An automatic spine-pinch device imitating a human hand and a control method thereof

Abstract

The application provides an automatic spine kneading device imitating human hands and a control method thereof, and relates to the technical field of medical instruments.The automatic spine kneading device imitating human hands provided by the application can simulate the pushing action of the thumb on the skin during spine kneading by driving the skin to move in the same direction as the moving direction of the spine kneading device through the rotation of the first roller device; the automatic spine kneading device imitating human hands can simulate the pinching and squeezing action of the index finger and the middle finger on the skin during spine kneading by driving the skin to move in the opposite direction of the moving direction of the spine kneading device through the rotation of the second roller device and the third roller device; the automatic spine kneading device imitating human hands can drive the second roller device and the third roller device to alternately contact the skin through the roller driving device, so as to simulate the spine kneading operation of human hands, and can effectively exert the conditioning effect of spine kneading, solve the problem that the long time of manual spine kneading leads to uneven operation and affects the conditioning effect, and solve the problem that the existing spine kneading device cannot well pinch the skin, thereby leading to poor conditioning effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an automatic spine pinching device simulating human hands and a control method thereof. BACKGROUND

[0002] Spine pinching is a traditional Chinese medicine health massage method, which is part of traditional Chinese medicine massage therapy and has a long history. Spine pinching therapy is based on meridian theory and operates on the bladder meridian and the governor vessel on the back to regulate the function of internal organs, improve blood circulation and enhance immunity, and is widely used for health care and auxiliary treatment of various diseases.

[0003] The traditional spine pinching method is to pinch the skin on the back with the thumb, index finger and middle finger of both hands, and then pull it up slowly. The operation starts from the lumbar region (near the Changqiang point) and moves up the spine to the Dazhui point (neck). The force of the fingers should be uniform and gentle when pinching the spine to avoid pain caused by excessive force. Spine pinching therapy requires professional training to ensure safety and effectiveness and to avoid injury caused by improper techniques. Manual spine pinching requires prior learning and training, and the duration of each operation is relatively long. Long-term manual spine pinching operation can cause fatigue, and spine pinching in a state of fatigue can lead to uneven techniques, which can reduce the treatment effect. If a professional masseur is hired for long-term spine pinching, the cost is relatively high in terms of time and money. Therefore, the development of an automatic spine pinching device can not only achieve spine pinching care anytime and anywhere without the need to make an appointment with a professional masseur, but also can free the hands, maintain consistent force and frequency, avoid uneven techniques caused by manual operation fatigue, and automatically set the pinching force, speed, etc. to meet individual needs.

[0004] As shown in Figure 1 Although some handheld spine pinching devices, such as the celestial sphere rolling pincher, have appeared on the market, the device is designed as four spherical balls, divided into two groups, the front two spherical balls as one group and the rear two spherical balls as another group, and the four spherical balls are fixed by a support that can adjust the distance between the two groups of spherical balls. The principle is that the front group of spherical balls moves faster and the rear group of spherical balls moves slower, and the speed difference between the two groups of rolling spherical balls is used to pinch the skin on the back between the two groups of spherical balls to achieve the purpose of spine pinching. However, this device is not suitable for most people during use, although it has a distance adjustment function. Because it is designed as a spherical shape, although the surface of the spherical ball is provided with many small triangles to increase friction, the skin of thin or fat people is still difficult to pinch. During use, it is very easy to slip off and difficult to pinch the skin on the back, making it difficult to achieve good spine pinching effect. SUMMARY

[0005] The application provides an automatic spine kneading device simulating a human hand to solve the problem of poor kneading effect caused by the inability to hold the human skin in the prior art.

[0006] The application provides an automatic spine kneading device simulating a human hand, comprising:

[0007] a base;

[0008] a first roller device connected with the base, the first roller device being used to push the skin to move in the same direction as the moving direction of the spine kneading device by rotating itself;

[0009] a second roller device located on one side of the first roller device, the second roller device being connected with the first roller device, the second roller device being used to push the skin to move in the opposite direction of the moving direction of the spine kneading device by rotating itself;

[0010] a third roller device located on one side of the first roller device, the third roller device being connected with the first roller device, the third roller device being used to push the skin to move in the opposite direction of the moving direction of the spine kneading device by rotating itself;

[0011] a roller driving device connected with the second roller device and the third roller device, the roller driving device being used to drive the second roller device and the third roller device to alternately contact the skin.

[0012] The application provides an automatic spine kneading device simulating a human hand, further comprising:

[0013] a control device electrically connected with the first roller device, the second roller device, the third roller device and the roller driving device, the control device being used to control the rotation of the first roller device, the second roller device and the third roller device and the working and stopping of the roller driving device.

[0014] The application provides an automatic spine kneading device simulating a human hand, the control device comprising:

[0015] a wireless communication module used to receive the instructions sent by a user terminal;

[0016] a controller electrically connected with the wireless communication module, the controller being used to control the rotation of the first roller device, the second roller device and the third roller device and the working and stopping of the roller driving device according to the instructions received by the wireless communication module.

[0017] The application provides an automatic spine kneading device simulating a human hand, the first roller device comprising:

[0018] The first roller;

[0019] The first driving assembly is arranged inside the first roller, is connected with the base, and is used for driving the first roller to rotate.

[0020] According to the automatic spine kneading equipment simulating human hands provided by the application, the second roller device comprises:

[0021] The second roller is located on one side of the first roller;

[0022] The second driving assembly is arranged inside the second roller, is connected with one end of the first roller through the first connecting rod assembly, and is used for driving the second roller to rotate.

[0023] According to the automatic spine kneading equipment simulating human hands provided by the application, the third roller device comprises:

[0024] The third roller is located on one side of the first roller;

[0025] The third driving assembly is arranged inside the third roller, is connected with the other end of the first roller through the second connecting rod assembly, and is used for driving the third roller to rotate.

[0026] According to the automatic spine kneading equipment simulating human hands provided by the application, the outer circumferential surfaces of the first roller, the second roller and the third roller are all sleeved with flexible sleeves, so as to increase the friction with the skin and facilitate the skin to be pinched and pressed;

[0027] The first connecting rod assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotationally matched with one end of the central shaft of the first roller, one end of the second connecting rod is rotationally matched with the other end of the first connecting rod, and the other end of the second connecting rod is connected with the second driving assembly.

[0028] The second connecting rod assembly comprises a third connecting rod and a fourth connecting rod, one end of the fourth connecting rod is rotationally matched with the other end of the central shaft of the first roller, the other end of the fourth connecting rod is rotationally matched with one end of the third connecting rod, and the other end of the third connecting rod is connected with the third driving assembly.

[0029] According to the automatic spine kneading equipment simulating human hands provided by the application, the roller driving device comprises:

[0030] The external driving assembly is connected with the base;

[0031] The third connecting rod assembly comprises a fifth connecting rod and a sixth connecting rod, one end of the fifth connecting rod is connected with the external driving assembly, the other end of the fifth connecting rod is rotationally matched with the other end of the second roller, one end of the sixth connecting rod is connected with the external driving assembly, and the other end of the sixth connecting rod is rotationally matched with the other end of the third roller.

[0032] According to the automatic spine kneading device simulating human hands provided by the application, the roller driving device comprises:

[0033] The internal driving assembly comprises a first internal motor and a second internal motor, the first internal motor and the second internal motor are arranged in the interior of the first roller, the rotating shaft of the first internal motor is connected with the second driving assembly through the first connecting rod assembly, and the rotating shaft of the second internal motor is connected with the third driving assembly through the second connecting rod assembly.

[0034] The application further provides a control method of the automatic spine kneading device simulating human hands, which is based on any one of the automatic spine kneading devices simulating human hands and comprises the following steps of:

[0035] According to the obtained instructions, the first roller device, the second roller device and the third roller device are controlled to rotate at respective predetermined speeds, and the roller driving device is controlled to drive the second roller device and the third roller device to alternately contact the skin, wherein the rotating direction of the first roller device is opposite to the rotating directions of the second roller device and the third roller device.

[0036] The automatic spine kneading device simulating human hands provided by the application pushes the skin to move in the same direction as the moving direction of the spine kneading device through the self-rotation of the first roller device, so as to simulate the pushing action of the thumb on the skin during spine kneading; the skin is pushed to move in the opposite direction of the moving direction of the spine kneading device through the self-rotation of the second roller device and the third roller device, so as to simulate the pushing action of the index finger and the middle finger of the human hand on the skin during spine kneading; the second roller device and the third roller device are driven by the roller driving device to alternately contact the skin, so as to simulate the spine kneading operation of the human hand, which can effectively exert the conditioning effect of spine kneading, solve the problem that the conditioning effect is affected by uneven operation due to long manual spine kneading time, and solve the problem that the existing spine kneading device cannot well hold the skin, thereby resulting in poor conditioning effect. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0038] Figure 1 is a structural schematic diagram of the prior spine kneading equipment provided by the present application.

[0039] Figure 2 is a perspective structural schematic diagram of the automatic spine kneading equipment imitating human hands provided by the present application.

[0040] Figure 3 is one of the side structural schematic diagrams of the automatic spine kneading equipment imitating human hands provided by the present application.

[0041] Figure 4 is another of the side structural schematic diagrams of the automatic spine kneading equipment imitating human hands provided by the present application.

[0042] Figure 5 is a schematic diagram of the correspondence between each component of the automatic spine kneading equipment imitating human hands and the fingers.

[0043] Figure 6 is one of the working principle schematic diagrams of the automatic spine kneading equipment imitating human hands provided by the present application.

[0044] Figure 7 is another of the working principle schematic diagrams of the automatic spine kneading equipment imitating human hands provided by the present application.

[0045] Reference signs:

[0046] 110, base; 120, first roller device; 121, first roller; 130, second roller device; 131, second roller; 132, first connecting rod; 133, second connecting rod; 140, third roller device; 141, third roller; 142, third connecting rod; 143, fourth connecting rod; 150, roller driving device; 151, external driving assembly; 152, fifth connecting rod; 153, sixth connecting rod. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the present application clearer, the following will describe the technical solutions in the present application clearly and completely with reference to the drawings in the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0048] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0051] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0052] As Figure 2As shown, the automatic rolling and pinching device imitating human hand comprises a base 110, a first roller device 120, a second roller device 130, a third roller device 140 and a roller driving device 150. The first roller device 120 is connected with the base 110 and is used to push the skin to move in the same direction as the moving direction of the rolling and pinching device by rotating itself. The second roller device 130 is located on one side of the first roller device 120 and is connected with the first roller device 120. The second roller device 130 is used to push the skin to move in the opposite direction of the moving direction of the rolling and pinching device by rotating itself. The third roller device 140 is located on one side of the first roller device 120 and is connected with the first roller device 120. The third roller device 140 is used to push the skin to move in the opposite direction of the moving direction of the rolling and pinching device by rotating itself. The roller driving device 150 is connected with the second roller device 130 and the third roller device 140 and is used to drive the second roller device 130 and the third roller device 140 to alternately contact the skin.

[0053] It should be noted that the moving direction of the rolling and pinching device refers to the pushing direction of the rolling and pinching device, i.e. Figure 2 the direction indicated by the arrow in the middle.

[0054] The automatic rolling and pinching device imitating human hand provided by the present application can simulate the pushing action of the thumb on the skin during rolling and pinching by the first roller device 120 rotating itself to push the skin to move in the same direction as the moving direction of the rolling and pinching device. The pushing action of the index finger and the middle finger on the skin during rolling and pinching can be simulated by the second roller device 130 and the third roller device 140 rotating themselves to push the skin to move in the opposite direction of the moving direction of the rolling and pinching device. The rolling and pinching operation of the index finger and the middle finger alternately with the thumb can be simulated by the roller driving device 150 driving the second roller device 130 and the third roller device 140 to alternately contact the skin. Therefore, the rolling and pinching device can effectively exert the conditioning effect of rolling and pinching. The problem of uneven conditioning effect caused by long manual rolling and pinching time can be solved. The problem of poor conditioning effect caused by the poor pinching of the skin by the existing rolling and pinching device can also be solved.

[0055] In an embodiment of the present application, the automatic rolling and pinching device imitating human hand further comprises a control device electrically connected with the first roller device 120, the second roller device 130, the third roller device 140 and the roller driving device 150. The control device is used to control the rotation of the first roller device 120, the second roller device 130 and the third roller device 140 and to control the working and stopping of the roller driving device 150. The automatic rolling and pinching can be realized by setting the control device, which improves the automation of the rolling and pinching device and enhances the operability of the rolling and pinching device.

[0056] In an embodiment of the present application, the control device comprises a wireless communication module and a controller, the wireless communication module is configured to receive instructions sent by a user terminal, the controller is electrically connected to the wireless communication module, and the controller is configured to control the first roller device 120, the second roller device 130, and the third roller device 140 to rotate according to the instructions received by the wireless communication module, and control the roller driving device 150 to work and stop. The wireless communication module is wirelessly connected to the user terminal, and the user terminal comprises a mobile phone, a tablet computer, or a remote controller.

[0057] In an embodiment of the present application, the base 110 is configured to provide a mounting base for the first roller device 120, the second roller device 130, the third roller device 140, and the roller driving device 150. Preferably, the base 110 is provided with a handle, which facilitates the operator to hold the handle and operate the device more conveniently. The base 110 can also be configured as a buckle that can be stably connected to a mechanical arm, so as to facilitate the mechanical arm to carry the spine-kneading device to run along a predetermined track on a human body and realize automatic spine-kneading operation.

[0058] In an embodiment of the present application, the first roller device 120 comprises a first roller 121 and a first driving assembly, the first roller 121 is in the shape of a cylinder, and the inside of the first roller 121 is hollow to provide a mounting space for the first driving assembly. At least one end of the first roller 121 is open.

[0059] The first driving assembly is arranged in the inside of the first roller 121, and the first driving assembly is connected to the base 110 and configured to drive the first roller 121 to rotate. Specifically, the first driving assembly is an electric motor or an electric motor provided with a speed reducer. The housing of the electric motor is fixedly connected to the base 110, and the rotating shaft of the electric motor is connected to the first roller 121. When the electric motor is powered, the rotating shaft of the electric motor drives the first roller 121 to rotate due to the fixed connection between the housing of the electric motor and the base 110. Alternatively, the rotating shaft of the electric motor is fixedly connected to the base 110, and the housing of the electric motor is connected to the first roller 121. When the electric motor is powered, the rotating shaft of the electric motor does not rotate due to the fixed connection between the rotating shaft of the electric motor and the base 110, and the housing of the electric motor rotates to drive the first roller 121 to rotate.

[0060] In an embodiment of the present application, the second roller device 130 comprises a second roller 131 and a second driving assembly, and the second roller 131 is located on one side of the first roller 121. The central axis of the second roller 131 is parallel to the central axis of the first roller 121. The second roller 131 is in the shape of a cylinder, and the inside of the second roller 131 is hollow to provide a mounting space for the second driving assembly. Preferably, the outer diameter of the second roller 131 is smaller than the outer diameter of the first roller 121.

[0061] The second driving assembly is arranged inside the second roller 131, and is connected to one end of the first roller 121 through the first connecting rod assembly, and is used to drive the second roller 131 to rotate. Specifically, the second driving assembly is a motor or a motor provided with a speed reducer, the shell of the motor is connected to one end of the first roller 121 through the first connecting rod assembly, or the shell of the motor is connected to the first driving assembly through the first connecting rod assembly; the rotating shaft of the motor is connected to the second roller 131, and when the motor is powered, the rotating shaft of the motor drives the second roller 131 to rotate because the shell of the motor is connected to the first roller 121 or the first driving assembly. Alternatively, the rotating shaft of the motor is connected to one end of the first roller 121 or the first driving assembly through the first connecting rod assembly, and the shell of the motor is connected to the second roller 131, and when the motor is powered, the rotating shaft of the motor does not rotate because the rotating shaft of the motor is connected to the first roller 121 or the first driving assembly, and the shell of the motor rotates, and the shell of the motor drives the second roller 131 to rotate.

[0062] In an embodiment of the application, the third roller device 140 comprises a third roller 141 and a third driving assembly, the third roller 141 is located on one side of the first roller 121, and the central axis of the third roller 141 is parallel to the central axis of the first roller 121. The third roller 141 is in the shape of a cylinder, and the inside of the third roller 141 is hollow to provide installation space for the third driving assembly. Preferably, the outer diameter of the third roller 141 is smaller than the outer diameter of the first roller 121 and equal to the outer diameter of the second roller 131.

[0063] The third driving assembly is arranged inside the third roller 141, and is connected to the other end of the first roller 121 through the second connecting rod assembly, and is used to drive the third roller 141 to rotate. Specifically, the third driving assembly is a motor or a motor provided with a speed reducer, the shell of the motor is connected to the other end of the first roller 121 through the second connecting rod assembly, or the shell of the motor is connected to the first driving assembly through the second connecting rod assembly; the rotating shaft of the motor is connected to the third roller 141, and when the motor is powered, the rotating shaft of the motor drives the third roller 141 to rotate because the shell of the motor is connected to the first roller 121 or the first driving assembly. Alternatively, the rotating shaft of the motor is connected to the other end of the first roller 121 or the first driving assembly through the second connecting rod assembly, and the shell of the motor is connected to the third roller 141, and when the motor is powered, the rotating shaft of the motor does not rotate because the rotating shaft of the motor is connected to the first roller 121 or the first driving assembly, and the shell of the motor rotates, and the shell of the motor drives the third roller 141 to rotate.

[0064] In one embodiment of the present application, the outer circumferential surface of the first roller 121, the second roller 131 and the third roller 141 is sleeved with a flexible sleeve to increase the friction with the skin, facilitating the pinching and squeezing of the skin. The flexible sleeve is made of rubber material, and when it contacts the skin, the skin feels more comfortable. When the flexible sleeve contacts the skin and rotates, a greater friction force can be generated, so that the skin can be pushed in different directions by the friction force when the roller rolls, thereby achieving the effects of squeezing the skin and lifting the skin, and realizing the pinching operation.

[0065] In one embodiment of the present application, the first connecting rod assembly includes a first connecting rod 132 and a second connecting rod 133. The first roller 121 is provided with a central shaft, the axis of the central shaft is coaxial with the central axis of the first roller 121, one end of the first connecting rod 132 is rotationally connected with one end of the central shaft of the first roller 121, one end of the second connecting rod 133 is rotationally connected with the other end of the first connecting rod 132, and the other end of the second connecting rod 133 is connected with the second driving assembly. Specifically, the other end of the second connecting rod 133 can be rotationally connected with the motor rotating shaft or the shell of the second driving assembly, or rotationally connected with one end of the second roller 131. Since the roller driving device 150 is connected with the other end of the second roller 131, the stability of the second roller 131 is poor during the movement of the second roller 131 driven by the roller driving device 150. By rotationally connecting one end of the first roller 121 with one end of the central shaft of the second roller 131 through the first connecting rod assembly, the second roller 131 can be balanced in force and have better stability.

[0066] The second connecting rod assembly includes a third connecting rod 142 and a fourth connecting rod 143. One end of the fourth connecting rod 143 is rotationally connected with the other end of the central shaft of the first roller 121, the other end of the fourth connecting rod 143 is rotationally connected with one end of the third connecting rod 142, and the other end of the third connecting rod 142 is connected with the third driving assembly. Specifically, the other end of the third connecting rod 142 can be rotationally connected with the motor rotating shaft or the shell of the third driving assembly, or rotationally connected with one end of the central shaft of the third roller 141. Since the roller driving device 150 is connected with the other end of the third roller 141, the stability of the third roller 141 is poor during the movement of the third roller 141 driven by the roller driving device 150. By rotationally connecting the other end of the first roller 121 with one end of the central shaft of the third roller 141 through the second connecting rod assembly, the motor rotating shaft or the shell of the third driving assembly, or one end of the central shaft of the third roller 141, the third roller 141 can be balanced in force and have better stability.

[0067] In one embodiment of the present application, the roller driving device 150 comprises an external driving assembly 151 and a third linkage assembly, the external driving assembly 151 being connected with the base 110; specifically, the external driving assembly 151 comprises an external motor, the shell of the external motor being fixedly connected with the base 110, the third linkage assembly comprising a fifth linkage 152 and a sixth linkage 153, one end of the fifth linkage 152 being connected with the external driving assembly 151, the other end of the fifth linkage 152 being rotatably connected with the other end of the second roller 131, one end of the sixth linkage 153 being connected with the external driving assembly 151, the other end of the sixth linkage 153 being rotatably connected with the other end of the third roller 141. Specifically, one end of the fifth linkage 152 is connected with the shell or the rotating shaft of the motor in the second driving assembly, one end of the sixth linkage 153 is connected with the shell or the rotating shaft of the motor in the third driving assembly.

[0068] When the external motor rotates, the external motor drives the fifth linkage 152 and the sixth linkage 153 to rotate, and in turn drives the second roller 131 and the third roller 141 to rotate around the rotating shaft of the external motor, and in turn realizes the second roller 131 and the third roller 141 to alternately contact the skin. Specifically, as shown in Figure 3 and Figure 4 When the second roller 131 contacts the skin and is about to pinch the spine, the length of the first linkage assembly increases, the distance between the second roller 131 and the first roller 121 gradually decreases, then the second roller 131 moves upward under the driving of the external motor, and gradually separates from the contact with the skin, and the length of the first linkage assembly gradually becomes shorter. At the same time, the third roller 141 moves downward under the driving of the external motor, and gradually contacts the skin to start pinching the skin. By driving the second roller 131 and the third roller 141 to rotate around the rotating shaft of the external motor, the second roller 131 and the third roller 141 are alternately contacted with the skin, and cooperated with the first roller 121, to realize the pinch operation of the human hand.

[0069] As shown in Figure 5As shown, during operation of the chiropractic device, the first roller 121 is driven by the built-in motor to contact the skin and roll forward along the pushing direction, and to push the skin by the friction between the roller and the skin, so as to simulate the pushing action of the thumb on the skin during chiropractic; the second roller 131 and the third roller 141 simulate the index finger and the middle finger of the human hand, respectively, and are constantly rolled under the driving of the built-in motor to push the skin by the friction between the rollers and the skin; the second roller 131 and the third roller 141 are driven by the external motor to rotate around the rotating shaft of the external motor, so as to realize the alternating contact of the second roller 131 and the third roller 141 with the skin, and to push the skin to move in the direction opposite to the moving direction of the chiropractic device by the rotation of the rollers; the first roller 121 and the second roller 131 or the third roller 141 clamp the skin to perform lifting and other operations, and the above process is repeatedly performed to realize continuous chiropractic operation.

[0070] In another embodiment of the present application, different from the above-mentioned embodiment, the automatic chiropractic device in the present embodiment is not provided with an external driving assembly, and the first linkage assembly and the second linkage assembly are not connected with the central shaft of the first roller 121. Specifically, the roller driving device 150 comprises a built-in driving assembly, the built-in driving assembly comprises a first built-in motor and a second built-in motor, the first built-in motor and the second built-in motor are arranged in the interior of the first roller 121, the first built-in motor and the second built-in motor are coaxially arranged, and the first built-in motor and the second built-in motor are connected with the base 110 to realize the fixation of the first built-in motor and the second built-in motor.

[0071] The rotating shaft of the first built-in motor is connected with the second driving assembly through the first linkage assembly, and the rotating shaft of the second built-in motor is connected with the third driving assembly through the second linkage assembly. Specifically, the first linkage assembly comprises a first linkage 132 and a second linkage 133, one end of the first linkage 132 is connected with the rotating shaft of the first built-in motor, the other end of the first linkage 132 is rotationally fitted with one end of the second linkage 133, and the other end of the second linkage 133 is connected with the second driving assembly. The second linkage assembly comprises a third linkage 142 and a fourth linkage 143, one end of the fourth linkage 143 is connected with the rotating shaft of the second built-in motor, the other end of the fourth linkage 143 is rotationally fitted with one end of the third linkage 142, and the other end of the third linkage 142 is connected with the third driving assembly.

[0072] Preferably, both ends of the first roller 121 are rotatably provided with a sleeve assembly, the sleeve assembly comprises a first sleeve and a second sleeve, the first sleeve is rotatably sleeved on the outer circumferential surface of the second sleeve, the first sleeve and the second sleeve are coaxially arranged, the first built-in motor is connected with the base 110 through one first sleeve, and the second built-in motor is connected with the base 110 through the other first sleeve. When the first roller 121 is provided with a central shaft, the central shaft can also be connected with the first sleeve. One end of the first connecting rod 132 is connected with the rotating shaft of the first built-in motor through one second sleeve, and one end of the fourth connecting rod 143 is connected with the rotating shaft of the second built-in motor through the other second sleeve. The application also provides a control method of the automatic spine kneading equipment simulating human hands, the control method is based on the automatic spine kneading equipment simulating human hands in any one of the above embodiments, and the control method of the automatic spine kneading equipment simulating human hands comprises the following steps:

[0073] According to the obtained instructions, the first roller device 120, the second roller device 130 and the third roller device 140 are controlled to rotate at respective predetermined speeds, and the roller driving device 150 is controlled to drive the second roller device 130 and the third roller device 140 to alternately contact the skin, wherein the rotating direction of the first roller device 120 is opposite to the rotating directions of the second roller device 130 and the third roller device 140.

[0074] It should be noted that the instructions include parameters such as the rolling direction and the rolling speed of each roller, so as to control the built-in motors of the rollers to rotate at predetermined speeds and directions, thereby realizing spine kneading. Different rolling speed instructions are sent by the controller, and the built-in motors of the rollers rotate at different predetermined speeds, so that automatic control of different spine kneading degrees can be realized.

[0075] As shown in Figure 6 and Figure 7 , the controller sends a control instruction with a rotating speed of 80° / s to the built-in motor of the first roller 121, and then the built-in motor of the first roller 121 rolls and pushes at a speed of 80° per second according to the control instruction. The controller sends a control instruction with a rotating speed of 120° / s to the built-in motors of the second roller 131 and the third roller 141, and then the built-in motors of the second roller 131 and the third roller 141 roll and push at a speed of 120° per second according to the control instruction, respectively. The rotating speed difference between the first roller 121 and the second roller 131 and the third roller 141 can clamp the skin to realize spine kneading.

[0076] The controller sends a control instruction of a rotating speed of 100° / s to the built-in motor of the first roller 121, and the built-in motor of the first roller 121 receives the control instruction and then rolls and pushes at a speed of 100° per second. The controller sends a control instruction of a rotating speed of 120° / s to the built-in motors of the second roller 131 and the third roller 141, and the built-in motors of the second roller 131 and the third roller 141 receive the control instruction and then roll and push at a speed of 120° per second respectively. The rotating speed difference between the first roller 121 and the second roller 131 and the third roller 141 clamps the skin to achieve the spine pinching, but the degree of spine pinching is reduced compared with the previous speed difference spine pinching, so that the rotating speed difference between the first roller 121 and the second roller 131 and the third roller 141 can be controlled to achieve the adjustable spine pinching.

[0077] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic spine-pinching device that mimics the action of a human hand, characterized in that, The device comprises: a base (110); a first roller device (120) connected with the base (110), the first roller device (120) being used to push the skin to move in the same direction as the moving direction of the device by rotating itself; the first roller device (120) comprises: a first roller (121); a first driving assembly arranged inside the first roller (121), the first driving assembly being connected with the base (110) and being used to drive the first roller (121) to rotate; a second roller device (130), the center axis of a second roller (131) in the second roller device (130) being parallel to the center axis of the first roller (121); the second roller device (130) is connected with the first roller device (120), and the second roller device (130) is used to push the skin to move in the opposite direction of the moving direction of the device by rotating itself; a third roller device (140), the third roller device (140) and the second roller device (130) being located on the same side of the first roller device (120), the center axis of a third roller (141) in the third roller device (140) being parallel to the center axis of the first roller (121); the third roller device (140) is connected with the first roller device (120), and the third roller device (140) is used to push the skin to move in the opposite direction of the moving direction of the device by rotating itself; a roller driving device (150) connected with the second roller device (130) and the third roller device (140), the roller driving device (150) being used to drive the second roller device (130) and the third roller device (140) to alternately contact the skin.

2. The automated spine palpation device emulating a human hand of claim 1, wherein, The device further comprises: a control device electrically connected with the first roller device (120), the second roller device (130), the third roller device (140) and the roller driving device (150), the control device being used to control the first roller device (120), the second roller device (130) and the third roller device (140) to rotate, and control the roller driving device (150) to work and stop.

3. The automated spine palpation device emulating a human hand of claim 2, wherein, The control device comprises: a wireless communication module used to receive instructions sent by a user terminal; a controller electrically connected with the wireless communication module, the controller being used to control the first roller device (120), the second roller device (130) and the third roller device (140) to rotate according to the instructions received by the wireless communication module, and control the roller driving device (150) to work and stop.

4. The automated spine-chiropractic device imitating human hand according to claim 3, characterized by, The second roller device (130) comprises: a second roller (131) located on one side of the first roller (121); A second driving assembly is arranged inside the second roller (131), and the second driving assembly is connected with one end of the first roller (121) through a first connecting rod assembly, and the second driving assembly is used for driving the second roller (131) to rotate.

5. The automated spine palpation device emulating a human hand of claim 4, wherein, The third roller device (140) comprises: A third roller (141) is arranged on one side of the first roller (121); A third driving assembly is arranged inside the third roller (141), and the third driving assembly is connected with the other end of the first roller (121) through a second connecting rod assembly, and the third driving assembly is used for driving the third roller (141) to rotate.

6. The automated spine palpation device emulating a human hand of claim 5, wherein, The outer circumferential surface of the first roller (121), the second roller (131) and the third roller (141) is sleeved with a flexible sleeve; the first connecting rod assembly comprises a first connecting rod (132) and a second connecting rod (133), one end of the first connecting rod (132) is rotationally matched with one end of the central shaft of the first roller (121), one end of the second connecting rod (133) is rotationally matched with the other end of the first connecting rod (132), and the other end of the second connecting rod (133) is connected with the second driving assembly; The second connecting rod assembly comprises a third connecting rod (142) and a fourth connecting rod (143), one end of the fourth connecting rod (143) is rotationally matched with the other end of the central shaft of the first roller (121), the other end of the fourth connecting rod (143) is rotationally matched with one end of the third connecting rod (142), and the other end of the third connecting rod (142) is connected with the third driving assembly.

7. The automated spine-chiropractic device imitating human hand according to claim 5, characterized by, The roller driving device (150) comprises: An external driving assembly (151) is connected with the base (110); A third connecting rod assembly comprises a fifth connecting rod (152) and a sixth connecting rod (153), one end of the fifth connecting rod (152) is connected with the external driving assembly (151), the other end of the fifth connecting rod (152) is rotationally matched with the other end of the second roller (131), one end of the sixth connecting rod (153) is connected with the external driving assembly (151), and the other end of the sixth connecting rod (153) is rotationally matched with the other end of the third roller (141).

8. The automated spine-chiropractic device imitating human hand according to claim 5, characterized by, The roller driving device (150) comprises: An internal driving assembly comprises a first internal motor and a second internal motor, the first internal motor and the second internal motor are arranged inside the first roller (121), the rotating shaft of the first internal motor is connected with the second driving assembly through the first connecting rod assembly, and the rotating shaft of the second internal motor is connected with the third driving assembly through the second connecting rod assembly.

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