant departments, 82% of middle-aged and elderly people have neck, shoulder, waist and leg diseases with different degrees, wherein the number of the diseases affecting life and causing pain is up to 35%, the current medical system is impatient, and the conventional treatment method is very little effective.
The prevention, treatment and health care are gradually valued by people, the prevention and treatment of diseases become fashionable, and the higher the pain reduction in the treatment process is in the appeal sound of patients. How to treat the disease comfortably and happily becomes the desire and dream for all patients.
In the prior art, a large number of rehabilitation physiotherapy devices aiming at a certain disease or disease hidden danger appear, such as a magnetic therapy pad and an infrared physiotherapy pad for dredging channels and collaterals; the massage chair, the massage bed, the swinging machine, the swinging bed and the like for massaging the parts are mostly physiotherapy instruments with single function. The human body is a complex ecological balance body of a comprehensive system, and the single-function physiotherapy cannot actually dredge the complex meridian system of the human body, so that the situation that partial dredging of the other most parts is not conducted can be caused to form larger stasis under certain conditions. The massage function of the internal organs corresponding to the acupuncture points is not available, the internal diseases can not be treated by external therapy, and comprehensive rehabilitation treatment equipment is not available.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cloud intelligent human body bionic passive movement rehabilitation physiotherapy robot, which is used for solving the problem that a physiotherapy robot for comprehensive treatment is not available in the prior art.
In order to solve the above technical problem, an embodiment of the present invention provides a cloud intelligent rehabilitation physiotherapy robot system, including: a healthy cloud platform and a passive bionic motion rehabilitation physiotherapy robot; wherein,
the health cloud platform is communicated with the rehabilitation physiotherapy robot through a network and is used for providing big data analysis and support for a physiotherapy patient, and realizing docking with a medical treatment and medical insurance system and remote diagnosis;
the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, medicinal fumigation and passive bionic aerobic exercise treatment for physiotherapy patients.
Further, the rehabilitation therapy robot includes: the system comprises a computer control subsystem, a motor control and servo subsystem, a motion execution mechanical subsystem, a heating subsystem and a sensor monitoring control subsystem;
the computer control subsystem is connected with the motor control and servo subsystem and the sensor monitoring control subsystem and is used for receiving a feedback result of the sensor monitoring control subsystem and generating a command to control the motor control and servo subsystem according to the feedback result;
the sensor monitoring control subsystem is connected with the heating subsystem and comprises a sensor device, a computer control subsystem and a control subsystem, wherein the sensor device is used for monitoring physical sign parameters of a human body in real time, uploading the monitored parameters to the computer control subsystem and controlling whether the heating subsystem works or not according to temperature parameters;
the heating subsystem is connected with the operation execution mechanical subsystem and used for heating or stopping heating the operation execution mechanical subsystem according to a command of the sensor monitoring control subsystem;
the motor control and servo subsystem is connected with the operation execution mechanical subsystem and is used for receiving the command of the computer control subsystem and driving the operation execution mechanical subsystem to complete the passive bionic aerobic movement of the human body;
the motion execution mechanical subsystem is used for completing the process of the passive bionic aerobic motion of the human body under the drive of the motor control and servo subsystem;
the health cloud platform is connected with the computer control subsystem through a network and provides an interface for the computer control subsystem to communicate with the database server and the cloud computing server.
Further, the rehabilitation physiotherapy robot further comprises: the system comprises an audio and video playing subsystem, a VR vision cooperative treatment subsystem, a man-machine conversation subsystem, a treatment scheme setting and storing subsystem and a safety limit control subsystem.
Further, the operation execution mechanical subsystem includes: the far infrared magnetotherapy medicine fumigating belt comprises a movable bed body, magnets, a far infrared magnetotherapy cervical vertebra pillow, a far infrared magnetotherapy spine combing massage ball, a wear-resistant non-electrostatic heating carbon fiber cloth belt, a foot fixer and a far infrared heating magnetotherapy medicine fumigating belt with the body fixing function.
An embodiment of the present invention further provides a rehabilitation physiotherapy robot, including: the device comprises a box-shaped base, a movable bed body, a lifting motor spring, a computer control center, a transverse swing motor, a first longitudinal swing motor, a lifting motor, a second longitudinal swing motor and a foot vertical moving motor; wherein,
the universal wheel is installed at the lower end of the box-shaped base, the computer control center is installed in the center of the box-shaped base, and the transverse swinging motor, the first longitudinal swinging motor, the lifting motor, the second longitudinal swinging motor and the foot vertical moving motor are installed on the box-shaped base;
the lifting motor is connected with the lifting motor spring;
the computer control center is simultaneously connected with the transverse swing motor, the first longitudinal swing motor, the lifting motor, the second longitudinal swing motor and the foot up-and-down moving motor.
Further, the movable bed body includes: seven movable bed boards, far infrared heating devices uniformly distributed on the seven movable bed boards, magnets installed according to acupuncture points of a human body, and far infrared heat magnetic therapy medicinal fumigation bands which are arranged beside the bed and are used for fixing the body; the first movable bed board corresponds to the head and the upper part of the upper half of the human body; the second movable bed board and the third movable bed board are symmetrical left and right and are used for the chest and the waist of a human body; the fourth movable bed board and the fifth movable bed board correspond to the legs of the human body; the sixth movable bed board and the seventh movable bed board correspond to the feet of the human body;
the far infrared magnetic therapy cervical pillow is arranged on the first movable bed board, four far infrared magnetic therapy spine carding massage balls capable of moving longitudinally are arranged between the second movable bed board and the third movable bed board, and wear-resistant static-free heating carbon fiber cloth belts cover the upper surfaces of the massage balls; a foot fixer is respectively arranged on the sixth bed plate and the seventh bed plate; seven movable bed boards are matched to finish the passive bionic movement of the physical therapist.
Furthermore, the transverse motor is connected with the first movable bed plate and controls the transverse swing of the first movable bed plate; the first longitudinal motor is connected with the four massage balls and controls the longitudinal swing of the four massage balls; the lifting motor and the lifting motor spring are connected with the first movable bed plate to control the lifting and the inclination of the first movable bed plate; the second longitudinal motor is connected with the fourth movable bed board and the fifth movable bed board, the foot up-and-down moving motor is connected with the sixth movable bed board and the seventh movable bed board, and the fourth, fifth, sixth and seventh movable bed boards complete the passive human body bionic running exercise of the legs together.
Further, the passive bionic motion to drive the hip joint to drive the joint of the whole body to move comprises: the joint does not bear weight and is subjected to the motion of external force, spinal motion, hip joint motion, five major joint motions, head low position, 30-degree inclined handstand, no pressure and no muscle force motion.
Further, the passive bionic movement is carried out in a thermal field, a magnetic field and a medicinal fumigation moxibustion environment, and warm passive bionic aerobic movement is realized.
Further, the rehabilitation physiotherapy robot further comprises: a control computer connected to the network and a display screen capable of being moved to the optimal visual range of the patient.
The technical scheme of the invention has the following beneficial effects:
among the above-mentioned scheme, the passive bionical motion rehabilitation physiotherapy system of cloud intelligence human body and rehabilitation physiotherapy robot, design based on bionics, let the human body lay flat and do bionical passive motion human joint and muscle, warm magnetotherapy moxibustion massage acupuncture point simultaneously, passive bionical motion backbone joint, the hip joint drives the passive bionical motion of whole body joint, gravity influence and the painful of muscle power brought when having avoided the motion, the effect of influence motion just increases the misery of treating the disease, the treatment process is painless, it is low to have formed the head, painless, relax the new therapy of passive aerobic motion, massage backbone acupuncture point through warm vibrations and correspond human five internal organs: heart, liver, spleen, lung, kidney, six fu-organs: stomach, large intestine, small intestine, triple energizer, bladder, and gallbladder for treating internal organ diseases; meanwhile, the walking aid is not limited by the individual physique, and the quadriplegia can be easily exercised and treated by exercise even if the walking aid cannot walk, so that the self-healing function of the human body is gradually aroused. The proper treatment program can be selected according to the individual condition of the patient, the temperature, the speed, the amplitude, the intensity, the time, the starting and the stopping and the like can be automatically adjusted by the computer, and the self-defined treatment program can be memorized and stored.
Drawings
In order to more clearly illustrate the embodiments of the present invention and the prior art, the following technical scheme description figures of the present invention are briefly introduced, and it is obvious that other figures can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a rehabilitation therapy system according to a first embodiment of the present invention;
FIG. 2 is a schematic structural view of a rehabilitation and physiotherapy robot according to a second embodiment of the present invention;
fig. 3 is a top view of a rehabilitation and physiotherapy robot according to a second embodiment of the present invention.
Description of reference numerals:
1-box-shaped base; 2-a movable bed body; 3-lifting motor spring; 4-a computer control center; 51-a transverse oscillating motor; 52-a first longitudinal oscillating motor; 53-a lift motor; 61-a second longitudinal oscillating motor; 62-foot up-and-down movement motors (71,72) -universal wheels (71, 72); 20-far infrared ray heating device; 21-a first movable bed plate; 221-far infrared magnetic therapy cervical pillow; 22-a second movable bed board; 221-infrared magnetic therapy spine combing massage balls; 222-wear-resistant non-electrostatic heating carbon fiber cloth belts; 23-a third movable bed board; 24-a fourth movable bed board; 25-a fifth movable bed board; 26-a sixth movable bed board; 261-foot fixator; 27-a seventh movable bed board; 28-Magnetitum; 29-far infrared thermal magnetic therapy medicated fumigating belt; 91-control the computer; 92-display.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention aims to provide a cloud intelligent human body passive bionic motion rehabilitation physiotherapy robot, which enables people to recover the body under the conditions of relaxation, comfort and joy, improves the sub-health state, recovers the self function, can treat various diseases without pain, and enables people to enjoy the treatment process and results.
The invention adopts the bionics principle, integrates the functions of far infrared thermal therapy, permanent magnet magnetic therapy, traditional Chinese medicine fumigation (moxibustion) and nonbearing bionic movement, massage and massage under the action of natural relaxing muscle-free force, and adopts the traditional Chinese medicine method of warming channels and dredging collaterals to ensure that a patient is gradually awakened and recovers the self function of the human body through the natural therapy under the natural relaxing state to achieve the rehabilitation effect. The channels and collaterals of the whole body are dredged through bionic movement, and the spinal points are dredged through spine combing and correspond to the channels and collaterals of internal organs, so that the effects of internal and external treatment, external treatment of internal diseases and whole body rehabilitation are achieved, the diseases of muscles and bones such as neck, shoulders, waist and legs can be treated, and the diseases of the internal organs can also be treated through dredging corresponding channels and collaterals. The robot is controlled to implement work by adopting different modes (manual, automatic and intelligent) automatic control of a touch screen computer, bioelectricity induction and limb micromotion induction, and man-machine conversation, video playing, temperature and motion curve setting and adjustment are carried out. And working modes and treatment programs aiming at different diseases of different individuals are formed by adopting cloud computing and big data technology analysis and computation. Meanwhile, network remote analysis and diagnosis and treatment are realized, the wearable equipment and the medical system database are connected, and a human health cloud file is constructed.
The present invention will be described in further detail with reference to specific examples.
First embodiment
The embodiment provides a cloud intelligent human body passive bionic motion rehabilitation physiotherapy system. Fig. 1 is a schematic structural view of a rehabilitation physiotherapy system according to this embodiment. As shown in fig. 1, the rehabilitation therapy system of the present embodiment includes: a health cloud platform and a rehabilitation physiotherapy robot; the health cloud platform is communicated with the rehabilitation physiotherapy robot through a network and used for providing big data analysis and support for a physiotherapy patient, and docking with a medical social security system and remote diagnosis are realized; the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, medicinal fumigation and passive bionic motion therapy for physiotherapy patients.
In particular, the method comprises the following steps of,
the health cloud platform is connected with the computer control subsystem through a network and provides an interface for the computer control subsystem to communicate with the database server and the cloud computing server;
the rehabilitation physiotherapy robot includes: the system comprises a computer control subsystem, a motor control and servo subsystem, a motion execution mechanical subsystem, a heating subsystem and a sensor monitoring control subsystem.
The computer control subsystem is connected with the motor control and servo subsystem and the sensor monitoring control subsystem and is used for receiving a feedback result of the sensor monitoring control subsystem and generating a command to control the motor control and servo subsystem according to the feedback result;
the sensor monitoring control subsystem is connected with the heating subsystem and comprises a sensor device, a computer control subsystem and a control subsystem, wherein the sensor device is used for monitoring physical sign parameters of a human body in real time, uploading the monitored parameters to the computer control subsystem and controlling whether the heating subsystem works or not according to temperature parameters;
the heating subsystem is connected with the operation execution mechanical subsystem and used for heating or stopping heating the operation execution mechanical subsystem according to a command of the sensor monitoring control subsystem;
the motor control and servo subsystem is connected with the operation execution mechanical subsystem and is used for receiving the command of the computer control subsystem and driving the operation execution mechanical subsystem to complete the passive bionic motion of the human body;
and the motion execution mechanical subsystem is used for completing the process of the passive bionic motion of the human body under the drive of the motor control and servo subsystem.
Further, the health cloud platform subsystem comprises: the system comprises a personal health record module, a big data analysis module, an intelligent modeling module, a medical social security system docking module and a remote diagnosis module.
Further, the rehabilitation physiotherapy robot may further include: a video playing subsystem, a VR vision cooperative therapy subsystem, a man-machine conversation subsystem, a therapy scheme setting and storing subsystem, a mode selection subsystem (manual, automatic and intelligent), a safety limit control subsystem and the like. Preferably, the rehabilitation physiotherapy robot further comprises an expansion interface, and function expansion and docking can be performed when necessary.
Further, the motion-performing mechanical subsystem includes: the far infrared magnetic therapy massage bed comprises a movable bed body, a magnet, a far infrared magnetic therapy cervical vertebra pillow, a far infrared magnetic therapy spine combing massage ball, a wear-resistant non-electrostatic heating carbon fiber cloth belt, a foot fixer, a far infrared thermal magnetic therapy medicinal fumigation belt with a body fixing function and the like. Preferably, the movable bed body can enable the human body lying on the bed to passively complete various postures, such as sitting up, semi-lying at any angle, running and the like; preferably, the magnets are arranged on the bed according to the acupuncture points of the human body and can generate a constant magnetic field to interact with the biological magnetic field of the human body.
When carrying out rehabilitation physiotherapy through the human passive bionic motion rehabilitation physiotherapy system of cloud intelligence of this embodiment, the physical therapist lies flat on the movable bed body, puts the head on far infrared magnetotherapy cervical vertebra pillow, and the foot is put on foot fixer to fix the health through the smoked area of far infrared heat magnetotherapy medicine. On one hand, a computer control subsystem of the rehabilitation physiotherapy robot is communicated with the health cloud platform to call the basic information of the physiotherapy person; on the other hand, the sensor monitoring and controlling subsystem collects the current physical condition information of the physical therapist, and comprises the following steps: temperature and humidity, bioelectricity, brain waves, heart rate, respiration, magnetic force and far infrared waves. Whether need heat the bed body through body temperature judgement, when needs heating, sensor monitoring control subsystem sends the instruction and gives the heating subsystem, and the heating subsystem begins to heat the bed body, and the heating is stopped to predetermineeing the temperature. The cold origin of all etiologies, science and facts prove that the exercise in the warm environment has the effect of getting good health with half the effort. The sensor monitoring and controlling subsystem sends the acquired information to the computer control subsystem, and the computer control subsystem formulates a treatment scheme according to data and personal requirements of physical therapists from the cloud platform and the sensor monitoring and controlling subsystem, determines whether to start a magnet magnetic field and a far infrared magnetic therapy spine combing massage ball, sends a motion instruction to the motor control and servo subsystem, controls the motion of the movable bed body, and enables the human body to complete passive bionic motion. Such as the movement of the joint under the action of external force without bearing the weight, the driving of the hip joint to drive the spinal column, the movement of five major joints, the low head position, the 30-degree inclined handstand, the movement without pressure and muscle force, the movement without bearing the weight, and the like. In the evolution process of human beings, four limbs walk to be changed into upright walk, people mostly sit and stand in work and life, when standing, the ankle joints, the knee joints, the hip joints and the spine of a human body bear the gravity of the whole body, and often standing people are susceptible to diseases such as viscus prolapse, cerebral blood supply insufficiency, heart disease, lumbago, swollen legs and feet, knee joint pain and the like. When the chair works in a sitting posture, the spine and the cervical vertebra of a human body are mostly bent in a reverse physiological curvature, and people who often work for a long time are susceptible to lumbar spondylosis, cervical spondylosis, hemorrhoids and varicose veins of lower limbs. Modern science and facts prove that exercising in some abnormal states has excellent effects on body building and preventing various diseases. After a certain activity amount is completed, the computer control subsystem uploads the information of the physical therapist to the health cloud platform.
The system drives the physical therapy completed by the physical therapy person to have the following characteristics:
the hip joint drives the joints of the whole body to bear no load in a warm environment under the action of far infrared rays and a magnetic field, and the principle and the technique are that the head is low, the treatment is painless, the aerobic relaxation passive exercise rehabilitation physiotherapy method is used, the spine diseases are rehabilitated by the warm combing exercise of the spine, and simultaneously, viscera are massaged corresponding to acupuncture points to condition the viscera diseases. Specifically, the method comprises the following steps: the temperature-controllable far infrared ray emitting device performs all movements in a far infrared ray warm environment; magnetic therapy (heat): the permanent magnet emits magnetic lines of force fitting the magnetic field of the human body; bionic motion (swing) spinal joints; the hip joint drives the joint of the whole body to perform passive bionic motion; the joint does not bear the weight for movement, and the human body lies horizontally to enable the joint to perform bionic movement through external force; the head moves at a low position, and joint cavities and soft tissues are naturally stretched and relaxed; the horizontal passive bicycle moves to recover three joints of the legs; spine warmth-moistening massage combing, namely warmth-moistening combing according to a spine physiological curve, conditioning spine pathological changes and conditioning visceral organ diseases; fumigating with medicine (folium Artemisiae Argyi), and moving temperature-controlled changeable medicine (folium Artemisiae Argyi) fumigating bag (cushion); intelligent control, access of WIFI and GPRS to the Internet and health files, big data analysis and cloud computing; a bionic motion model is built in, and a cloud self-learning motion model is built in; man-machine conversation, video playing, VR vision treatment and motion curve waveform; bioelectric wave induction, heart rate monitoring, respiration monitoring and limb induction control of strength and speed.
According to the technical scheme, the cloud intelligent human body passive bionic motion rehabilitation physiotherapy system enables a human body to lie flat to perform bionic passive motion on joints and muscles of the human body based on the bionic design, simultaneously warm massages acupuncture points, avoids the pain caused by gravity influence and muscle exertion during motion, influences the motion effect and increases the pain of treatment, is painless in the treatment process, and forms a new therapy of low head, no pain and passive aerobic motion relaxation; meanwhile, the walking aid is not limited by the constitution of an individual, and even if the walking aid cannot walk, a quadriplegia patient can easily exercise and treat, so that the functions of the human body are gradually awakened. The proper treatment program can be selected according to the individual condition of the patient, the temperature, the speed, the amplitude, the intensity, the time, the starting and the stopping and the like can be automatically adjusted by the computer, and the self-defined treatment program can be memorized and stored.
Second embodiment
The embodiment provides a rehabilitation physiotherapy robot. Fig. 2 is a schematic structural view of the rehabilitation physiotherapy robot. As shown in fig. 2, the rehabilitation physiotherapy robot includes: the device comprises a box-shaped base 1, a movable bed body 2, a lifting motor spring 3, a computer control center 4, a transverse swing motor 51, a first longitudinal swing motor 52, a lifting motor 53, a second longitudinal swing motor 61 and a foot up-and-down moving motor 62; universal wheels (71, 72). Wherein, the universal wheels (71,72) are arranged at the lower end of the box-shaped base 1, the computer control center 4 is arranged at the center of the box-shaped base 1, the transverse swing motor 51, the first longitudinal swing motor 52, the lifting motor 53, the second longitudinal swing motor 61 and the foot up-and-down moving motor 62 are arranged on the box-shaped base, wherein, the lifting motor 53 is connected with the lifting motor spring 3. The computer control center 4 is connected with the transverse swing motor 51, the first longitudinal swing motor 52, the lifting motor 53, the second longitudinal swing motor 61 and the foot up-down moving motor 62 at the same time.
Fig. 3 is a plan view of the rehabilitation physiotherapy robot. As shown in fig. 3, the movable bed 2 includes: seven movable bed boards, far infrared heating devices 20 uniformly arranged on the seven movable bed boards, magnets 28 arranged according to acupuncture points of a human body, and far infrared thermal magnetic therapy medicated fumigation bands 29 arranged beside the bed for fixing the body, wherein the first movable bed board 21 corresponds to the upper head and the upper part of the upper body of the human body; the second movable bed board 22 and the third movable bed board 23 are symmetrical left and right and are used for the chest and the waist of a human body; the fourth movable bed board 24 and the fifth movable bed board 25 correspond to the legs of the human body; the sixth movable bed board 26 and the seventh movable bed board 27 correspond to feet of a human body; wherein, a far infrared magnetic therapy cervical pillow 211 is arranged on the first movable bed board 21, four far infrared magnetic therapy spine combing massage balls 221 are arranged between the second movable bed board 22 and the third movable bed board 23, and the upper surface of the massage balls 221 is covered with a wear-resistant non-electrostatic heating carbon fiber cloth belt 222; a foot fixer 261 is respectively arranged on the sixth movable bed plate 26 and the seventh bed plate 27; seven movable bed boards are matched to finish the passive bionic movement of the physical therapist.
The transverse motor is connected with the first movable bed plate and controls the transverse swing of the first movable bed plate; the first longitudinal motor is connected with the four massage balls and controls the longitudinal swing of the four massage balls; the lifting motor and the lifting motor spring are connected with the first movable bed plate to control the lifting and the inclination of the first movable bed plate; the second longitudinal motor is connected with the fourth movable bed board and the fifth movable bed board, the foot up-and-down moving motor is connected with the sixth movable bed board and the seventh movable bed board, and the fourth, fifth, sixth and seventh movable bed boards complete the passive human body bionic running exercise of the legs together.
The rehabilitation physiotherapy robot further comprises: a control computer 91 with access to the network, and a display screen 92 that can be moved to the optimal visual range of the patient at will.
When the rehabilitation physiotherapy robot of the embodiment is used for physiotherapy, the rehabilitation physiotherapy robot has the following characteristics:
201. the far infrared thermal therapy, the magnetic therapy, the traditional Chinese medicine (moxibustion) fumigation therapy and the aerobic passive movement are integrated, so that the body function is wakened, and the whole body is full of vitality;
202. the medicine fumigation and moxibustion are controlled during exercise to promote blood circulation;
203. dissolving fat and reducing body weight;
204. strengthening the spine and joints, knocking the spine by warm vibration, massaging and combing, warm combing according to the physiological curve of the spine, conditioning the pathological changes of the spine, and treating and conditioning visceral organ diseases through corresponding acupuncture points of the spine;
205. relieving back pain, myalgia, neuralgia, neck, shoulder, waist and leg pain;
206. promoting improvement of digestive system;
207. enhancing immunity and preventing diseases;
208. passive movement moves a part with little physical activity and stiffness;
209. through spine combing and massaging, the spine pathological changes are relieved and treated, and the corresponding channels and collaterals of internal organs such as heart, lung, liver, spleen, kidney, stomach and the like are dredged, so that the effect of preventing and treating the internal organ diseases is achieved;
210. is suitable for rehabilitation and health care exercises of various people, and is particularly suitable for rehabilitation treatment of the old, the weak, the sick and the disabled and injuries without physical strength;
211. when the legs swing, the knee joints reach the controllable movement speed of a person during running under the condition of no bearing, namely, the hip, knee and ankle joints are recovered in warm and hot medicine fumigation movement by the horizontal and passive pedaling of the bicycle;
212. intelligent control, big data analysis, cloud computing. Analyzing and early warning the health record, and self-learning the motion model;
213. human-computer conversation, audio and video playing, VR vision treatment and self-learning self-memory motion curve model;
214. bioelectric wave induction, heart rate monitoring, respiration monitoring, and temperature and humidity monitoring.
Therefore, the rehabilitation physiotherapy robot of the embodiment can enable a physical therapist to perform aerobic natural movement by warming the whole body, has the functions of spine combing and moistening massage, can move ankle joints, knee joints, hip joints, spines, lumbar vertebrae and cervical vertebrae, enables muscles of bones and muscles of the whole body to move fully, increases blood circulation, dredges channels and collaterals of the whole province, stimulates a sympathetic nervous system, has a good effect on arthropathy, hyperosteogeny, rachitis, blood stasis, varicosity, vasculitis and cold catching, and can treat diseases of internal organs.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A cloud intelligent rehabilitation physiotherapy system, characterized in that the system comprises: a healthy cloud platform and a passive bionic motion rehabilitation physiotherapy robot; wherein,
the health cloud platform is communicated with the rehabilitation physiotherapy robot through a network and is used for providing big data analysis and support for a physiotherapy patient, and realizing docking with a medical treatment and medical insurance system and remote diagnosis;
the rehabilitation physiotherapy robot is used for providing magnetotherapy, thermotherapy, massage, medicinal fumigation and passive bionic aerobic exercise treatment for physiotherapy patients.
2. The rehabilitation physiotherapy system of claim 1,
the rehabilitation physiotherapy robot includes: the system comprises a computer control subsystem, a motor control and servo subsystem, a motion execution mechanical subsystem, a heating subsystem and a sensor monitoring control subsystem;
the computer control subsystem is connected with the motor control and servo subsystem and the sensor monitoring control subsystem and is used for receiving a feedback result of the sensor monitoring control subsystem and generating a command to control the motor control and servo subsystem according to the feedback result;
the sensor monitoring control subsystem is connected with the heating subsystem and comprises a sensor device, a computer control subsystem and a control subsystem, wherein the sensor device is used for monitoring physical sign parameters of a human body in real time, uploading the monitored parameters to the computer control subsystem and controlling whether the heating subsystem works or not according to temperature parameters;
the heating subsystem is connected with the operation execution mechanical subsystem and used for heating or stopping heating the operation execution mechanical subsystem according to a command of the sensor monitoring control subsystem;
the motor control and servo subsystem is connected with the operation execution mechanical subsystem and is used for receiving the command of the computer control subsystem and driving the operation execution mechanical subsystem to complete the passive bionic aerobic movement of the human body;
the motion execution mechanical subsystem is used for completing the process of the passive bionic aerobic motion of the human body under the drive of the motor control and servo subsystem;
the health cloud platform is connected with the computer control subsystem through a network and provides an interface for the computer control subsystem to communicate with the database server and the cloud computing server.
3. The rehabilitation physiotherapy system of claim 2, wherein the rehabilitation physiotherapy robot further comprises: the system comprises an audio and video playing subsystem, a VR vision cooperative treatment subsystem, a man-machine conversation subsystem, a treatment scheme setting and storing subsystem and a safety limit control subsystem.
4. The rehabilitation and physiotherapy system of claim 3, wherein the operation-performing mechanical subsystem comprises: the far infrared magnetotherapy medicine fumigating belt comprises a movable bed body, magnets, a far infrared magnetotherapy cervical vertebra pillow, a far infrared magnetotherapy spine combing massage ball, a wear-resistant non-electrostatic heating carbon fiber cloth belt, a foot fixer and a far infrared heating magnetotherapy medicine fumigating belt with the body fixing function.
5. A rehabilitation therapy robot, characterized in that it comprises: the device comprises a box-shaped base, a movable bed body, a lifting motor spring, a computer control center, a transverse swing motor, a first longitudinal swing motor, a lifting motor, a second longitudinal swing motor and a foot vertical moving motor; wherein,
the universal wheel is installed at the lower end of the box-shaped base, the computer control center is installed in the center of the box-shaped base, and the transverse swinging motor, the first longitudinal swinging motor, the lifting motor, the second longitudinal swinging motor and the foot vertical moving motor are installed on the box-shaped base;
the lifting motor is connected with the lifting motor spring;
the computer control center is simultaneously connected with the transverse swing motor, the first longitudinal swing motor, the lifting motor, the second longitudinal swing motor and the foot up-and-down moving motor.
6. The rehabilitation and physiotherapy robot of claim 5, wherein the movable bed comprises: seven movable bed boards, far infrared heating devices uniformly distributed on the seven movable bed boards, magnets installed according to acupuncture points of a human body, and far infrared heat magnetic therapy medicinal fumigation bands which are arranged beside the bed and are used for fixing the body; the first movable bed board corresponds to the head and the upper part of the upper half of the human body; the second movable bed board and the third movable bed board are symmetrical left and right and are used for the chest and the waist of a human body; the fourth movable bed board and the fifth movable bed board correspond to the legs of the human body; the sixth movable bed board and the seventh movable bed board correspond to the feet of the human body;
the far infrared magnetic therapy cervical pillow is arranged on the first movable bed board, four far infrared magnetic therapy spine carding massage balls capable of moving longitudinally are arranged between the second movable bed board and the third movable bed board, and wear-resistant static-free heating carbon fiber cloth belts cover the upper surfaces of the massage balls; a foot fixer is respectively arranged on the sixth bed plate and the seventh bed plate; seven movable bed boards are matched to finish the passive bionic movement of the physical therapist.
7. The rehabilitation and physiotherapy robot of claim 6, wherein the transverse motor is connected with the first movable bed plate and controls the transverse swing of the first movable bed plate; the first longitudinal motor is connected with the four massage balls and controls the longitudinal swing of the four massage balls; the lifting motor and the lifting motor spring are connected with the first movable bed plate to control the lifting and the inclination of the first movable bed plate; the second longitudinal motor is connected with the fourth movable bed board and the fifth movable bed board, the foot up-and-down moving motor is connected with the sixth movable bed board and the seventh movable bed board, and the fourth, fifth, sixth and seventh movable bed boards complete the passive human body bionic running exercise of the legs together.
8. The rehabilitation and physical therapy robot of claim 6, wherein the passive bionic motion for driving the hip joint to move the joint of the whole body comprises: the joint does not bear weight and is subjected to the motion of external force, spinal motion, hip joint motion, five major joint motions, head low position, 30-degree inclined handstand, no pressure and no muscle force motion.
9. The rehabilitation and physiotherapy robot of claim 8, wherein the passive bionic movement is performed in a thermal field, a magnetic field and a medicated moxibustion environment, achieving warm passive bionic aerobic movement.
10. The rehabilitation physiotherapy robot of claim 5, further comprising: a control computer connected to the network and a display screen capable of being moved to the optimal visual range of the patient.
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