A Thermage treatment robotic arm

Abstract

The present invention discloses a mechanical arm for Thermage treatment, which belongs to the field of beauty equipment, and includes: an XY linear coordinate module, a swing mechanism, a pitch mechanism, a wire-controlled differential lifting and rotating driving mechanism, and a clamping mechanism; the swing mechanism includes a base fixedly mounted on the output end of the XY linear coordinate module, a swing seat rotatably connected to the base, and a first driving mechanism; the pitch mechanism includes a pitch bracket rotatably connected to the swing seat and a second driving mechanism; the wire-controlled differential lifting and rotating driving mechanism is fixedly mounted on the end of the pitch bracket, and the wire-controlled differential lifting and rotating driving mechanism is used to drive the clamping mechanism to rotate and lift along its rotation axis; the clamping mechanism is fixedly mounted on a turntable in the wire-controlled differential lifting and rotating driving mechanism to clamp the Thermage treatment gun; the swing axis of the swing seat, the pitch axis of the pitch bracket, and the rotation axis of the clamping mechanism are interlaced. The present invention is not only simple in structure and reasonable in design, but also convenient in operation and easy to use.

Description

Technical Field

[0001] The present invention relates to the field of beauty equipment, and in particular to a robotic arm for Thermage treatment. Background Art

[0002] Thermage is a beauty device that can stretch and tighten the skin, is highly safe, and does not cause wounds. Its principle is radio frequency technology. The core component of Thermage is the array radio frequency head. When the array radio frequency head is powered on, the positive and negative ions form a return circuit, and an electromagnetic field is generated around the return circuit. The electromagnetic field passes through the surface of the skin and enters the subcutaneous tissue. Under the action of high frequency and dot matrix electrodes, it resonates with human cells and accelerates the metabolism of subcutaneous tissue, increases collagen in subcutaneous tissue, improves tissue nutrition, increases enzyme activity, increases blood circulation, tightens the skin, and makes the skin look younger. Therefore, Thermage is very popular among women.

[0003] However, during the current Thermage treatment, staff need to hold a Thermage treatment gun with an array radio frequency head. During the Thermage treatment, the Thermage treatment gun needs to constantly adjust the distance from the human body and needs to constantly move in a small range, which undoubtedly increases the workload of staff.

[0004] There are also devices that use a robot to operate the Thermage treatment gun, but the robot that performs the above-mentioned actions generally has a complex structure, which is not only not conducive to operation, but also has certain deficiencies in maintenance process and reliability. Summary of the invention

[0005] In view of the problem that the existing mechanical arm for driving the Thermage treatment gun has a complex structure and cumbersome operation, the purpose of the present invention is to provide a Thermage treatment mechanical arm.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A Thermage treatment robotic arm, comprising:

[0008] XY linear coordinate module;

[0009] A swing mechanism, the swing mechanism comprising a base fixedly mounted on the output end of the XY linear coordinate module, a swing seat rotatably connected to the base, and a first driving mechanism fixedly mounted on the base and used to drive the swing seat to swing;

[0010] A pitch mechanism, the pitch mechanism comprising a pitch bracket rotatably connected to the swing seat and a second driving mechanism for driving the pitch bracket;

[0011] A wire-controlled differential lifting and rotating drive mechanism, wherein the wire-controlled differential lifting and rotating drive mechanism is fixedly mounted at the end of the pitch bracket, and the wire-controlled differential lifting and rotating drive mechanism is used to drive the clamping mechanism to rotate and lift along its rotation axis;

[0012] and a clamping mechanism, the clamping mechanism being fixedly mounted on a turntable in the wire-controlled differential lifting and rotating drive mechanism, the clamping mechanism being used to clamp the Thermage treatment gun;

[0013] Wherein, the swing axis of the swing seat, the pitch axis of the pitch bracket, and the rotation axis of the clamping mechanism are intertwined with each other.

[0014] Preferably, the wire-controlled differential lifting and rotating drive mechanism comprises a bracket, a lifting drive mechanism and a turntable; there are two lifting drive mechanisms, and the two lifting drive mechanisms are fixedly installed on both sides of the bracket in parallel and opposite to each other; the turntable is rotatably connected to a slide, and the slide is slidably connected to the bracket, and the rotation axis of the turntable and the sliding direction of the slide are parallel to the lifting drive mechanism;

[0015] Among them, the output end of the lifting drive mechanism is connected to the side wall of the turntable through a wire control cable, so that the lifting drive mechanism can convert the lifting movement of its output end into the rotational movement of the turntable through the wire control cable; when the output ends of the two lifting drive mechanisms move in the same direction, the rotation directions of the turntable are opposite.

[0016] Preferably, the wire control cable is fixed on the output end of the lifting drive mechanism, and the lower end of the wire control cable extends downward and is wound around the side wall of the turntable after being changed direction by a changing pulley installed on the slide, and the upper end of the wire control cable extends upward through a turning pulley installed on the bracket and then extends downward, and is also wound around the side wall of the turntable after being changed direction by another changing pulley installed on the slide.

[0017] Preferably, at least two cableway grooves adapted to the wire control cables are correspondingly arranged on the circumferential side walls of the turntable.

[0018] Preferably, the lifting drive mechanism includes a lifting motor transmission screw and a screw nut; the lifting motor is fixedly mounted on the bracket, the transmission screw is rotatably connected to the bracket, and the transmission screw is drive-connected to the lifting motor, the screw nut is screwed on the transmission screw, and the screw nut is slidably connected to the bracket.

[0019] Preferably, the first driving mechanism includes a first motor and a transition shaft; the first motor is fixedly mounted on the base, the transition shaft is rotatably connected to the base, and the transition shaft is connected to the output shaft of the first motor through a synchronous belt transmission mechanism; a driving gear is installed on the transition shaft, and a driven gear meshing with the driving gear is installed on the swing seat.

[0020] Preferably, the pitch bracket is a double parallelogram mechanism, including a parallelogram mechanism A and a parallelogram mechanism B connected in series, wherein the parallelogram mechanism A is connected to the swing seat.

[0021] Preferably, the swing axis of the swing seat is parallel to the XY plane, the rotation axis of the parallelogram mechanism A is perpendicular to the swing axis of the swing seat, and the turntable axis in the wire-controlled differential lifting and rotating drive mechanism is parallel to the parallelogram mechanism A.

[0022] Preferably, the second driving mechanism comprises an electric cylinder and a crank, the electric cylinder is fixedly mounted on the base, one end of the crank is connected to the parallelogram mechanism A via a hinge, and the other end is connected to the output end of the electric cylinder via a universal hinge.

[0023] Preferably, the clamping mechanism comprises:

[0024] A main frame having an opening for the Thermage treatment gun to enter and exit;

[0025] A pressure rod, one end of which is connected to one side of the opening through a hinge, and an outer wall of the other end of the pressure rod is provided with an external thread;

[0026] A pressing plate, one end of which is connected to the other side of the opening through a hinge, and the other end of which is provided with a notch for the pressing rod to enter and exit;

[0027] And a locking nut, the locking nut is matched with the external thread on the pressure rod, and the locking nut is used to fasten the pressure rod and the pressure plate by screwing after the pressure rod is inserted into the notch.

[0028] By adopting the above technical solution, the beneficial effects of the present invention are:

[0029] 1. In the line-controlled differential lifting and rotating drive mechanism, due to the setting of the lifting drive mechanism, the turntable and the line control cable, the direction and speed of the torsion of the turntable by the two line control cables can be controlled by controlling the movement direction and speed of the two lifting drive mechanisms, and when the torsion forces given by the two line control cables offset each other, the turntable only performs lifting movement, when the torsion force given by the single-side line control cable only performs rotation movement, and when the torsion forces given by the two line control cables cannot offset each other, the turntable performs lifting and rotation movement at the same time, thereby driving the actuator installed on the turntable to perform duplicate mechanical movement through a simple control mechanism;

[0030] 2. In the Thermage treatment robotic arm, due to the setting of the XY linear coordinate module, the swing mechanism, the pitch mechanism, the wire-controlled differential lifting and rotating drive mechanism and the clamping mechanism, the Thermage treatment gun clamped by the robotic arm can move its position in the XY plane, can rotate around the central axis of the human body driven by the swing mechanism, can adjust the inclination and pitch angle between its axis and the curved surface of the human face driven by the pitch mechanism, and can adjust the distance between its treatment head and the human face and the treatment range driven by the wire-controlled differential lifting and rotating drive mechanism, thereby achieving a precise and easy-to-operate control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a front view of the present invention;

[0032] Figure 2 It is a structural schematic diagram of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the present invention in another direction;

[0034] Figure 4 It is a structural schematic diagram of the wire-controlled differential lifting and rotating driving mechanism in the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of the wire-controlled differential lifting and rotating driving mechanism in another direction of the present invention;

[0036] Figure 6 It is a schematic diagram of the structure of the wire-controlled differential lifting and rotating driving mechanism in another direction of the present invention;

[0037] Figure 7 This is a schematic diagram of the connection between the centerline control cable, the slider and the turntable of the present invention;

[0038] Figure 8 for Figure 7 Left view of

[0039] Fig. 9 It is a schematic diagram of two wire-controlled cables driving the same turntable in the present invention.

[0040] In the figure: 1- bracket, 2- lifting drive mechanism, 21- lifting motor, 22- transmission screw, 23- screw nut, 24- slider, 25- slide rail, 26- direction-changing pulley, 27- steering pulley, 3- turntable, 31- connecting rod, 4- slide table, 41- through slot, 5- line control cable, 6- XY linear coordinate module, 61- X-direction linear module, 62- Y-direction linear module, 7- swing mechanism, 71- base, 72- swing seat, 73- first motor, 74- Rotating shaft, 75-driving gear, 76-driven gear, 8-pitch mechanism, 81-pitch bracket, 811-parallelogram mechanism A, 812-parallelogram mechanism B, 82-crank, 83-electric cylinder, 831-frame, 832-motor, 833-screw, 834-sliding block, 84-universal hinge, 9-clamping mechanism, 91-main frame, 92-pressure rod, 93-pressure plate, 94-locking nut, 10-wire-controlled differential lifting and rotating drive mechanism. DETAILED DESCRIPTION

[0041] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] It should be noted that, in the description of the present invention, the directions or positional relationships indicated by the terms "up", "down", "left", "right", "front", "back", etc. are descriptions of the structure of the present invention based on the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0043] The "first" and "second" in this technical solution are only used to distinguish the names of the same or similar structures, or corresponding structures with similar functions, and are not an arrangement of the importance of these structures, nor do they have a ranking, comparison of size, or other meanings.

[0044] In addition, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between the two structures. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the overall idea of ​​the present invention and the specific context of the present solution.

[0045] Embodiment 1

[0046] A Thermage treatment robotic arm, such as Figure 1-3 As shown, it includes an XY linear coordinate module 6, a swing mechanism 7, a pitch mechanism 8, a wire-controlled differential lifting and rotating drive mechanism 10 disclosed in the above embodiments, and a clamping mechanism 9.

[0047] Among them, the XY linear coordinate module 6 includes two linear modules arranged perpendicular to each other, namely, the X-axis module 61 and the Y-axis module 62, the two have the same structure, and the X-axis module 61 is installed on the output end of the Y-axis module 62, and the output end of the X-axis module 61 is used to install the swing mechanism 7.

[0048] The swing mechanism 7 includes a base 71, a swing seat 72 and a first driving mechanism. The base 71 is fixedly mounted on the output end of the X-axis module, the swing seat 72 is rotatably connected to the base 71 via a pivot, and the first driving mechanism is fixedly mounted on the base 71, and the first driving mechanism is used to drive the swing seat 72 to swing.

[0049] In this embodiment, the first driving mechanism includes a first motor 73 and a transition shaft 74. The first motor 73 is fixedly mounted on the base 71 by screws or bolts, the transition shaft 74 is rotatably connected to the base 71 by a bearing, and the transition shaft 74 is connected to the output shaft of the first motor 73 by a synchronous belt transmission mechanism. A driving gear 75 is also mounted on the transition shaft 74, and correspondingly, a driven gear 76 meshing with the driving gear 75 is also mounted on the pivot for mounting the swing seat 72.

[0050] In other preferred embodiments, the first motor 73 in the first drive mechanism can also directly drive the transition shaft 74 to rotate through a gear transmission mechanism, or the first motor 73 can drive the transition shaft 74 to rotate through a gear rack transmission mechanism, or the first motor 73 can drive the transition shaft 74 to rotate through a crank rocker mechanism.

[0051] The pitch mechanism 8 includes a pitch bracket 81 rotatably connected to the swing seat 72 and a second driving mechanism for driving the pitch bracket 81 to pitch.

[0052] In this embodiment, the pitch bracket 81 is configured as a double parallelogram mechanism, which includes a parallelogram mechanism A811 and a parallelogram mechanism B812 connected in series, that is, two adjacent sides of the parallelogram mechanism A811 and two adjacent sides of the parallelogram mechanism B812 are fixedly connected together in a mutually overlapping form, for example, the upper side of the parallelogram mechanism B812 overlaps with the upper side of the parallelogram mechanism A811, and the right side of the parallelogram mechanism B812 overlaps with the right side of the parallelogram mechanism A811. Among them, the lower side of the parallelogram mechanism A811 is also fixedly installed on the swing seat 72, or the lower side of the parallelogram mechanism A811 is eliminated, so that the lower left end and the lower right end of the parallelogram mechanism A811 are directly connected to one side of the top surface of the swing seat 72 through a hinge. The left end of the parallelogram mechanism B812 is used to install the line-controlled differential lifting and rotating drive mechanism 10. In this way, through the setting of the parallelogram mechanism B812, the swing angle of the wire-controlled differential lifting and rotating drive mechanism 10 can change synchronously with the parallelogram mechanism A811, and through the setting of the parallelogram mechanism A811, the wire-controlled differential lifting and rotating drive mechanism 10 can be lifted, thereby avoiding the possibility of interference with other components during its swing.

[0053] In this embodiment, the second driving mechanism includes an electric cylinder 83 and a crank 82. The electric cylinder 83 is fixedly mounted on the base 71, and one end of the crank 84 is connected to the parallelogram mechanism A811 through a hinge, and the other end is connected to the output end of the electric cylinder 83 through a universal hinge 84. As a well-known product, the electric cylinder 83 includes a frame 831, a motor 832 fixedly mounted on the frame 831, a screw rod 833 rotatably mounted on the frame 831, and a sliding block 834 screwed on the screw rod 833. The sliding block 834 is also slidably connected to the frame 831 along the axial direction of the screw rod 833. When in use, the motor 832 drives the screw rod 833 to rotate through the synchronous belt transmission mechanism, and the screw rod 833 drives the sliding block 834 to slide.

[0054] In this embodiment, the universal hinge 84 connected between the crank 82 and the electric cylinder 83 is configured to include an articulated base, one end of which is configured as a cylindrical structure, and an axial hole adapted thereto is opened on the sliding block 834, so that the cylindrical end of the articulated base extends therein and can rotate, and the other end of the articulated base is rotatably connected to one end of the crank 82 through a pin, and there is an angle between the axis of the cylindrical end of the articulated base and the axis of the pin, and the size of the angle is adapted to the angle between the swing axis of the swing seat 72 and the pitch axis of the pitch bracket 81, for example, both are 90°. Or in other preferred embodiments, it can also be replaced by a cross-axis universal joint. In this way, when the crank 82 drives the pitch bracket 81 to perform a pitching action, it does not affect the shaking action of the swing mechanism 7.

[0055] It can be understood that in order to prevent the driven gear 76 installed on the swing seat 72 from affecting the movement of the parallelogram mechanism A811, in this embodiment, the driven gear 76 is configured in a semicircular shape and installed on one side of the bottom surface of the swing seat 72.

[0056] Among them, the wire-controlled differential lifting and rotating driving mechanism 10 is as follows Figure 4-6 As shown, it includes a bracket 1, a lifting drive mechanism 2, a turntable 3, a slide 4 and a wire control cable 5. The bracket 1 is fixedly installed at the end of the pitch bracket 81. The bracket 1 is a rectangular frame structure made of metal profiles, including a top plate, a bottom plate and two vertical plates connected therebetween, and the two vertical plates are arranged oppositely and at intervals.

[0057] There are two lifting drive mechanisms 2, and the two lifting drive mechanisms 2 are fixedly installed on both sides of the bracket 1 in parallel and opposite to each other. For example, in this embodiment, the lifting drive mechanism 2 includes a lifting motor 21, a transmission screw 22 and a screw nut 23. The lifting motor 21 is fixedly installed on the top plate, and the upper and lower ends of the transmission screw 22 are rotatably connected to the top plate and the bottom plate through bearings, respectively, and the transmission screws 22 in the two lifting drive mechanisms 2 are respectively arranged near the two vertical plates, thereby increasing the effective utilization space in the bracket 1 (the space between the two vertical plates), and the lifting motor 21 drives the corresponding transmission screw 22 to rotate through the synchronous belt transmission mechanism. The two transmission screws 22 are respectively screwed with screw nuts 23, and the screw nuts 23 are also fixed with sliders 24, and the bracket 1 (specifically the two vertical plates) is equipped with a slide rail 25 used in conjunction with the slider 24.

[0058] The slide 4 is configured as a shell-shaped structure formed by splicing plates, and the left and right sides of the slide 4 are both slidably connected to the bracket 1, for example, the left and right sides of the slide 4 are also slidably connected to the slide rails 25 arranged on the two vertical plates. The turntable 3 is arranged in the slide 4, and the turntable 3 is rotatably connected to the top wall and the bottom wall of the slide 4 through a short shaft, and the rotation axis of the turntable 3 and the sliding direction of the slide 4 are configured to be parallel to the movement direction of the output end of the lifting drive mechanism 2. In addition, a through groove 41 is also provided on the bottom wall of the slide 4, so that the connecting rod 31 installed on one side of the bottom surface of the turntable 3 can extend from the through groove 41, and the connecting rod 31 is used to connect with the actuator, and the through groove 41 is configured to have a certain arc (centered on the rotation axis of the turntable 3), so that the connecting rod 41 can move in the through groove 41 when the turntable 3 rotates, and the turntable 3 can also be protected by the slide 4.

[0059] The output ends of the two lifting drive mechanisms 2 drive the turntable 3 to rotate through a wire control cable 5. Figure 7 and Figure 8 As shown, for one of the wire control cables 5, the middle part of the wire control cable 5 is fixed on the output end of the lifting drive mechanism 2, the lower end of the wire control cable 5 extends downward and is connected to the turntable 3 after being changed in direction by a change-direction pulley 26 installed on the slide 4, and the upper end of the wire control cable 5 first extends upward and changes to extend downward after being changed in direction by a turn pulley 27 installed at the upper position of the bracket 1, and is also connected to the turntable 3 after being changed in direction by another change-direction pulley 26 installed on the slide 4. Among them, the turn pulley 27 is used to change the extension direction of the wire control cable 5 in the vertical plane, and the change-direction pulley 26 is used to change the direction of the wire control cable 5 from the vertical plane to the horizontal plane, so as to drive the turntable 3 to rotate. Typically, a steering pulley 27 is also installed on the slide 4, and each wire control cable 5 corresponds to two steering pulleys 27. The steering pulley 27 is used to enable both ends of the wire control cable 5 to better cooperate with the changing pulley 26. Correspondingly, the top wall and bottom wall of the slide 4 are provided with through holes for the wire control cable 5 to pass through.

[0060] It can be understood that, since both ends of the wire control cable 5 are connected to the turntable 3, for a single lifting drive mechanism 2, the lifting movement of its output end can drive the turntable 3 to rotate, such as Figure 7 As shown, for example, when the slider 24 rises, the two ends of the wire control cable 5 connected to the turntable 3 perform reverse synchronous motion, thereby driving the turntable 3 to rotate, for example, counterclockwise rotation when viewed from above. It is understandable that the same effect can be achieved for another lifting drive mechanism 2, and the wire control cable 5 only needs to be wound around the other side of the change-direction pulley 26 to drive the turntable 3 to rotate clockwise when the slider 24 rises. Fig. 9As shown, when the output ends (slide blocks 24) of the two lifting drive mechanisms 2 move synchronously in the same direction, the torsional forces given by the two wire control cables 5 to the turntable 3 cancel each other out, so that the turntable 3 is only forced to perform lifting movement, and the lifting direction of the turntable 3 is synchronized with the output ends of the two lifting drive mechanisms 2; and when the output ends of the two lifting drive mechanisms 2 move synchronously in opposite directions, the torsional forces given by the two wire control cables 5 to the turntable 3 are superimposed on each other, and the turntable 3 rotates at this time, and both clockwise and counterclockwise rotation can be achieved.

[0061] When in use, one side of the bottom surface of the turntable 3 is used to install the actuator. By controlling the movement direction and movement speed of the output ends of the two lifting drive mechanisms 2, the actuator can be controlled to perform lifting and rotating movements. At the same time, the direction and speed of the lifting movement and the direction and speed of the rotational movement can also be controlled, thereby realizing a variety of complex movement forms through a simple structural design.

[0062] The clamping mechanism 9 is fixedly mounted on one side of the bottom surface of the turntable 3 in the line-controlled differential lifting and rotating driving mechanism 10, and the clamping mechanism 9 is used to clamp the Thermage treatment gun. In this embodiment, the clamping mechanism 9 includes a main frame 91, a pressure rod 92, a pressure plate 93 and a locking nut 94.

[0063] The main frame 91 is a plane frame structure, and has an opening for the Thermage treatment gun to enter and exit. For example, the opening extends to the two sides of the main frame 91, so that the Thermage treatment gun can be inserted more conveniently. The pressure rod 92 is a long strip structure, one end of which is connected to one side of the opening by a hinge, and the outer wall of the other end of the pressure rod 92 is provided with an external thread. The pressing plate 93 is also a long strip structure, one end of which is connected to the other side of the opening by a hinge, and the other end of the pressing plate 93 is correspondingly provided with a notch for the other end of the pressure rod 92 provided with an external thread to enter and exit, so that when the other end of the pressure rod 92 provided with an external thread extends into the notch of the pressing plate 93, the main frame 91 is completely closed. At this time, the locking nut 94 is screwed on the other end of the pressure rod 92 provided with an external thread, and the pressing plate 93 is squeezed by the locking nut 94, so that the pressure rod 92 and the pressing plate 93 are tightened under the action of friction, and the Thermage treatment gun is fixed.

[0064] In summary, the robotic arm in this embodiment fixes the Thermage treatment gun through the clamping mechanism 9, drives the Thermage treatment gun to move in the XY plane through the XY linear coordinate module 6, drives the Thermage treatment gun along the swing axis of the swing seat 72 through the swing mechanism 7, and drives the Thermage treatment gun to rotate along the pitch axis of the pitch bracket 81 through the pitch mechanism 8, and then drives the Thermage treatment gun to perform lifting and rotating movements along the axis of the turntable 3 through the wire-controlled differential lifting and rotating drive mechanism 10, so that during Thermage treatment, the Thermage treatment gun is driven by the coordination of the above-mentioned movements to complete the acupuncture treatment operation.

[0065] It can be understood that in order to make each movement produce a corresponding effect, in this embodiment, the swing axis of the swing seat 72 is parallel to the XY plane, and the swing axis of the swing seat 72, the pitch axis of the pitch bracket 81, and the axis of the turntable 3 in the wire-controlled differential lifting and rotating drive mechanism 10 are staggered. Further, the rotation axis of the parallelogram mechanism A811 is perpendicular to the swing axis of the swing seat 72, and the axis of the turntable 3 in the wire-controlled differential lifting and rotating drive mechanism 10 is parallel to the rotation axis of the parallelogram mechanism A811.

[0066] Embodiment 2

[0067] The difference between the embodiment 1 and the embodiment 1 is that in the embodiment 1, at least two cableway grooves adapted to the wire control cables 5 are correspondingly arranged on the circumferential side wall of the turntable 3 .

[0068] In this way, both ends of the wire control cable 5 are firstly wound in the cableway groove and then the ends are fixed. For example, a hole is opened at the bottom of the cableway groove, and the ends of the wire control cable 5 are inserted into the hole and then pressed and fixed by a pin or a plug.

[0069] In this embodiment, there are three cableway grooves opened on the turntable 3, and the two wire control cables 5 have four ends in total. One end of the two wire control cables 5 shares one cableway groove, and the other ends of the two wire control cables 5 correspond to the other two cableway grooves respectively.

[0070] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A robotic arm for Thermage treatment, Features: include: XY linear coordinate module; A swing mechanism, the swing mechanism comprising a base fixedly mounted on the output end of the XY linear coordinate module, a swing seat rotatably connected to the base, and a first driving mechanism fixedly mounted on the base and used to drive the swing seat to swing; A pitch mechanism, the pitch mechanism comprising a pitch bracket rotatably connected to the swing seat and a second driving mechanism for driving the pitch bracket; A wire-controlled differential lifting and rotating drive mechanism, wherein the wire-controlled differential lifting and rotating drive mechanism is fixedly mounted at the end of the pitch bracket, and the wire-controlled differential lifting and rotating drive mechanism is used to drive the clamping mechanism to rotate and lift along its rotation axis; and a clamping mechanism, the clamping mechanism being fixedly mounted on a turntable in the wire-controlled differential lifting and rotating drive mechanism, the clamping mechanism being used to clamp the Thermage treatment gun; Wherein, the swing axis of the swing seat, the pitch axis of the pitch bracket, and the rotation axis of the clamping mechanism are intertwined; The pitch support is a double parallelogram mechanism, including a parallelogram mechanism A and a parallelogram mechanism B connected in series, wherein the parallelogram mechanism A is connected to the swing seat; The clamping mechanism comprises: A main frame having an opening for the Thermage treatment gun to enter and exit; A pressure rod, one end of which is connected to one side of the opening through a hinge, and an outer wall of the other end of the pressure rod is provided with an external thread; A pressing plate, one end of which is connected to the other side of the opening through a hinge, and the other end of which is provided with a notch for the pressing rod to enter and exit; And a locking nut, the locking nut is matched with the external thread on the pressure rod, and the locking nut is used to fasten the pressure rod and the pressure plate by screwing after the pressure rod is inserted into the notch.

2. The Thermage treatment robotic arm according to claim 1, Features: The wire-controlled differential lifting and rotating drive mechanism comprises a bracket, a lifting drive mechanism and a turntable; there are two lifting drive mechanisms, which are fixedly mounted on both sides of the bracket in parallel and opposite to each other; the turntable is rotatably connected to a slide, the slide is slidably connected to the bracket, and the rotation axis of the turntable and the sliding direction of the slide are parallel to the lifting drive mechanism; Among them, the output end of the lifting drive mechanism is connected to the side wall of the turntable through a wire control cable, so that the lifting drive mechanism can convert the lifting movement of its output end into the rotational movement of the turntable through the wire control cable; when the output ends of the two lifting drive mechanisms move in the same direction, the rotation directions of the turntable are opposite.

3. The Thermage treatment robotic arm according to claim 2, Features: The wire control cable is fixed on the output end of the lifting drive mechanism, and the lower end of the wire control cable extends downward and is wound around the side wall of the turntable after being changed in direction by a changing pulley installed on the slide. The upper end of the wire control cable is turned upward by a turning pulley installed on the bracket and then extends downward, and is also wound around the side wall of the turntable after being changed in direction by another changing pulley installed on the slide.

4. The Thermage treatment robotic arm according to claim 3, Features: At least two cableway grooves adapted to the wire control cables are correspondingly arranged on the circumferential side walls of the turntable.

5. The Thermage treatment robotic arm according to claim 2, Features: The lifting drive mechanism includes a lifting motor transmission screw and a screw nut; the lifting motor is fixedly mounted on the bracket, the transmission screw is rotatably connected to the bracket, and the transmission screw is drivingly connected to the lifting motor, the screw nut is screwed on the transmission screw, and the screw nut is slidably connected to the bracket.

6. The Thermage treatment robotic arm according to claim 1, Features: The first driving mechanism includes a first motor and a transition shaft; the first motor is fixedly mounted on the base, the transition shaft is rotatably connected to the base, and the transition shaft is connected to the output shaft of the first motor through a synchronous belt transmission mechanism; a driving gear is installed on the transition shaft, and a driven gear meshing with the driving gear is installed on the swing seat.

7. The Thermage treatment robotic arm according to claim 1, Features: The swing axis of the swing seat is parallel to the XY plane, the rotation axis of the parallelogram mechanism A is perpendicular to the swing axis of the swing seat, and the turntable axis in the wire-controlled differential lifting and rotating drive mechanism is parallel to the parallelogram mechanism A.

8. The Thermage treatment robotic arm according to claim 1, Features: The second driving mechanism includes an electric cylinder and a crank. The electric cylinder is fixedly mounted on the base. One end of the crank is connected to the parallelogram mechanism A through a hinge, and the other end is connected to the output end of the electric cylinder through a universal hinge.

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