CN113456415A

CN113456415A - Multidirectional qi and blood rhythm robot and control method thereof

Info

Publication number: CN113456415A
Application number: CN202110882313.4A
Authority: CN
Inventors: 刘鑫发; 童军
Original assignee: Hunan Tongneng Electromechanical Technology Co ltd
Current assignee: Hunan Tongneng Electromechanical Technology Co ltd
Priority date: 2021-04-24
Filing date: 2021-08-03
Publication date: 2021-10-01

Abstract

The invention discloses a multidirectional qi and blood rhythm robot and a control method thereof, the multidirectional qi and blood rhythm robot mainly comprises a base, a tray, a rhythm motor and a driving mechanism, wherein the tray horizontally reciprocates relative to the base; the tray and the base have the size close to the hip of the body and can be placed on a bed; all parts of the body including the feet can be respectively placed on the tray at any angle, and move back and forth along with the tray, and the body can generate different rhythm directions by changing the back and forth movement direction of the tray. The multidirectional qi and blood rhythm robot can regulate the health of a human body by driving the human body to generate rhythm.

Description

Multidirectional qi and blood rhythm robot and control method thereof

Technical Field

The invention relates to the technical field of health-care equipment, in particular to a multidirectional qi-blood rhythm robot and a control method thereof.

Background

At present, many people suffer from various spinal joint diseases due to the fact that people look at mobile phones, drive cars, work in front of computers for a long time and have improper sitting postures, and particularly the problems of central joints such as spines, waist joints, hip joints, knee joints and ankle joints are common; meanwhile, the pressure of life and work of people is increased, and the symptoms of insomnia and constipation appear, so that the health of people is seriously influenced.

The prior art and the defects are as follows:

the existing massage conditioning devices and methods are numerous, and no matter the traditional Chinese massage technique, or various intelligent massage robots (such as a flexible 201310199836.4 massage robot, a 201710904151.3 massage robot for medical care, a 201010210367.8 Chinese massage robot combining rectangular coordinate type and joint type, and a 201910785770.4 intelligent robot for human back massage) only focus on a specific part of a body when massaging acupuncture points or pain points of the body, and the whole consideration is lacked.

Patent 201810435286.4 discloses a rehabilitation method for spinal column twisting, vibration and traction and spinal column exercise rehabilitation, but it uses a massage bed which can only do transverse swinging motion of neck and waist, and by binding two points of waist and armpit, the waist can exert force to pull body, only can condition the spinal column of upper body, and can not pull whole body, the equipment is bulky, and needs to be operated by other people or professionals.

Patent 201821800998.3 discloses a rhythm mattress, which can move only in the longitudinal direction and has a single movement direction; meanwhile, the mattress is moved integrally, so that the whole body of the user lies on the mattress to do integral longitudinal rhythm, and the pulling force cannot be generated among body parts.

The prior art is poor in simple effect, large in equipment or complex and inconvenient to use. The effective method and the lasting time are needed for treating the chronic diseases of joints of the body and the like, so that a health care device which is comfortable and safe to use, low in cost, small in size, simple to operate, capable of conditioning the central joints of the body, promoting sleep, solving constipation and capable of entering daily life is urgently needed.

Disclosure of Invention

A multidirectional qi and blood rhythm robot comprises a base, a tray, a driving mechanism and a control system, wherein the tray can do horizontal reciprocating linear motion on the base under the driving of the driving mechanism, and the reciprocating linear motion is also called rhythm; the length and width of the tray are not more than 650mmx500mm, the reciprocating amplitude of the tray is within 100mm, the tray is generally round, square and regular and multi-deformation, and can also be in a size close to that of the pillow, preferably round; the base is sized to approximate or conform to the tray.

The flexible pad can be placed on the tray, when the body lies, the feet, the legs, the buttocks, the waist, the abdomen, the chest, the back, the neck and the face of the body can be placed on the flexible pad of the tray at any angle respectively and can move horizontally and reciprocally along with the tray.

The tray is connected with the base through a rolling friction mechanism;

the rolling friction mechanism comprises a guide mechanism and a roller; the guide mechanisms are at least two groups and are fixed on the tray in parallel, the rollers are at least two groups, and each group of rollers comprises at least two rollers; the rollers are matched with the guide mechanism for use, the two groups of rollers can reciprocate along the guide mechanism, and the guide mechanism is a guide groove or a guide rail. The guide rod is arranged on the tray, and the roller is arranged on the base; or the guide rod is arranged on the base, and the roller is arranged on the tray, and the two modes can be realized.

The tray is connected with the base through a sliding friction mechanism, and comprises a guide mechanism and a sliding block which are matched with each other; at least two groups of guide mechanisms are arranged; the sliding block can horizontally reciprocate along a guide mechanism, and the guide mechanism is a guide rod or a guide groove or a guide rail which are parallel to each other. Also, the guide bar and the slider may be mounted in two ways.

The upper parts of the sunken grooves of the two groups of rollers are respectively contacted with the two guide rods, the grooves of the rollers are designed to ensure that the rollers are closely contacted with the guide rods, and meanwhile, the rollers can only roll back and forth along the direction of the guide rods. The roller is arranged on the roller bracket, the roller is arranged between the tray and the base, and two guide rod brackets for fixing the guide rods are arranged at two ends of the two guide rods.

The roller bracket is arranged at the lower part of the tray, the guide rod bracket is fixed on the chassis, and the roller horizontally resets and rolls on the base.

Furthermore, the roller bracket can also be arranged at the upper part of the base, the guide rod bracket is fixed at the lower part of the tray, and the rollers horizontally reset and roll under the tray.

The weight bearing pressure of the body to the robot is directly transmitted to the chassis through the four rollers, and the rhythm motor and the speed reducing mechanism do not bear the weight load of the body. The four rollers are made of elastic materials, such as silica gel and polyurethane materials, on the rolling surfaces of the rollers and the surfaces of the trays or the bases contacted with the rollers, so that the robot is ensured to have lower noise in use.

Further, the tray is connected with the base through a sliding friction mechanism, and the tray comprises a guide mechanism and a sliding block which are matched with each other; at least two groups of guide mechanisms are arranged; the sliding block can horizontally reciprocate along a guide mechanism, and the guide mechanism is a guide rod or a guide groove or a guide rail which are parallel to each other.

The two motion mechanisms preferably adopt rolling friction mechanisms.

The driving mechanism comprises a rhythm motor, a speed reducing mechanism, an eccentric block, a pulley and a control system; the rhythm motor is driven by the control system and is fixed on the base; the rhythm motor is connected with the speed reducing mechanism; the eccentric block is fixed on the output shaft of the speed reducing mechanism, and the rotating shaft of the pulley is fixed on the eccentric block;

the bottom of the tray is provided with a groove; the pulley is embedded into the groove; the rotation of the rhythm motor can drive the groove of the tray and the tray to horizontally reciprocate together through a transmission mechanism consisting of a speed reducing mechanism, an eccentric block and a pulley.

The control system comprises a control panel and a controller, and an external power supply or a battery is adopted to provide power; the controller is arranged on the base or externally connected to the outside of the base and is controlled by a remote controller or a mobile phone through Bluetooth or a wireless network; the control system has the functions of switching on and switching off, timing and regulating the rotating speed of the rhythm motor, and the rhythm frequency is controlled by the rotating speed of the rhythm motor.

The upper part of the tray is also provided with an upper rotating table which can freely rotate on the horizontal plane relative to the tray, and the upper rotating table can be contacted with the human body part. The upper rotary table can also be provided with a flexible pad close to the true size. If a rotating shaft is added between the tray and the base, the tray rotating structure is a two-layer disc structure because a groove structure is arranged below the tray and the base.

The driving mechanism comprises a rhythm motor and a speed reducing mechanism, and at least one eccentric block and a pulley are arranged;

the rhythm motor is fixed on the base and is connected with the speed reducing mechanism; the speed reducing mechanism can adopt a turbine screw rod speed reducing box, a gear speed reducing box, a belt and a belt pulley speed reducing box, and preferably adopts the turbine screw rod speed reducing box; the pulley is a bearing with a screw.

The speed reducing mechanism is provided with one output shaft or two output shafts, the eccentric block is fixed on the output shaft, the middle shaft of the pulley is fixed on the eccentric block, and the distance between the center of the pulley and the center of the output shaft of the speed reducing mechanism is half of the rhythm amplitude of the rhythm robot.

The bottom of the tray is provided with a rectangular groove, the pulley is embedded in the groove and is contacted with the inner wall of the groove, and the pulley can roll in the groove in a reciprocating manner; the rotation of the rhythm motor drives the concave groove of the tray to reciprocate with the tray through a transmission mechanism consisting of a speed reducing mechanism, an eccentric block and a pulley, and the outer ring of the pulley or the rolling contact surface of the groove and the pulley is made of elastic materials such as silica gel or polyurethane, so that the noise during rhythm is reduced.

The control system is connected with the rhythm motor, comprises a control panel and a controller and adopts an external power supply or a battery to provide power; the controller is arranged on the base or externally connected to the outside of the base and is controlled by a remote controller or a mobile phone through Bluetooth or a wireless network; the control system has the functions of switching on and switching off, timing and regulating the rotating speed of the rhythm motor, and the rhythm frequency is controlled by the rotating speed of the rhythm motor.

Furthermore, the control system also comprises a human body heart rate detection device, and the control system can control the rhythm frequency of the multidirectional qi-blood rhythm robot to be synchronous with the human body heart rate according to the human body heart rate.

Or the control system comprises a human body breathing frequency detection device, and the control system can control the rhythm frequency of the multidirectional qi-blood rhythm robot to be synchronous with the human body breathing frequency according to the human body breathing frequency.

Further, the rolling friction mechanism and the driving mechanism can also adopt a structure similar to a four-wheel vehicle, the wheels are driven by the rhythm motor, and the horizontal reciprocating motion of the tray is realized through the positive and negative rotation of the rhythm motor.

Furthermore, the outer parts of the base and the tray are provided with flexible jackets, the materials of which can be elastic cloth or elastic plastic, and also can be fabric without elastic peripheral folds, preferably elastic cloth.

Furthermore, the outer side of the base is provided with a flexible material such as a high-density sponge protective sleeve, gaps are reserved between the sponge protective sleeve and the moving parts of the tray and the driving mechanism, and the elastic outer sleeve is tightly attached to the outer side of the sponge protective sleeve.

Adopt elasticity overcoat inside lining sponge lag, with the design of the whole parcel of tray and base, both can guarantee that the tray can be nimble freely move, can prevent again that hair, finger or foreign matter card from in the gap of moving part, comfort when can increase the health simultaneously and touching, current product plastics or metal casing more have the affinity relatively, this is the prior art of this trade and the method that does not use in the product.

Furthermore, the upper part of the tray is also provided with an upper rotating table which can rotate freely, and the tray is contacted with the human body part through the upper rotating table; the upper rotary table can horizontally reciprocate together with the tray and can horizontally and freely rotate on the tray.

When the tray and the base rotate in situ, the angle of the upper rotary table and the posture of the human body are kept unchanged, and the reciprocating movement direction is changed along with the tray; the upper rotary table can also be provided with a flexible pad with the size close to that of the upper rotary table.

The purpose of arranging the upper rotary table is that different rhythm directions can be obtained for the body part, for example, when the body is laid down, the feet are placed on the upper rotary table, after the body is transversely reciprocated for a period of time, when the body is required to be longitudinally reciprocated, the feet do not need to leave the upper rotary table, a massager only needs to hold the base by hands, horizontally rotate the base by 90 degrees, and then the feet can be changed from the transverse rhythm swinging from left to right into the longitudinal rhythm swinging from top to bottom.

Further, the bottom of the base is also provided with a lower turntable, a rotating mechanism and a locking mechanism, and the base is driven to rotate horizontally manually or electrically;

the lower turntable is arranged at the bottommost part of the robot and is in static contact with the ground or the bed surface;

the rotating mechanism is similar to a rotating dining table structure, and can directly rotate the base by hand before confirming the rhythm direction, and after the base rotates to the required rhythm direction, the lower turntable is fixed with the base through the locking mechanism, and then the rhythm motor is started.

The locking mechanism adopts an electromagnetic lock or a manual bolt structure.

When the electric drive is adopted, an independent rotating motor can be adopted to drive the base to rotate horizontally, and the upper rotating platform is combined, so that the body part can be regulated in the rhythm direction while not leaving the robot.

Further, the control system is provided with a tray displacement detection device, when the tray moves to the middle and maximum stroke (such as the leftmost, rightmost, frontmost or rearmost) position, the control system detects the position of the tray through the tray displacement detection device, and the displacement detection device adopts a stroke switch, electromagnetic induction or a photoelectric switch.

Furthermore, a lifting mechanism is arranged on the tray and can support the upper rotary table; the lifting mechanism can also be arranged in the base and can lift the tray; the lifting mechanism adopts a telescopic air bag or is driven by an electric or pneumatic push rod. The tray is also provided with a flexible pad.

The tray is provided with a flexible cushion, and the flexible cushion is made of flexible materials with adjustable elasticity, such as an air cushion with adjustable air pressure, a spring cushion with variable elasticity and the like; or the flexible cushion can also adopt a double-layer structure of an adjustable air cushion and a spongy cushion;

when the air cushion is made of flexible materials with adjustable elasticity, the air pressure of the air cushion is controlled by a manual air pump, or the air pressure is automatically set by a control system and the air pump.

When the tray drives the body to move regularly through the air cushion, although the motion amplitude of the tray is fixed by the driving structure in the base, when the air pressure of the air cushion is adjusted to a certain pressure, the air cushion is extruded by the body to generate regular deformation, so that a buffering effect is formed, the force of the tray on the body is reduced, and the regular movement amplitude of the body is reduced; when the air cushion is full of air or completely deflated, almost no buffering is performed, and the rhythm amplitude of the body is consistent with that of the tray to the maximum, so that the rhythm amplitude can be adjusted, and different requirements of users can be met conveniently.

Compared with the traditional method for changing the rhythm amplitude by changing the mechanical driving structure, the structure is simple and convenient, and the comfort of the body can be improved; the flexible cushion can also adopt a double-layer structure of an adjustable air cushion and a spongy cushion.

The bottom of the base is provided with a lower turntable and a rotating mechanism which are used for manually or electrically driving the base to rotate.

The outer side of the base is filled with a flexible protective sleeve, such as high-density sponge; gaps are reserved among the flexible protective sleeve, the tray and the moving part of the driving mechanism;

a flexible outer sleeve, such as an elastic cloth sleeve, is arranged outside the base and the tray; the flexible protective sleeve is lined inside the flexible outer sleeve.

A control method of a multidirectional qi and blood rhythm robot is characterized in that when a human body naturally lies on a bed, the multidirectional qi and blood rhythm robot is placed on a human body part, a tray of the multidirectional qi and blood rhythm robot drives the human body part in contact with the tray to do rhythm movement, and other parts of the human body without contact are in a static state or show passive rhythm movement; the human body part refers to feet, calves, thighs, buttocks, waist, back, abdomen, chest or head; the following directional rhythms of the tray are controlled by the control system:

the direction 1: the human body part horizontally swings perpendicular to the spine of the human body; when the tray moves in a direction perpendicular to the body, the body moves laterally.

Direction 2: the human body part horizontally and longitudinally reciprocates parallel to the spine of the human body; if the body lies on the bed and the feet are placed on the tray, the body will move vertically if the tray moving direction of the multi-azimuth qi-blood rhythm robot is parallel to the body trunk.

Direction 3: the human body part vertically fluctuates; the lifting mechanism in the multi-azimuth qi-blood rhythm robot can lift the body part to move up and down.

Direction 4: the whole human body is repeatedly twisted along the spine as an axis; because the buttocks of the body are hemispherical, when the horizontal transverse swinging frequency of the body reaches a certain frequency, the body can change from the transverse rhythm of the left and right water surfaces into the repeated twisting rhythm with the spine as the central line.

Further, the combined pattern of the rhythm direction, rhythm frequency, rhythm time and rhythm directions is set by the control system. If the feet do transverse rhythm, the tray can be lifted and lowered simultaneously, and the feet do circular motion. The hand-held multi-position qi and blood rhythm robot tray can be held downwards to contact the abdomen, so that the internal organs of the abdomen can be kneaded.

The rhythm frequency is generally about 0 to 130 times/min, and different frequencies are adopted according to individual differences of different people and different time periods for conditioning bodies; can be divided into three periods of relaxation preparation, massage conditioning and rest. In the relaxing stage, slow frequency of 0-30 times/min is adopted to relax the body; in the massage conditioning stage, a slightly high frequency is adopted when the massage balls/sticks are matched to massage acupuncture points; the rest stage after the massage is finished recovers the slow frequency, so that the body can obtain the feeling of the baby cradle, further relax and even enter the sleep state.

Furthermore, after the qi-blood rhythm robot drives the human body to continuously rhythm for a period of time, when the tray moves to the maximum motion amplitude or the maximum speed in a certain direction, the qi-blood rhythm robot is suddenly stopped and continuously stopped for a period of time, and then the rhythm is recovered (the recovery is preferably slow recovery, such as the rhythm amplitude and the frequency are gradually increased).

When the qi and blood rhythm robot drives the body to rhythmically, the rhythmically moves not only the joints and muscles, but also the blood in the blood vessels in the body, namely the blood normally pulsates and flows in the blood vessels, and the blood generates extra rhythmically impacting force on the blood vessel walls in the rhythmically moving direction due to the flow inertia of the body rhythmically and the liquid, so that the microcirculation of the blood in the body can be improved.

Taking a horizontal and longitudinal rhythm as an example, after the qi-blood rhythm robot drives the blood to rhythm for a period of time, the blood suddenly stops, the impact force of the blood on the blood vessel is increased by a plurality of times instantly, and particularly after the tray moves for a complete stroke, the tray suddenly stops, and the acceleration generated by the tray is maximum; if the head is still at the head side, the obvious feeling of upwelling of the blood of the whole body can be generated; if the foot is static at the lateral direction of the foot, the feeling that the blood of the whole body downwards rushes to the arch of the foot can be generated; therefore, the effect of ascending and descending qi and blood according to the theory of traditional Chinese medicine can be obtained.

Furthermore, after the control system of the qi and blood guiding robot collects the heart rate of the body through the heart rate detection device of the body, the rhythm frequency of the platform of the heart and lung guiding robot is the same frequency as the heart rate, and according to the same frequency resonance principle, the power outside the body can promote the heart function, so that the effect of assisting the heart in vitro is obtained.

Further, the control system of the robot for guiding qi and blood controls rhythm frequency according to body respiration frequency, and comprises methods of same frequency and frequency reduction:

the same-frequency method means that when the body rhythms along with the qi and blood guiding robot, the visceral organs in the abdominal cavity continuously generate rhythmic impact on the diaphragm, and the impact is transmitted to the lung through the diaphragm; when the impact of the external mechanical rhythm is consistent with the respiratory frequency of the lung, the muscle tissue and the nerve tissue related to the lung can obtain the kinetic energy transmitted by the external machine according to the same-frequency resonance principle to produce stronger respiratory intensity than usual respiration, in other words, the same-frequency resonance can promote the lung to breathe and can play the role of an external respirator.

At present, the breathing machine in the whole medical industry adopts the mode that external air is directly led into a respiratory tract, or a negative pressure is formed on the body outside the respiratory tract through a negative pressure cabin, so that the pressure difference between the lung and the atmosphere is increased, and the breathing function is enhanced.

In addition, the artificial respiration method of the chest compression assisted respiration only applies downward pressure to the lung to enhance the contraction force, cannot enhance the outward expansion force of the lung, and can only rebound through respiratory muscles and bones, so that the artificial respiration method only has a one-way assisted respiration function.

The invention creatively creates a new mode of the breathing machine, when the qi and blood guiding robot is placed on the foot to do rhythm longitudinally, the qi and blood guiding robot drives the lower limbs to form longitudinal extrusion and release force on the pelvic cavity, and then the longitudinal rhythm of the diaphragm is transmitted to the diaphragm below the lung, so that the diaphragm does rhythm longitudinally, the lung obtains external expansion and contraction force, and the breathing assisting device can play a good role in assisting breathing for patients with dyspnea.

The frequency reduction method is to use a same frequency method for a period of time and then gradually reduce the rhythm frequency.

Regarding the body breathing theory, the core viewpoints of the breathing methods such as abdomen lifting breathing and inverse abdomen breathing in various body-building methods such as traditional Chinese medicine guidance, Taijiquan, yoga and Qigong guidance are that the breathing is as deep as possible, the inspiration and expiration time is as long as possible, the breathing frequency is reduced, the metabolism level of the body can be improved through deep breathing, and the body-building method is very beneficial to the body health. The lung is innervated to produce unconscious shallow breathing at ordinary times, deep breathing must be guided by brain consciousness of people to conduct respiratory action of the lung, and generally people are difficult to guide the lung breathing by the brain consciousness for a long time, and the deep breathing is good but difficult to last.

Therefore, the invention creatively provides a frequency reduction method, and concretely realizes that, for example, a control system detects that the normal unconscious respiratory rate of a body is 18 times/minute, firstly the qi and blood guiding robot keeps rhythm at the frequency for 20 minutes, after the lung generates the same-frequency resonance effect, the brain and the nervous system are slowly adapted to the sensation, then the rhythm frequency of the qi and blood guiding robot is slowly and slightly reduced, for example, reduced to 16 times/minute, because the body nervous system is in resonance association with the external qi and blood guiding robot in the same-frequency stage, after the rhythm frequency of the qi and blood guiding robot is slightly reduced, the nervous system also enables the respiratory frequency of the lung to follow the reduced 16 times/minute to continue, and the lung is still in the unconscious respiratory state which is not dominated by the brain at the same frequency, obviously, the respiratory frequency is reduced, the respiratory depth is increased, thereby realizing deep breathing without the need of conscious control of human brain! The deep breathing can be permanently obtained by the body through the qi and blood guiding robot, and the guiding effect of the traditional Chinese medicine can be realized.

Furthermore, when the human body lies on the bed surface and moves regularly through the multi-azimuth qi and blood rhythm robot, the bottom of the human body is provided with a plurality of massage balls or massage sticks or back cushions, so that the part of the human body is squeezed, and meanwhile, the part of the human body can be supported.

The acupoint massage comprises two actions, pressing, exerting force to squeeze the acupoint, rubbing back and forth.

The existing massage equipment and technology adopt a mode of reciprocating and squeezing body acupuncture points at the same time; the head, the neck, the legs, the eyes, the abdomen and the feet of the body are provided with special massage devices, and the massage devices have different shapes and use methods, so that the cost is high and the use is complicated. The effect of the massage is closely related to the magnitude of the extrusion force, the effect is poor when the force is small, the massage is unsafe when the force is too large, and meanwhile, the massage effect is greatly different from manual massage due to huge individual difference between people.

According to the method, pressing and massaging are separated, the rhythm of the body acupuncture points completes the massage action, and the multi-azimuth qi and blood rhythm robot does not exert force on the acupuncture points and is only responsible for massaging; the massage balls or the massage sticks only squeeze the acupuncture points to exert force, and after the combination, the massage balls or the massage sticks and the acupuncture points of rhythm form relative motion and interaction force, so that the acupuncture point massage effect is realized.

Safety: the massage extrusion force is generated by the dead weight of the body, so that the massage chair is safer.

Convenience is realized: the massage ball or stick is placed on the required acupuncture points or the method of placing the massage ball or stick on the required acupuncture points is adopted, so that the complicated body part massage operation becomes very simple, the complicated force-exerting action in a plurality of Chinese medical massage methods can be realized by changing the rhythm direction, and the clinical test can achieve 90 percent of artificial massage effect.

For example, when the neck is massaged, the neck can be massaged very effectively by placing a massage ball or a massage stick behind the neck after the body lies flat and driving the body to move vertically or horizontally through a tray placed on the feet or the hip. When the waist is required to be massaged, only the massage ball or the massage stick is needed to be put on the waist.

When the qi and blood rhythm robot is regularly moved on the body part, such as the hip, other parts of the body, such as the head and the back, can be suspended to cause discomfort, and the suspended part can be provided with a massage ball or a massage stick or a back cushion to play a role in filling and supporting, so that the body balance and comfort are ensured.

The control method is characterized in that under a free and unbound state of a body, the multidirectional qi and blood rhythm robot pulls one part of the body, such as the foot, drives other parts of the body through the foot, and enables the joints, muscles and tendons of each part of the body to mutually generate slight and regular repeated extrusion force and pulling force.

Although the foot swinging machine in the prior art can also generate reciprocating swinging motion, the moving part of the foot swinging machine contacting with the body adopts a fixed double-groove foot support, only the ankle joint of the foot can be placed, and the foot swinging machine is not suitable for contacting other parts of the body.

The invention adopts a completely open plane, so that the feet, the legs, the buttocks, the waist, the back, the neck, the face and other body parts can be randomly placed on the tray, the flexible pad on the tray can ensure that the body parts cannot slip when rhythming, and various types of more comfortable cushions can be placed on the flexible pad. Meanwhile, the tray can be placed in any direction, so that the rhythm direction of the tray can form any angle with the spine of the body, and the body part in contact with the tray can generate any rhythm direction.

There is also patent 201810435286.4 a rehabilitation method of spinal column twisting, vibration, traction and spinal column exercise rehabilitation, but it adopts a massage bed, which can only do the transverse swinging motion of neck and waist, and by binding two points of waist and oxter, the waist can exert force to pull the body, only can condition the spinal column of upper half body, and can not pull the whole body, the equipment is bulky, and needs to be operated by other people or professional personnel. Patent 201821800998.3 discloses a rhythm mattress, which adopts the longitudinal movement of the whole mattress, and the body only can move longitudinally, and the movement direction is single; because the whole body lies on the mattress, the whole body does longitudinal movement at the same time, and the body parts do not move relatively and do not have mutual pulling force, the central joint of the body can not be pulled, and the mattress has the advantages of large volume, inconvenient use and limited effect.

Creative analysis:

1. the inventive structure design:

1.1 adopting an open tray: breaks through the structural mode that the prior art can only be used for fixing a bracket (a foot rest) at a single part of a body, breaks through the application range of rhythm of the body in the prior art, and has high universality. The open tray and the compact design allow the feet, legs, buttocks, waist, back, neck, face and other body parts to be placed on the tray at will. And flexible pads of various types can be placed on the tray according to personal preference, so that the body part cannot slip when the user rhythms, and the user feels more comfortable when the user rhythms. Meanwhile, the tray is free in direction and can be placed in any direction, so that the rhythm direction of the tray can form any angle with the spine of the body, and the body part in contact with the tray can generate any rhythm direction.

1.2 adopt drive and roll the structure of atress separately, the load is big, and the energy consumption is low: the tray is directly pressed on the bottom plate through four rollers, and the tray can bear hundreds of kilograms of external pressure in the vertical direction; the driving mechanism is not affected by the pressure in the vertical direction, and only the rolling friction force in the horizontal direction of the roller is needed to be overcome. In actual measurement, an adult stands on the tray, and only needs a small rhythm motor of dozens of watts to drive the driving mechanism to enable the tray to do reciprocating rhythm, so that the mechanical structure design efficiency of the whole robot is extremely high.

2. The control method for guiding qi and blood rhythm creatively comprises two levels:

2.1, a multi-direction rhythm control method of the body: the rhythm object is the body skeleton and muscle tissue. Under the free and unbound state of the body, the multidirectional qi and blood rhythm robot of the invention can generate rhythmic and repeated relative micro displacement among all parts in the body in multiple directions, and form repeated micro extrusion and micro pulling force among the parts of the body (such as joints between legs and buttocks, muscle tissues and the like) to achieve the purpose of conditioning central joints of the body, but the prior art can only realize partial functions in the invention.

2.2, a same-frequency resonance control method: the rhythm object is blood, which is an upgrade of the traditional body rhythm, and the prior body massage conditioning equipment and method treat the bones and muscles of the body as a relatively static solid object without considering the blood which is 7-8% of the body weight in the body! Nor massage conditioning methods and devices for whole body blood.

Simple experiments show that a cup filled with water and a half-dry mud pie are respectively held by two hands and then are shaken simultaneously, the water can continuously impact the inner wall of the cup to generate shock waves, and the frequency of the shock waves can be increased due to the reflection superposition of the cup wall; the mud mass hardly changes much; then, the hands are suddenly stopped, water in the cup can be instantly flushed out of the cup, the mud pie can be slightly deformed, obviously, the effects of liquid and solid under the same acceleration are completely different, and if the body blood vessel is taken as the cup, the water in the cup, the body muscles and bones are the mud pie.

The qi and blood guiding control method is a new method taking blood as a rhythm object, aiming at the liquid characteristic of the blood on the basis of the rhythm of the body, the rhythm of the blood of the body is driven by the rhythm of the body to generate rhythm inertia, so that the blood flows in blood vessels, and simultaneously, a slight shock oscillation wave is added to the blood vessels, and simultaneously, vascular endothelial cells can be stimulated to generate nitric oxide beneficial to the human body, and the nitric oxide is a vasodilator and a dredging agent of the blood vessels, can expand the blood vessels rapidly and protect the heart and the blood vessels.

Referring to hectometre library external shock wave, the external shock wave has been widely applied to urinary calculus and orthopedic orthopedics, and in recent years, researchers found that the external shock wave has the effect of improving cardiovascular ischemic lesion, and animal experiments and clinical studies found that the low-energy external shock wave can up-regulate the expression of vascular endothelial growth factor, promote angiogenesis, promote the generation of nitric oxide, increase local blood perfusion, remarkably relieve angina pectoris symptoms, improve left ventricular function and reconstruction, and the study status and development prospect of the external shock wave about the properties, the biomechanical effect and the treatment mechanism of cardiovascular diseases are summarized as [1] phoenix-xuetai, Zhang pine ] the application of the external shock wave in cardiovascular diseases [ J ]. International cardiovascular diseases, J2016, 43 (006): 334-336.

In addition, the invention also has the following characteristics and beneficial effects:

comfort of use, improving sleep: the whole-body relaxation is the premise of conditioning and recovering any disease, the qi-blood rhythm robot is quite quiet in use, the body is not restricted, and violent beating vibration is avoided, and clinical tests show that the quiet and comfortable rhythm of the body can easily enter a sleep state, and the sleep is the highest level of the body relaxation; meanwhile, the insomnia problem troubling people is solved very easily.

Joint orthostatic: medical studies have shown that many conditions of the body are associated with dislocation of the central joints, including the cervical spine to the sacral spine 24 pairs of the spine, hip, knee, ankle, which are repositioned to allow the tendon tissue to relax. The longitudinal rhythm of the foot-positioning device can pull the central joints of the whole body to be slowly and repeatedly extruded and pulled, and the malposition joints are slowly righted by lasting for a longer time, so that the safety is slowly ensured, and the time is ensured to be effective.

Improvement of constipation: when the body is rhythmed in multiple directions, the pelvic cavity can be repeatedly squeezed and pulled, so that the intestinal peristalsis can be accelerated, and the constipation can be improved.

Convenience and high efficiency: many chronic pains are caused by long-term bad habits, so the recovery method also needs time, and the effect can be ensured only when the patients enter families and are used in daily use. The invention has small volume, low energy consumption (the actual test consumes less than 20 watts), simple use, can be operated by one person by anyone and can be directly placed on a bed in a bedroom, and meanwhile, the invention is comfortable to use and can be used before sleeping every time.

Simple and safe: unlike medical bonesetting, the present invention is designed to improve the body in slow, subtle changes through convenient use for a long time. When the robot is used, no matter the qi and blood rhythm robot is in contact with the body or is not in contact with the body, the body part can freely move at any time, and the operation of professionals is not needed. Meanwhile, the appearance of the qi and blood rhythm robot adopts the overall design of cloth and a sponge protective sleeve, and no gap is formed for insertion, so that the qi and blood rhythm robot cannot wind the long hair of a female and clamp fingers, and has affinity and safety compared with the existing rhythm massage equipment.

The invention has been applied in clinic and teaching for nearly one year (not disclosed), and the above effects have been proved repeatedly.

In conclusion, the invention seems to be extremely simple, although the hands and feet of the artificial intelligent robot are not provided, the technical core that the robot replaces the manual work is really found, namely, the robot replaces the manual work to complete simple and repeated actions, and actually, the robot is not innovative when being made according to the human model. The simple structure of the present invention firstly brings about the advantage of very low cost, and also realizes the multi-stage creative effect, thereby having obvious progress compared with the prior art.

Drawings

FIG. 1a is a schematic side view of the robot;

FIG. 1b is a schematic top view of the robot;

FIG. 2a is a schematic diagram of a robot in a side view with a leftward displacement;

FIG. 2b is a schematic top view of the robot with a leftward displacement;

FIG. 3a is a schematic diagram of a robot in a side view with rightward displacement;

FIG. 3b is a schematic diagram of the robot being displaced to the right in a top view;

FIG. 4 is a schematic diagram of the robot without a cover;

FIG. 5 is a schematic top view of the robot assembly;

FIG. 6 is a side view schematic of the robot assembly;

FIG. 7 is a schematic side view of a pallet of the robot;

FIG. 8 is a top-down view of the robot tray;

FIG. 9 is a side view of the base structure of the robot;

FIG. 10 is a schematic top view of a base structure of the robot;

FIG. 11 is a schematic side view of the inner structure of the robot after a sponge protective sleeve is installed on the base;

FIG. 12 is a schematic diagram showing a side view of the robot base with a sponge protective cover mounted thereon;

FIG. 13 is a bottom view of the base of the robot;

FIG. 13a is a schematic diagram of a robot with rollers mounted on a base;

FIG. 13b is a schematic diagram of the structure of the robot with the slider mounted on the tray

FIG. 13c is a schematic diagram of the structure of the robot with the slider mounted on the base

FIG. 14 is a side view of the robot with the turret added to the assembly;

FIG. 15a is a side view of the robot after adding the upper turntable and the lower turntable and assembling;

FIG. 15b is a schematic diagram of the meshing of the gears in the drive mechanism of the lower turntable of the robot;

FIG. 16 is a schematic top view of the robot tray with magnets mounted in left and right positions;

FIG. 17 is a schematic diagram of the robot base from the top view after being installed with the magnetic switch at the left and right positions;

FIG. 18 is a schematic side view of a robot tray with magnets and magnetic switches displaced to the right by the robot;

FIG. 19 is a schematic side view of a robot tray with magnets and magnetic switches displaced to the left for a robot;

FIG. 20 is a schematic top view of the internal structure of a robot employing a pulse motor to directly drive rollers;

FIG. 21 is a schematic side view of an internal structure of a robot employing a pulse motor to directly drive a roller;

FIG. 22 is a schematic view showing a robot in a state in which the tray is lifted by the air bag;

FIG. 23 is a schematic view of a robot in a descending state by using an air bag lifting tray;

FIG. 24 is a schematic view showing a robot in a state in which the robot adopts an air bag lifting base to ascend;

FIG. 25 is a schematic view of a robot in a descending state by using an air bag lifting base;

FIG. 26 is a schematic view of the robot in a state in which it is inflated with the air cushion on the tray;

FIG. 27 is a schematic view of a robot employing a deflated state of the air cushion on the pallet;

FIG. 28 is a schematic view of the robot in use being placed on a foot;

FIG. 29 is a schematic view of the robot being used while positioned at the hip;

FIG. 30 is a schematic view of the robot in use being placed on the back;

FIG. 31 is a schematic view of the robot being used while positioned in the abdomen;

FIG. 32 is a schematic diagram of the use of the robot in a longitudinal rhythm with the foot placed;

fig. 33 is a schematic diagram of the use of the robot in lateral rhythm with the foot placed.

Description of reference numerals: 1-a tray; 10-a roller bracket; 11-a roller; 12-eccentric hole of tray; 13-a flexible mat; 14-left magnet; 15-right magnet;

2-a base; 20-a speed reducing mechanism; 21-a guide rod; 22-guide bar holder; 23-an eccentric mass; 24-a pulley; 25-a chassis; 26-a foot pad; 27-sponge protective sleeve; 28-lower turntable; 291-right limit magnetic switch; 292-left limit magnetic switch;

3-a pulse motor; 30-a slide block;

4-upper rotating platform; 401-a lifting platform;

5-lower turntable; 501-turntable motor; 502-carousel pinion; 503-carousel gear; 504-a turntable bearing rotating ring; 505-a slewing ring bearing; 506-an electromagnetic bolt; 507 a-lateral insertion hole; 507 b-longitudinal insertion holes; 508-transverse magnetic switch; 509-longitudinal magnetic switch; 511-a turntable magnet;

6-massage stick; 7-massage ball; 8, a guide sleeve; 80-vertical guide rods; 81-a telescopic air bag; 82-lower rotating chassis; 9-flexible jacket.

Detailed Description

Note: the multidirectional qi and blood rhythm robot is hereinafter referred to as a robot.

The invention will be described in further detail below with reference to the following figures and specific examples:

example 1:

the robot of the embodiment comprises a round tray 1 and a base 2, and the tray 1 and the base 2 are arranged into a disc-shaped whole body through a flexible jacket 9, wherein the size of the tray 1 is close to the hip of a human body, the diameter is about 200-350mm, the ratio in a height diagram between the tray 1 and the base 2 is about 70-150mm, the reciprocating amplitude of the tray 1 is about 10-40mm, and the flexible jacket 9 made of cloth or silica gel is arranged outside the embodiment. Referring to fig. 1, the tray 1 is moved to the left end state, see fig. 2; the tray 1 is shown to move to the right end as shown in fig. 3; the tray 1 and base 2 are shown with the flexible outer cover 9 removed, see fig. 4-6.

Wherein the lower part of the tray 1 is provided with four sets of idler wheels 12 with brackets 11, the groove in the middle of the tray 1 adopts a rectangular opening 12, the upper part of the tray 1 is provided with a sponge layer 13, the sponge layer 13 is contacted with the body part through a flexible coat 9, see fig. 7 and 8, and the middle part of the circumferential surface of the outer ring of the idler wheel 12 is provided with an invaginated groove.

Wherein the base 2 is provided with a rhythm motor 3 and a driving mechanism composed of a speed reducing mechanism 20, a guide rod 21, a guide rod bracket 22, an eccentric block 23, a pulley 24 and a chassis 25, the rhythm motor 3 drives the eccentric block 23 to rotate through the speed reducing mechanism 20, and the pulley 24 is arranged on the eccentric block 23.

The four rollers 11 of the tray 1 are contacted with the chassis 25 and can roll on the chassis 25 in a reciprocating way; the pulley 24 is contacted with the inner wall of the rectangular opening 12 of the tray 1, the upper parts of the sunken grooves of the two groups of rollers 12 are respectively contacted with the two guide rods 21, the grooves of the rollers 11 are designed to ensure that the rollers 11 are closely contacted with the guide rods 21, and meanwhile, the rollers 11 can only roll back and forth along the direction of the guide rods 21; when the rhythm motor 3 drives the pulley 24 to do the eccentric rotation motion, the inner wall of the hole 12 above the tray is extruded, so that the tray 1 and the rhythm motor 3 synchronously move, and the two guide rods 21 on the base play a role of a track to restrict the tray 1 to only do the reciprocating motion along the guide rods 21; the load pressure of the body to the robot is directly transmitted to the chassis 25 through the four rollers 11, and the rhythm motor 3, the speed reducing mechanism 20, the guide rod 21 and the pulley 24 do not bear the weight load of the body. The pulley 24 and the four rollers 11 are made of elastic material, such as polyurethane, on the rolling surfaces, so that the robot has low noise in use. Two guide rod brackets 22 for fixing the guide rods are arranged at two ends of the two guide rods 21, and the guide rod brackets 22 are fixed on a chassis 25, which is shown in fig. 9 and 10.

At the outer fringe round on chassis 25 upper portion, be fixed with flexible material like high density sponge lag 27, between sponge lag 27 top and the bottom of tray 1 to and all leave the clearance between four gyro wheels 11 and the gyro wheel support 10, guarantee that tray 1 and gyro wheel 11 can not take place the friction with sponge lag 27 when reciprocating motion, have ventilative thermal diffusivity simultaneously. The sponge protective sleeve 27 and the cloth cover 9 can enhance the use comfort of the device, prevent the tray 1 from clamping fingers, and ensure sufficient safety in use, see fig. 11 and 12. The bottom of the chassis 25 is also provided with a foot pad 26, see fig. 13.

Example 2:

the difference between this embodiment and embodiment 1 is that the roller bracket 10 is installed on the upper part of the base, the guide rod bracket 22 is fixed on the lower part of the tray 1, and the roller 11 only rotates and does not do horizontal reciprocating motion; the tray 1 is pressed against the rollers 11 and the tray 1, the guide bar holder 22 and the guide bars are brought together into a horizontal return rolling movement, see fig. 13 a.

Example 3:

the difference between this embodiment and embodiment 1 is that the tray and the base are connected by a sliding friction mechanism, which includes a guide mechanism and a slider 30 that are used in cooperation with each other; the guide mechanism is two guide rods 21 which are parallel to each other; the slide 30 can be moved horizontally back and forth along the guide, the guide bar 21 being fixed to the base and the slide 20 being fixed to the tray, see fig. 13 b.

Example 4:

the difference between this embodiment and embodiment 1 is that the tray and the base are connected by a sliding friction mechanism, which includes a guide mechanism and a slider 30 that are used in cooperation with each other; the guide mechanism is two guide rods 21 which are parallel to each other; the slide 30 can be moved horizontally back and forth along the guide, the guide bar 21 being fixed to the tray, the slide 30 being fixed to the base, see fig. 13 c.

Example 5:

the difference between this embodiment and embodiment 1 is that an upper rotating table 4 is further installed between the tray 1 and the flexible pad 13, the size of the upper rotating table 4 is consistent with or close to that of the tray 1, the flexible pad 13 is fixed on the upper rotating table 4, a body part is placed on the upper rotating table 4, wherein the upper rotating table 4 and the tray 1 keep a free rotating state, when the tray 1 drives the upper rotating table 4 to reciprocate together, the upper rotating table 4 can rotate freely relative to the tray 1, so that after feet of a body lie down on the flexible pad 13 and the upper rotating table 4, the moving direction of the upper rotating table 4 can be consistent with the body all the time, when the tray 1 and the base 4 rotate in situ, the angle of the upper rotating table 4 and the posture of the body keep unchanged, and only the direction of the reciprocating movement is changed along with the tray 1; when the moving direction of the tray 1 relative to the body needs to be changed, the feet do not need to leave the flexible pad 13 and the upper rotating table 4, and the base 2 is only lifted away from the bed surface by hands to rotate the base 2, so that the rhythm direction of the body can be continuously adjusted conveniently, and the movement direction of the body is shown in fig. 14.

Example 6:

the difference between this embodiment and embodiment 5 is that in addition to embodiment 5, a lower turntable 5, a rotation mechanism, a position detection device and a locking mechanism are added on the lower portion of the base 2, and the rotation mechanism includes a turntable motor 501, a turntable pinion 502, a turntable gear 503, a turntable bearing rotating ring 504 and a turntable bearing stationary ring 505.

Wherein the rhythm motor 3 and the driving mechanism are both fixed on the lower turntable 5; the turntable bearing rotating ring 504 is fixedly connected with the lower turntable 5, and the turntable bearing static ring 505 is fixedly connected with the base 25; the lower rotary table 5 is clung to the base 25 through a rotary table bearing dynamic ring 504 and a rotary table bearing static ring 505; a turntable rhythm motor 501 and a turntable pinion 502 are arranged on the lower turntable 5; the turntable gear 503 is mounted on the base 25; the turntable pinion 502 is dynamically engaged with the turntable gear 503, and the turntable motor 501 drives the turntable gear 503 to rotate relatively through the turntable pinion 502, so that the lower turntable 5 rotates relative to the chassis 25. The change of rhythm direction is realized through the rotation of the base relative to the lower rotary table 5.

The position detection device comprises two horizontal magnetic switches 508 and a vertical magnetic switch 509 which are arranged on the lower rotary disc 5 and have the horizontal positions different by 90 degrees, and a rotary disc magnet 511 arranged on the base;

the locking mechanism adopts electromagnetic bolts and comprises an electromagnetic bolt 506 arranged on the lower rotary table 5, a transverse insertion hole 507a on the base, a longitudinal insertion hole 507b on the base, and the difference between the transverse insertion hole 507a and the longitudinal insertion hole 507b is 90 degrees. The electromagnetic bolt is self-holding, and when the bolt is pulled out, the bolt is pulled out when the power is off and kept in the pulled-out state, and when the bolt is pulled back when the power is on again, the bolt is retracted and the bolt is still kept in the retracted state when the power is off.

When the control system is currently executing a process that changes the direction of the rhythm, for example, by traversing the direction of the rhythm, switching the direction of the longitudinal rhythm: firstly, the electromagnetic bolt 506 and the transverse jack 507a are in a mutually locked state, the electromagnetic bolt 506 is electrified, the electromagnetic bolt is drawn out from the jacks to release the base to be in a free state, then the turntable motor 501 is electrified to enable the base to rotate by 90 degrees, when the magnetic longitudinal switch 509 is close to the turntable magnet 511, the magnetic switch feeds back corresponding signals to the control system, the turntable motor 501 stops, the magnetic bolt 506 is electrified again, and the electrified bolt is drawn out and inserted into the longitudinal jack 507b to enable the base and the lower turntable to be locked. See fig. 15 and 15 a.

Example 7:

the difference between this embodiment and embodiment 6 is that the locking mechanism uses a manual latch, and the rotating mechanism directly rotates the base by hand without using a motor, so that the base rotates relative to the lower turntable 5, thereby changing the rhythm direction. The manual bolt is similar to a common bolt structure and is not described otherwise.

Example 8:

the difference between this embodiment and embodiment 1 is that, on the basis of embodiment 1, there are left and

right magnets

291 and 292 on the moving tray, and there are left and right

magnetic switches

14 and 15 on the base, and the magnetic switches may be hall sensors, and the two magnetic switches are connected to the control system, as shown in fig. 16 and 17. When the tray moves to the far left, the magnet 292 is in proximity to the left magnetic switch 14, and the left magnetic switch 14 sends a signal to the control system, see fig. 18; when the tray moves to the far right, the magnet 291 comes into proximity with the right magnetic switch 15, and the right magnetic switch 15 signals the control system, see fig. 19.

Example 9:

the difference between this embodiment and embodiment 1 is that, on the basis of embodiment 1, the reciprocating rhythm of the tray 1 is realized by rotating the rhythm motor 3 forward and backward through the control system in a manner that the rhythm motor 3 directly drives the roller 11, see fig. 20 and 21.

Example 10:

the difference between this embodiment and embodiment 1 is that a lifting mechanism is further disposed on the tray 1, the lifting mechanism includes a lifting platform 401, a telescopic airbag 81, a vertical guide rod 80 and a guide rod sleeve 8, wherein the top of the vertical guide rod 80 is fixedly connected to the lifting platform 401, the top of the guide rod sleeve 8 is fixed to the bottom of the tray 1, the vertical guide rod 80 can move up and down in the guide rod sleeve 8, and the airbag is inflated by a manual or electric air pump.

The lifting platform 401 on the lifting mechanism can lift up and down when the lifting platform 401 moves horizontally with the tray 1, and the upper rotating platform 4 is arranged on the lifting platform 401 and keeps a free rotation state with the lifting platform; fig. 22 is a schematic view showing a state where the elevating mechanism is lifted, and fig. 23 is a schematic view showing a state where the elevating mechanism is lowered.

Example 11:

the difference between this embodiment and embodiment 10 is that the lifting mechanism is installed in the base 2, a rotating chassis 28 is added on the chassis 25, the chassis 25 and the rotating chassis 28 can rotate with each other, and at the same time, the rotating chassis 28, together with the driving mechanism and the tray, can be lifted up and down.

The lifting mechanism comprises a telescopic air bag 81, a lower rotating chassis 28, a vertical guide rod 80 and a guide rod sleeve 8, wherein the bottom of the vertical guide rod 80 is fixedly connected with the lower rotating chassis 28, the bottom of the guide rod sleeve 8 is fixed at the bottom of the tray 1, the vertical guide rod 80 can move up and down in the guide rod sleeve 8, and the lower rotating chassis 26 and the base can rotate. Fig. 24 is a schematic view showing a state where the tray 1 is lifted up, and fig. 25 is a schematic view showing a state where the tray 1 is lowered down.

Example 12:

the present embodiment is different from

embodiment

10 or 11 in that the lifting mechanism employs an electric or air cylinder push rod, and the lifting structure of the electric push rod and the air cylinder push rod is common prior art, and will not be described separately herein.

Example 13:

the present embodiment is different from embodiment 1 in that the flexible cushion 13 is an air cushion with adjustable air pressure, fig. 26 and 27 show the inflated and deflated state of the air cushion, the control system controls the pressure of the air cushion through an air pump, and the air bag is inflated by a manual or electric air pump. Since these are mature prior art, no additional drawings are shown here.

Example 14:

this embodiment is different from embodiments 1-13 in that the tray 1 and the base 2 are rectangular or are modified in many ways, wherein the size of the tray 1 is close to the buttocks of the body, and will not be described further.

The body conditioning method for the qi and blood rhythm can adopt the following methods respectively or in combination:

1. multiple parts of the body are respectively contacted with the robot to rhythm:

when the body lies flat, the heel, or the lower leg, or the hip, or the waist, or the back can be placed on the robot, or the robot is placed on the abdomen with the robot facing downwards.

When the body is sitting, the buttocks or the soles can be placed on or stepped on the robot, see fig. 28-31.

2. The body rhythms with the robot in multiple directions:

when the horizontal rhythm direction of the robot is vertical to the body, the body part swings left and right in a reciprocating way;

when the robot moves in the same direction with the body, the body part will swing back and forth in the longitudinal direction, see fig. 32;

when the robot is moving vertically, the body part will move up and down.

3. Regulating body by adopting a time and rhythm frequency combined regulation mode, wherein the rhythm frequency is about 0 to 130 times/min, and different frequencies are adopted according to individual differences of different people and different time periods for regulating body; can be divided into three periods of relaxation preparation, massage conditioning and rest. In the relaxing stage, slow frequency of 0-30 times/min is adopted to relax the body; in the massage conditioning stage, a slightly high frequency is adopted when the massage balls/sticks are matched to massage acupuncture points; the rest stage after the massage is finished recovers the slow frequency, so that the body can obtain the feeling of the baby cradle, further relax and even enter the sleep state.

4. Rhythm combined with interruption

After the robot drives the body to continuously rhythm for a period of time, when the tray moves for a complete motion amplitude in a certain direction, the robot rhythm motor 3 suddenly stops and keeps for a period of time, and then the longitudinal rhythm is slowly recovered; or in the opposite direction.

Taking a horizontal and longitudinal rhythm as an example, after the robot drives the blood to rhythm for a period of time, the robot suddenly stops, the impact force of the blood on the blood vessel instantly is increased by several times, and particularly after the tray moves for a complete stroke, the robot suddenly stops, and the acceleration generated by the tray is maximum; if the head is still at the head side, the obvious feeling of upwelling of the blood of the whole body can be generated; if the foot is static at the lateral direction of the foot, the feeling that the blood of the whole body downwards rushes to the arch of the foot can be generated; the same applies to other rhythm directions of the body.

5. Massaging by using the dead weight of the body: when the body lies on the bed surface and moves regularly through the qi and blood rhythm robot, a plurality of massage balls or massage sticks or back cushions are arranged on the body part, the body part is squeezed by the dead weight of the body, and the body part can be supported, wherein the diameters of the massage balls or the massage sticks are about 20-50mm, and the lengths of the massage sticks are close to the width of the body.

When the robot is regularly placed on body parts, such as buttocks, other parts of the body, such as the head and the back, can be suspended to cause discomfort, and the massage balls or the massage sticks or the back cushion can be placed on the suspended parts to play a role in filling and supporting, so that the balance and comfort of the body are ensured.

In addition, the control system comprises a human body heart rate detection device for detecting the human body heart rate, and the control system can control the rhythm frequency of the multidirectional qi-blood rhythm robot to be synchronous with the human body heart rate according to the human body heart rate detection device; or the control system comprises a human body breathing frequency detection device for detecting the human body breathing frequency, and the control system controls the rhythm frequency of the multidirectional qi-blood rhythm robot to be synchronous with the human body breathing frequency according to the human body breathing frequency detection device.

The control system of the multi-azimuth qi-blood rhythm robot collects the body heart rate through the human body heart rate detection device, and then the tray rhythm frequency and the heart rate of the heart-lung guiding robot are the same in frequency.

The multi-azimuth qi-blood rhythm robot control system firstly collects the normal unconscious respiratory frequency of a body through a human body respiratory frequency detection device, and then controls the rhythm frequency of the tray according to the frequency, and comprises a control method of common frequency and frequency reduction:

the same-frequency method means that the frequency of the rhythm of the tray is consistent with the normal unconscious breathing frequency of the body; the frequency reduction method is that after a period of same frequency method is used, the control system gradually reduces the rhythm frequency of the tray.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it is apparent that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. It is intended that all such modifications and variations be included within the scope of the invention as defined in the claims and their equivalents.

Claims

1. A multi-azimuth qi and blood rhythm robot is characterized by comprising a base, a tray and a driving mechanism; the tray can be contacted with the feet, the legs, the buttocks, the abdomen, the chest, the shoulders, the neck and the head of a human body; under the drive of the driving mechanism, the tray can do horizontal reciprocating linear motion on the base; the length and width of the tray are not more than 650mmx500mm, and the stroke amplitude of the reciprocating movement of the tray is within 100 mm.

2. The multi-azimuth robot for rhythm of qi and blood according to claim 1, wherein the tray is connected with the base by a rolling friction mechanism, comprising a guide mechanism and a roller which are matched with each other; at least two groups of guide mechanisms and rollers are arranged; each group of rollers comprises at least two rollers; the roller can horizontally reciprocate along a guide mechanism, and the guide mechanism is a guide rod or a guide groove or a guide rail which are parallel to each other.

3. The multi-azimuth robot for rhythm of qi and blood according to claim 1, wherein the tray is connected with the base by a sliding friction mechanism, comprising a guide mechanism and a slide block which are matched with each other; at least two groups of guide mechanisms are arranged; the sliding block can horizontally reciprocate along a guide mechanism, and the guide mechanism is a guide rod or a guide groove or a guide rail which are parallel to each other.

4. The multi-azimuth qi-blood rhythm robot according to claim 1, wherein said driving mechanism comprises a rhythm motor, a speed reducing mechanism, an eccentric block, a pulley and a control system; the rhythm motor is driven by the control system and is fixed on the base; the rhythm motor is connected with the speed reducing mechanism; the eccentric block is fixed on the output shaft of the speed reducing mechanism, and the rotating shaft of the pulley is fixed on the eccentric block;

5. The robot of claim 1, further comprising an upper rotating platform on the upper portion of the tray, the upper rotating platform being capable of freely rotating in a horizontal plane with respect to the tray, the upper rotating platform being capable of contacting a human body.

6. The multi-azimuth robot for rhythm of qi and blood of claim 1, wherein the bottom of said base is provided with a lower turntable and a rotation mechanism for manually or electrically driving the base to rotate.

7. The multi-azimuth robot for rhythm of qi and blood according to claim 1, wherein the flexible protective sleeve is filled outside the base, and gaps are reserved between the flexible protective sleeve and the moving parts of the tray and the driving mechanism;

the outer parts of the base and the tray are provided with flexible outer sleeves, and the flexible protective sleeves are lined in the flexible outer sleeves.

8. The robot of claim 1, wherein the control system comprises a tray displacement detection device, and when the tray moves to a middle, maximum stroke (such as the left-most, right-most, front-most or the last) position, the control system detects the position of the tray through the tray displacement detection device, and the displacement detection device is a stroke switch, an electromagnetic induction or a photoelectric switch.

9. The turntable according to claim 5, wherein a lifting mechanism is provided on the tray or in the base; the lifting mechanism is a telescopic air bag or a telescopic mechanism based on an electric push rod or a pneumatic push rod.

10. The multi-azimuth robot for rhythm of qi and blood according to claim 1, wherein the tray is provided with a flexible pad, and the flexible pad is made of flexible material with adjustable elasticity; or the flexible cushion can also adopt a double-layer structure of an adjustable air cushion and a spongy cushion;

11. A control method of a multidirectional qi and blood rhythm robot is characterized in that when a human body naturally lies on a bed, the multidirectional qi and blood rhythm robot as claimed in any one of claims 1 to 10 is placed on a part of the human body, a tray of the multidirectional qi and blood rhythm robot drives the part of the human body in contact with the tray to do rhythm actions, and other parts of the human body which are not in contact with the tray are in a static state or show passive rhythm actions; the human body part refers to feet, calves, thighs, buttocks, waist, back, abdomen, chest or head; the following directional rhythms of the tray are controlled by the control system:

the direction 1: the human body part horizontally swings perpendicular to the spine of the human body;

direction 2: the human body part horizontally and longitudinally reciprocates parallel to the spine of the human body;

direction 3: the human body part vertically fluctuates;

direction 4: the whole human body is repeatedly twisted along the spine as an axis.

The combined pattern of the rhythm direction, rhythm frequency, rhythm time and rhythm directions is set by the control system.

12. The method as claimed in claim 11, wherein the qi-blood rhythm robot is caused to move the human body continuously for a period of time, and then is caused to suddenly stop for a predetermined period of time when the tray moves in a certain direction to a maximum stroke width or a maximum speed, and then to resume the rhythm.

13. The method for controlling a qi-blood rhythm robot according to claim 11, wherein when the qi-blood rhythm robot rhythms with a human body lying flat on a bed surface, a plurality of massage balls, massage sticks, or back pads are provided on the bottom of the body, thereby pressing the part of the human body and supporting the part of the human body.