A physiotherapy robot for whole-body rehabilitation conditioning

Abstract

The application discloses a physiotherapy robot for whole-body rehabilitation conditioning, which comprises a bed body, a foot vibration physiotherapy device and a hip screening device. The foot vibration physiotherapy device is arranged at one end of the bed body and can generate vibration along the length direction of the bed body. The hip screening device is arranged on the bed body and located at one side of the foot vibration physiotherapy device, and can generate vibration along the width direction of the bed body. The physiotherapy robot can use the foot physiotherapy device to perform whole-body vibration physiotherapy on the human body, can use the hip screening device to perform whole-body vibration physiotherapy on the human body, can perform positioning and matching conditioning on the neck and lumbar spine, can massage the legs, can assist sleep through music and can assist heat therapy, and has perfect whole-body vibration function, sleep conditioning function and spine rehabilitation conditioning function.

Description

Technical Field

[0001] This invention relates to the field of physiotherapy robot technology, and in particular to a physiotherapy robot for whole-body rehabilitation. Background Technology

[0002] In today's increasingly competitive society, excessive stress and tension can easily lead to the body's organs being under undue strain, resulting in a sub-healthy state. Research shows that physical vibration therapy can relax muscles and improve blood circulation, thereby alleviating physical fatigue and mental tension in sub-healthy individuals and promoting physical recovery. Currently, some existing physiotherapy robots primarily use foot vibration therapy devices. These devices apply vibrations to the feet, transmitting the vibrations throughout the body. However, the current physiotherapy robots offer limited and incomplete whole-body vibration therapy capabilities and require further improvement. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a physiotherapy robot for whole-body rehabilitation and conditioning, which can perform whole-body vibration physiotherapy on the human body using foot physiotherapy devices and also using hip sieving devices, thereby having a more complete and comprehensive whole-body vibration physiotherapy function.

[0004] According to an embodiment of the present invention, a physiotherapy robot for whole-body rehabilitation includes a bed, a foot vibration physiotherapy device, and a hip sieving device. The foot vibration physiotherapy device is disposed at one end of the bed and is capable of generating vibration along the length direction of the bed. The hip sieving device is disposed on the bed and located on one side of the foot vibration physiotherapy device and is capable of generating vibration along the width direction of the bed.

[0005] The physiotherapy robot for whole-body rehabilitation according to embodiments of the present invention has at least the following beneficial effects: The physiotherapy robot provided by the present invention can generate vibration along the length of the bed through a foot vibration physiotherapy device and transmit the vibration from the feet to the whole body, thereby performing whole-body vibration physiotherapy on the human body from the length of the bed. It can also generate vibration along the width of the bed through a hip sieving device and transmit the vibration from the hips to the whole body, thereby performing whole-body vibration physiotherapy on the human body from the width of the bed. Therefore, the physiotherapy robot provided by the present invention has a more complete and comprehensive whole-body vibration physiotherapy function, and can perform transverse or longitudinal vibration physiotherapy on the whole body. It has more powerful functions and achieves better rehabilitation and conditioning effects.

[0006] According to some embodiments of the present invention, the hip sieving device includes a first motor and a vibrating plate. The vibrating plate is arranged in a horizontal direction, and at least two elastic support members are connected to the lower side of the vibrating plate. The elastic support members are connected to the bed. The first motor is fixedly installed directly below the vibrating plate. The output shaft of the first motor is arranged in a vertical direction, and an eccentric block is installed on the output shaft of the first motor.

[0007] According to some embodiments of the present invention, the foot vibration physiotherapy device includes a swing frame, a support, and a second motor. The support is installed at one end of the bed, the swing frame is rotatably installed on the support and the rotation axis of the swing frame is along the width direction of the bed, the second motor is installed on the support and is connected to the swing frame for transmission, and the swing frame is provided with a foot fixing structure.

[0008] According to some embodiments of the present invention, the vibration frequency of the buttock sieving device is 20~30Hz, and the vibration frequency of the foot vibration therapy device is 15~20Hz.

[0009] According to some embodiments of the present invention, the bed is provided with a back massage device, a leg massage device, a neck massage device, and a music playback device.

[0010] According to some embodiments of the present invention, the back massage device includes a combined airbag massage assembly, which includes a plurality of back massage airbags arranged side by side along the length of the bed.

[0011] According to some embodiments of the present invention, the bed frame includes a mounting frame and a mattress. The mattress is mounted on the mounting frame, and a sliding groove is provided on the lower surface of the mattress. A receiving groove is provided between the mattress and the mounting frame. The receiving groove is located below the sliding groove and communicates with the sliding groove. A back massage device is located in the sliding groove. A position adjustment mechanism is provided between the back massage device and the bed frame. The position adjustment mechanism can drive the back massage device to slide and adjust its position along the sliding groove. A hip swaying device is located in the receiving groove and abuts against the mattress located above it. The hip swaying device can drive the mattress located above it to vibrate. There is a clearance between the back massage device and the hip swaying device in the vertical direction.

[0012] According to some embodiments of the present invention, a buttock cushion is provided at one end of the back massage device near the foot vibration therapy device, and the dimension of the vibration plate along the length of the bed is greater than or equal to the stroke range of the back massage device.

[0013] According to some embodiments of the present invention, a base is included, the bed is rotatably mounted on the base, and a swing drive device is provided between the bed and the base, the swing drive device being capable of driving the bed to swing and tilt in the vertical direction.

[0014] According to some embodiments of the present invention, at least one of the foot vibration therapy device, the back massage device, the leg massage device, and the neck massage device is provided with a heat therapy component, and at least two of the foot vibration therapy device, the hip swaying device, the back massage device, the leg massage device, the neck massage device, the music playback device, the swing drive device, and the heat therapy component can work in coordination with each other.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a cross-sectional view along the length of a physiotherapy robot for whole-body rehabilitation according to an embodiment of the present invention.

[0018] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0019] Figure 3 for Figure 1 A cross-sectional view of a physiotherapy robot for whole-body rehabilitation is shown in the width direction;

[0020] Figure 4 for Figure 1 An exploded view of the hip sieving device of a physiotherapy robot for whole-body rehabilitation is shown.

[0021] Figure 5 for Figure 1 An exploded view of the foot vibration therapy device of a physiotherapy robot for whole-body rehabilitation is shown.

[0022] Figure label:

[0023] Bed frame 100, mounting frame 110, mattress 120, sliding groove 121, receiving groove 111, foot vibration therapy device 200, swing frame 210, support 220, second motor 230, foot fixing structure 240, first connector 250, second connector 260, leg massage device 300, buttock sieving device 400, first motor 410, vibration plate 420, elastic support 430, eccentric block 440, back massage device 510, back massage airbag 510a, back support plate 510b, buttock cushion 511, clearance gap 512, position adjustment mechanism 520, base 600, swing drive device 700, neck massage device 800, music playback device 900. Detailed Implementation

[0024] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0025] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0026] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0028] Reference Figures 1 to 3According to an embodiment of the present invention, a physiotherapy robot for whole-body rehabilitation includes a bed 100, a foot vibration physiotherapy device 200, and a hip sieving device 400. The foot vibration physiotherapy device 200 is disposed at one end of the bed 100 and is capable of generating vibration along the length direction of the bed 100. The hip sieving device 400 is disposed on the bed 100 and located on one side of the foot vibration physiotherapy device 200 and is capable of generating vibration along the width direction of the bed 100.

[0029] The physiotherapy robot provided by this invention can generate vibrations along the length of the bed 100 through the foot vibration physiotherapy device 200 and transmit the vibrations from the feet to the whole body, thereby providing whole-body vibration physiotherapy from the length of the bed 100. Alternatively, it can generate vibrations along the width of the bed 100 through the hip sieving device 400 and transmit the vibrations from the hips to the whole body, thereby providing whole-body vibration physiotherapy from the width of the bed 100. Therefore, the physiotherapy robot provided by this invention has a more complete and comprehensive whole-body vibration physiotherapy function, making it more powerful.

[0030] The foot vibration therapy device 200 generates vibrations that can be transmitted through the human skeleton and muscles, providing a good vibration therapy effect on the skeleton. However, internal organs such as the liver and digestive system are far from the foot vibration therapy device 200, and the vibrations transmitted from the skeleton to the softer internal organs are easily attenuated, resulting in a reduced vibration therapy effect on these organs. The hip sieving device 400 can pull the upper and lower body to swing through the hips, causing the hip muscles, thigh muscles, and internal organs such as the liver and digestive system to receive effective and regular vibration stimulation. However, since most of the human skeleton, such as the spine and leg bones, runs along the length of the bed 100, the vibration therapy effect of the hip sieving device 400 on the skeleton is relatively weak. The therapy robot provided by this invention complements the vibration therapy effect of the hip sieving device 400 and the foot vibration therapy device 200, thus providing a more complete and comprehensive whole-body vibration therapy function and achieving better rehabilitation and conditioning effects.

[0031] Specifically, the vibration generated by the foot vibration therapy device 200 can drive the human foot to vibrate back and forth along the length of the bed 100. The vibration can then be transmitted to the whole body through the bones and muscles, thereby stimulating the skeletal, nervous, endocrine, muscular, lymphatic immune, and cardiovascular systems to achieve physical rehabilitation and conditioning.

[0032] Specifically, when the buttock sieving device 400 is working, it can cause the buttocks to vibrate along the width of the bed 100, thereby causing the upper and lower body to swing horizontally to a certain extent, achieving whole-body vibration. The buttock sieving device 400 is close to the buttock muscles, thigh muscles, liver, heart, lungs, digestive system and other internal organs. Therefore, when the buttock sieving device 400 is working, it can effectively and regularly stimulate the buttock muscles, thigh muscles and internal organs such as liver and digestive system with vibration. This can activate the thigh muscles, accelerate blood circulation, increase blood oxygen saturation, and promote micro-peristalsis in the liver and digestive system. It can significantly improve blood circulation in the buttocks and unblock meridians, which is beneficial for the recovery and conditioning of office workers who sit for long periods of time.

[0033] In practical implementation, the physiotherapy robot provided by this invention can form a variety of whole-body vibration physiotherapy programs: using the foot vibration physiotherapy device 200 alone; using the hip sieving device 400 alone; or using the foot vibration physiotherapy device 200 first and then the hip sieving device 400, or vice versa. Users can flexibly choose the whole-body vibration physiotherapy program according to their treatment needs.

[0034] With the above-described configuration, the physiotherapy robot provided by this invention can offer users more comprehensive whole-body vibration physiotherapy. Through positive physical stimulation of the muscles, bones, nerves, endocrine system, and metabolic system, it can delay functional degeneration, stimulate and activate cell vitality, accelerate blood circulation, improve muscle strength, and prevent and improve osteoporosis. It has good therapeutic effects in improving bone and joint pain and neuromuscular function, achieving human rehabilitation and conditioning. For individuals who are unable to move or patients requiring pre- or post-operative rehabilitation, the robot can passively perform rehabilitation physiotherapy training while the patient lies still on a bed, without causing significant harm, allowing these patients to exercise and accelerate recovery.

[0035] Reference Figures 2 to 4As can be imagined, in some embodiments, the hip sieving device 400 includes a first motor 410 and a vibrating plate 420. The vibrating plate 420 is arranged horizontally, and at least two elastic support members 430 are connected to the lower side of the vibrating plate 420. The elastic support members 430 are connected to the bed 100. The first motor 410 is fixedly installed on the lower side of the vibrating plate 420, and the output shaft of the first motor 410 is arranged vertically. An eccentric block 440 is installed on the output shaft of the first motor 410. When the output shaft of the first motor 410 drives the eccentric block 440 to rotate, it can drive the vibrating plate 420 to rotate in a circular motion in the horizontal direction. The rotation of the vibrating plate 420 can be decomposed into vibration along the width direction and vibration along the length direction of the bed 100. That is, the vibrating plate 420 can generate vibration along the width direction and vibration along the length direction of the bed 100. The elastic support members 430 can support the vibrating plate 420 and form a buffering effect between the bed 100 and the vibrating plate 420. With the above configuration, the hip sieving device 400 can drive the human hip to vibrate along the width of the bed 100, and at the same time, it can also drive the human hip to vibrate along the length of the bed 100, thereby more effectively physically stimulating muscle groups, liver, digestive system and other body parts, and achieving better whole-body vibration therapy.

[0036] It should be noted that the above-mentioned hip sieving device 400 can also be configured in other ways. For example, in some other embodiments, the first motor 410 is fixed on the bed 100, and the output shaft of the first motor 410 is connected to an eccentric member. The eccentric member is rotatably connected to the vibrating plate 420. The eccentric member is configured so that the rotation axis of the vibrating plate 420 is parallel to the output shaft of the first motor 410. In this way, the output shaft of the first motor 410 can drive the vibrating plate 420 to move in a circular motion on the horizontal plane. Thus, the rotation of the vibrating plate 420 can be decomposed into vibration along the width direction and vibration along the length direction of the bed 100.

[0037] Reference Figure 1 and Figure 5 As can be imagined, in some embodiments, the foot vibration therapy device 200 includes a swing frame 210, a support 220 and a second motor 230. The support 220 is installed at one end of the bed 100, the swing frame 210 is rotatably installed on the support 220 and the rotation axis of the swing frame 210 is along the width direction of the bed 100, the second motor 230 is installed on the support 220 and is connected to the swing frame 210 for transmission, and the swing frame 210 is provided with a foot fixing structure 240.

[0038] Among them, reference Figure 5The foot fixation structure 240 may include a foot cover or strap. During vibration therapy, a person's feet can be fixed to the swing frame 210 through the foot fixation structure 240. When the second motor 230 drives the swing frame 210 to vibrate along the length of the bed 100, the swing frame 210 can effectively transmit the vibration to the feet, and then the vibration is transmitted from the feet to the whole body.

[0039] Reference Figure 5 Specifically, the output shaft of the second motor 230 is rotatably connected to the first connector 250, the first connector 250 is rotatably connected to the second connector 260, and the second connector 260 is rotatably connected to the swing frame 210. With the above configuration, the second motor 230 can drive the swing frame 210 to swing back and forth. Its swing can be decomposed into vibration along the length of the bed 100 and vibration along the vertical direction.

[0040] It should be noted that the foot vibration therapy device 200 described above can also be configured in other ways. For example, the output shaft of the second motor 230 is provided with a cam, which abuts against the swing frame 210. A return spring is provided between the swing frame 210 and the support 220. Thus, when the second motor 230 is working, the cam can drive the swing frame 210 to swing forward, and then the return spring can drive the swing frame 210 to swing backward to return to its original position. This cycle continues, so that the swing frame 210 can swing repeatedly to form vibration.

[0041] It is conceivable that, in some embodiments, the vibration frequency output by the buttock sieving device 400 is 20~30Hz, and the vibration frequency output by the foot vibration therapy device 200 is 15~20Hz. Using the above vibration frequencies, a more comfortable vibration can be obtained, ensuring the effect of vibration therapy.

[0042] Reference Figure 1 and Figure 2 As can be imagined, in some embodiments, the bed 100 is equipped with a back massage device 510, a leg massage device 300, a neck massage device 800, and a music playback device 900. The back massage device 510 can be used to massage and relax the back; the neck massage device 800 can massage and lift the neck, and can combine heat therapy and magnetic therapy for neck physiotherapy; the music playback device 900 can play music to relax the body, relieve stress, improve sleep, and prevent chronic diseases caused by autonomic nervous system tension disorders. The music playback device 900 can also be used for voice interaction to control the physiotherapy robot via voice.

[0043] With the above-described configuration, the physiotherapy robot provided by this invention can provide full-body massage therapy from the head and neck to the feet. Since the physiotherapy robot provided by this invention is used in a supine position, it is the posture that best matches human massage and is also the most relaxed posture for the human body. This posture is comfortable and stable, with an even distribution of weight, which can maintain the normal physiological curvature of various parts of the body and keep each joint in its functional position. After the physiotherapy massage, the user can relax more naturally. After full-body physiotherapy from the head and neck to the feet, the body and mind can be soothed, achieving the effect of relaxation and falling asleep quickly.

[0044] Reference Figure 2 It is conceivable that, in some embodiments, the back massage device 510 includes a combined airbag massage assembly, which includes a plurality of back massage airbags 510a arranged side by side along the length of the bed 100. The back massage device 510 includes a back support plate 510b, on which the combined airbag massage assembly is mounted.

[0045] It is conceivable that, in some embodiments, the back massage device 510 has a gradient pressure massage mode. Specifically, during the operation of the back massage device 510, under the system control of the physiotherapy robot, multiple back massage airbags 510a can be sequentially inflated and deflated from the back to the waist, and in a wave-like manner, squeeze, stretch and pull the interosseous spaces and surrounding muscle groups of the cervical vertebrae, lumbar vertebrae and other parts of the spine, so as to achieve gradient pressure physiotherapy for the lower back and spine, and complete the rehabilitation physiotherapy for spinal problems such as cervical spondylosis, intervertebral disc herniation, and bone hyperplasia compressing nerves.

[0046] Each back massage airbag 510a can have a hammering working mode. Specifically, under the system control of the physiotherapy robot, each back massage airbag 510a can be quickly inflated and deflated, so that each back massage airbag 510a can simulate the patting technique of human hands to pat and hammer the lower back.

[0047] It is conceivable that, in other embodiments, the aforementioned back massage device 510 may also include a back support plate 510b and a pulley massage assembly. The pulley massage assembly may be mounted on a movable support frame, which is swayably mounted on the back support plate 510b. In this way, the pulley massage assembly can sway at a certain angle according to the pressure points of the back curve, thereby reducing the user's discomfort. Furthermore, a mechanical structure or pneumatic mechanism may be provided to lift the pulley massage assembly, thereby lifting and pressing the back area or acupoints to achieve the purpose of simulating manual massage and pressing, stretching the spinal bones, etc.

[0048] During implementation, the music playback device 900 can be installed on the back support plate 510b, and the back support plate 510b can also be equipped with a percussion device, which can perform percussion massage on the shoulders and back to relieve fatigue and soreness and relax muscles.

[0049] Reference Figures 1 to 3 As can be imagined, in some embodiments, the bed frame 100 includes a mounting frame 110 and a mattress 120. The mattress 120 is mounted on the upper side of the bed frame 100, and a sliding groove 121 is provided on the lower side of the mattress 120. A receiving groove 111 is provided between the mattress 120 and the mounting frame 110. The receiving groove 111 is located below the sliding groove 121 and communicates with the sliding groove 121. A back massage device 510 is located within the sliding groove 121. A position adjustment mechanism 520 is provided between the back massage device 510 and the bed frame 100. The position adjustment mechanism 520 can drive the back massage device 510 to slide and adjust its position along the sliding groove 121. By providing a position adjustment mechanism 520 for the back massage device 510, the physiotherapy robot can adjust the position of the back massage device 510 according to the user's height. When the user receives physiotherapy for the spinal part, the pressure position matching is more precise, the effect is more obvious, and it effectively meets the needs of users of different heights.

[0050] Reference Figures 1 to 3 The hip-shaking device 400 is located within the receiving groove 111, and abuts against the mattress 120 located above it. The hip-shaking device 400 can cause the mattress 120 to vibrate. A clearance 512 exists between the back massage device 510 and the hip-shaking device 400 in the vertical direction. With this configuration, the hip-shaking device 400 can cause the mattress 120 above it to vibrate, thereby vibrating the hips and transmitting the vibration to the whole body. Furthermore, the operation of the back massage device 510 and the hip-shaking device 400 can be independent of each other.

[0051] Reference Figures 1 to 3 It is conceivable that in some embodiments, a buttock cushioning pad 511 is provided at the end of the back massage device 510 near the foot vibration therapy device 200, and the dimension of the vibration plate 420 along the length of the bed 100 is greater than or equal to the stroke range of the back massage device 510. With the above arrangement, during the adjustment of the back massage device 510, the buttock cushioning pad 511 first contacts the curved and convex parts of the human body, such as the buttocks, which can prevent the back massage device 510 from bumping and hurting the person. In addition, with the above arrangement, the buttock sieving device 400 can meet the buttock sieving massage needs of users of different heights by its own span. In this way, the position of the buttock sieving device 400 does not need to be adjusted, that is, there is no need to set up a drive mechanism to drive the buttock sieving device 400 to move along the length of the bed 100, thereby simplifying the structure.

[0052] In the specific implementation process, the length of the vibration plate 420 in the length direction of the bed 100 can be designed according to the height adjustment range of the back massage device 510. For example, in some embodiments, the reclining physiotherapy robot is suitable for users with a height of 150cm to 190cm, and the height adjustment range of the back massage device 510 is 40cm. At this time, the length of the vibration plate 420 can be designed to be greater than 40cm, so that the hip sieving device 400 can meet the hip vibration physiotherapy needs of users with different heights through its own span.

[0053] Reference Figures 1 to 3 As can be imagined, in some embodiments, the physiotherapy robot includes a base 600, a bed 100 rotatably mounted on the base 600, and a swing drive device 700 disposed between the bed 100 and the base 600. The swing drive device 700 can drive the bed 100 to swing and tilt in the vertical direction. The physiotherapy robot system has a custom program that simulates physiotherapy techniques. The system can control the swing mechanism according to the program settings to drive the bed 100 to swing and tilt back and forth in the horizontal direction, changing the orientation of the human body's gravity, thereby providing self-weight traction and spinal stretching, which can improve blood supply to the brain, promote blood circulation in the brain and limb muscles, and thus achieve the purpose of eliminating fatigue.

[0054] It is conceivable that, in some embodiments, at least one of the foot vibration therapy device 200, back massage device 510, leg massage device 300, and neck massage device 800 is provided with a thermotherapy component, and at least two of the foot vibration therapy device 200, hip swaying device 400, back massage device 510, leg massage device 300, neck massage device 800, music playback device 900, swing drive device 700, and thermotherapy component can work in coordination with each other.

[0055] Specifically, in some embodiments, a thermotherapy component may be provided between the foot fixation structure 240 and the swing frame 210 to provide thermotherapy to the soles of the feet.

[0056] Specifically, in some embodiments, a foot airbag and a heel airbag may be provided between the swing frame 210 and the foot fixing structure 240 to squeeze and massage the soles and heels of the feet, and to make the foot fixing structure 240 more securely fix the feet of the person.

[0057] Specifically, in some embodiments, the back massage device 510 may be provided with a heat therapy component, which is flexible and covers the back massage airbag 510a. The heat therapy component may include a graphene heating film or a far-infrared heating wire, which releases far-infrared wavelengths that are beneficial to the human body to the back area for heat therapy to promote blood circulation and relieve pain.

[0058] With the above-mentioned configuration, the physiotherapy robot provided by the present invention can perform lateral or longitudinal cross-amplitude vibration physiotherapy on the whole body, and can also perform positioning and matching adjustment on the cervical and lumbar spine, massage the legs and feet, and provide music-assisted sleep and heat therapy. It has complete whole-body vibration function, sleep regulation function and spinal rehabilitation function.

[0059] With the above configuration, the physiotherapy robot provided by this invention can provide targeted physiotherapy formulas according to physiotherapy needs, meeting the physiotherapy needs of different user groups. The physiotherapy formulas can be customized and combined or automatically controlled according to routine symptom programs, as shown in the following examples:

[0060]

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A physiotherapy robot for whole-body rehabilitation and conditioning, characterized in that, include: Bed frame (100); A foot vibration therapy device (200) is disposed at one end of the bed (100), and the foot vibration therapy device (200) is capable of generating vibration along the length direction of the bed (100); A hip sieving device (400) is disposed on the bed (100) and located on one side of the foot vibration therapy device (200). The hip sieving device (400) is capable of generating vibration along the width direction of the bed (100). The bed (100) is equipped with a back massage device (510), a leg massage device (300), a neck massage device (800) and a music playback device (900). The bed frame (100) includes a mounting frame (110) and a mattress (120). The mattress (120) is mounted on the mounting frame (110). A sliding groove (121) is provided on the lower surface of the mattress (120). A receiving groove (111) is provided between the mattress (120) and the mounting frame (110). The receiving groove (111) is located below the sliding groove (121) and communicates with the sliding groove (121). The back massage device (510) is located in the sliding groove (121). The back massage device (510) is connected to the bed frame (100). A position adjustment mechanism (520) is provided between them. The position adjustment mechanism (520) can drive the back massage device (510) to slide and adjust its position along the sliding groove (121). The hip sieving device (400) is located in the receiving groove (111). The hip sieving device (400) abuts against the mattress (120) located above. The hip sieving device (400) can drive the mattress (120) located above to vibrate. There is a clearance gap (512) between the back massage device (510) and the hip sieving device (400) in the vertical direction.

2. The physiotherapy robot for whole-body rehabilitation and conditioning according to claim 1, characterized in that, The hip sieving device (400) includes a first motor (410) and a vibrating plate (420). The vibrating plate (420) is arranged in a horizontal direction. At least two elastic support members (430) are connected to the lower side of the vibrating plate (420). The elastic support members (430) are connected to the bed (100). The first motor (410) is fixedly installed directly below the vibrating plate (420). The output shaft of the first motor (410) is arranged in a vertical direction. An eccentric block (440) is installed on the output shaft of the first motor (410).

3. The physiotherapy robot for whole-body rehabilitation and conditioning according to claim 1, characterized in that, The foot vibration physiotherapy device (200) includes a swing frame (210), a support (220) and a second motor (230). The support (220) is installed at one end of the bed (100). The swing frame (210) is rotatably installed on the support (220) and the rotation axis of the swing frame (210) is along the width direction of the bed (100). The second motor (230) is installed on the support (220) and is connected to the swing frame (210) in a transmission manner. The swing frame (210) is provided with a foot fixing structure (240).

4. The physiotherapy robot for whole-body rehabilitation and conditioning according to claim 1, characterized in that, The vibration frequency output by the buttock sieving device (400) is 20~30Hz, and the vibration frequency output by the foot vibration therapy device (200) is 15~20Hz.

5. A physiotherapy robot for whole-body rehabilitation and conditioning according to claim 1, characterized in that, The back massage device (510) includes a series of airbag massage components, which include a plurality of back massage airbags (510a) arranged side by side along the length of the bed (100).

6. A physiotherapy robot for whole-body rehabilitation and conditioning according to claim 2, characterized in that, The back massage device (510) has a buttock cushion (511) at one end near the foot vibration therapy device (200), and the vibration plate (420) has a dimension in the length direction along the bed (100) that is greater than or equal to the stroke range of the back massage device (510).

7. A physiotherapy robot for whole-body rehabilitation and conditioning according to claim 2, characterized in that, Includes a base (600), the bed (100) is rotatably mounted on the base (600), and a swing drive device (700) is provided between the bed (100) and the base (600). The swing drive device (700) can drive the bed (100) to swing and tilt in the vertical direction.

8. A physiotherapy robot for whole-body rehabilitation and conditioning according to claim 7, characterized in that, At least one of the foot vibration therapy device (200), the back massage device (510), the leg massage device (300), and the neck massage device (800) is provided with a heat therapy component, and at least two of the foot vibration therapy device (200), the buttock sieving device (400), the back massage device (510), the leg massage device (300), the neck massage device (800), the music playback device (900), the swing drive device (700), and the heat therapy component can work in coordination with each other.

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