Rehabilitation robot end effector

Abstract

The application provides a rehabilitation robot end effector, which comprises a first driving assembly, a flexible protection assembly, an execution assembly, a second driving assembly, a connecting flange and a vertical support plate, the first driving assembly is located above the flexible protection assembly, the execution assembly is arranged below the first driving assembly, the second driving assembly is located below the flexible protection assembly, the vertical support plate is connected with the connecting flange, the first driving assembly drives the execution assembly to rub and press, and the second driving assembly drives the execution assembly to vibrate; the execution assembly rubs and presses the massage head through cooperation of components in the first driving assembly, reciprocatingly moves the outer shaft through rotation of the cam in the second driving assembly, and vibrates the massage head through cooperation of the components, so as to realize vibration, the flexible protection assembly can effectively buffer the pressing degree, satisfy multiple functions, and effectively improve the safety of human-computer interaction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of massage robots, and particularly relates to an end effector of a rehabilitation robot. BACKGROUND

[0002] At present, the end effector of a rehabilitation robot mostly installs a massage actuator on the end of the robot, and realizes massage through the cooperative movement of the collaborative robot and the massage actuator, but the overall effect is poor.

[0003] CN 114474096 A discloses a medical robot end effector based on series elastic driving, comprising a support bottom plate, a linear guide rail is arranged above the support bottom plate, a first sliding block, a second sliding block and a third sliding block are sequentially and slidably connected to the linear guide rail from the front end to the rear end, the invention realizes the buffering function through the elastic structure, and has a certain safety protection effect, but the realized function effect is single, and cannot meet the diversified needs.

[0004] CN 113304037 A discloses a hybrid massage robot integrating multiple intelligent sensing, comprising a box body, a three-dimensional moving device, a parallel robot, an end effector and a massage head; different massage methods are realized, the moving platform of the parallel robot is fixed with the end effector; the end effector is provided with a force sensor, and the massage head is fixed below the end effector; the massage head is provided with a tactile sensor. The invention can meet the diversification needs of massage methods, but the design still has deficiencies in ensuring the safety of the robot in contact with the human body.

[0005] In summary, the existing rehabilitation robot does not have a good end effector, and the combination of the rehabilitation robot and the end effector has the defects of single function, unreliable movement and difficult to guarantee the use safety, therefore, it is necessary to design an end effector of a rehabilitation robot. SUMMARY

[0006] In view of the problems existing in the prior art, the present application provides an end effector of a rehabilitation robot, the massage head realizes finger kneading through the cooperation of the components in the first driving assembly, the first connecting piece and the second connecting piece are designed as an eccentric axis to prevent the tangential force in finger kneading from causing damage to the skin of the target part, the outer shaft reciprocates through the high-speed rotation of the cam in the second driving assembly, the massage head vibrates under the cooperation of the components to realize vibration, and different movement forms are realized according to needs.

[0007] Specifically, the application provides a rehabilitation robot end effector, which comprises a first driving assembly, a flexible protection assembly, an execution assembly and a second driving assembly, the first driving assembly is located above the flexible protection assembly, the execution assembly is arranged below the first driving assembly, the second driving assembly is located below the flexible protection assembly, the first driving assembly drives the execution assembly to rub and press, and the second driving assembly drives the execution assembly to vibrate.

[0008] The first driving assembly comprises a first motor, a fixed plate, a first coupling and a main shaft, the first motor is located above the fixed plate, and the output shaft of the first motor is connected with the main shaft through the first coupling.

[0009] The execution assembly comprises an outer shaft, a pad, a compression spring, a limiting pin, a second support plate, a first light barrier, a second limiting switch, an eccentric piece, a first connecting piece, a second connecting piece, a force sensor, a transmission roller and a massage head, the outer shaft is sleeved on the middle part of the main shaft, the outer shaft is connected with the main shaft through a threaded pin, the relative rotation between the outer shaft and the main shaft is limited, the pad is sleeved on the bottom of the outer shaft and connected with the outer shaft through the limiting pin, the compression spring is sleeved on the outer shaft and arranged between the boss in the middle part of the outer shaft and the pad, the second support plate is arranged below the pad, the first light barrier is arranged at the end of the pad away from the limiting pin, the second limiting switch is arranged on the second support plate, the first end of the eccentric piece is connected with the bottom end of the outer shaft, the first connecting piece is connected with the second end of the eccentric piece through a bearing, the second connecting piece is connected with the first connecting piece through a cylindrical pin, and the force sensor is arranged between the first connecting piece and the second connecting piece, the transmission roller is arranged at the bottom of the second connecting piece, and the massage head is sleeved on the transmission roller.

[0010] The second driving assembly comprises a second motor, a second coupling, a cam, a bearing seat, a third support plate, a motor seat, a connecting sleeve and a second light barrier, the output shaft of the second motor is connected with the cam shaft on the cam through the second coupling, the bearing seat is sleeved on the end of the cam shaft, and the bearing seat is fixedly connected with the third support plate, the second motor is connected with the third support plate through the motor seat, the outer circumferential surface of the cam is in contact with the end surface of the boss in the middle part of the outer shaft, the end of the third support plate away from the second motor is provided with a main shaft hole, the connecting sleeve is sleeved on the main shaft through the main shaft hole, and the second light barrier is arranged on the connecting sleeve.

[0011] The flexible protection assembly comprises a steering engine assembly, a limiting column, a pressure adjusting disc, a fixed block, a flexible piece, a limiting spring and a first limiting switch, the steering engine assembly is connected with the pressure adjusting disc, the bottom end surface of the fixed block is in contact with the outer profile surface of the pressure adjusting disc, the flexible piece is embedded in the fixed block and in contact with the limiting column, the first end of the limiting column is arranged on the third supporting plate of the second driving assembly, the limiting spring is sleeved on the limiting column, the first limiting switch is arranged outside the main shaft, and the limiting spring is arranged between the third supporting plate and the flexible protection assembly.

[0012] Preferably, the steering engine assembly comprises a steering engine, a steering disc and a steering engine seat, the flexible protection assembly further comprises a first supporting plate, a torsion spring and a supporting seat, the output shaft of the steering engine is connected with the pressure adjusting disc through the steering disc, the steering engine is connected with the first supporting plate through the steering engine seat, the fixed block is slidingly connected with the first supporting plate through a groove structure, the flexible piece is embedded in the open slot of the fixed block, the flexible piece is in contact with the limiting column through a cylindrical pressing sheet, the torsion spring is sleeved on a torsion spring seat, the torsion spring seat is installed on the first supporting plate, the first end of the torsion spring is clamped on the first supporting plate, the second end of the torsion spring abuts against the fixed block, the fixed block keeps in contact with the pressure adjusting disc through the torsion spring, and the second end of the limiting column is arranged in the first supporting plate.

[0013] Preferably, the limiting spring is arranged between the first supporting plate and the third supporting plate, the supporting seat is sleeved on the main shaft, the supporting seat is arranged on the first supporting plate, and the first limiting switch is arranged on the supporting seat.

[0014] Preferably, the profile curve of the cam is connected by four six-order spline curves.

[0015] Preferably, the profile curve of the pressure adjusting disc is connected by six six-order spline curves.

[0016] Preferably, the third supporting plate is connected with the second supporting plate through a supporting column.

[0017] Preferably, in the kneading and pressing, the first motor drives the main shaft to rotate through the first coupling, the main shaft drives the outer shaft to rotate through the threaded pin, the outer shaft drives the eccentric piece to rotate, and then the eccentric piece drives the first connecting piece to rotate, the first connecting piece rotates around its axis relative to the eccentric piece, the first connecting piece drives the second connecting piece to rotate, the second connecting piece drives the transmission drum to rotate around its axis relative to the second connecting piece, so as to drive the massage head to rotate, thereby realizing kneading and pressing.

[0018] Preferably, after the kneading is finished, the first light barrier triggers the second limit switch, and the first motor stops rotating to reset the massage head.

[0019] Preferably, in the vibration, the second motor drives the cam to rotate through the second shaft coupling, and the high-frequency rotation of the cam drives the outer shaft in contact with the cam to move up and down, which is indirectly transmitted to the massage head through the eccentric member, the first connecting member, the second connecting member and the transmission roller, so that the massage head realizes vibration.

[0020] Preferably, it also comprises a connecting flange for connecting the robot body and a vertical support plate, and the connecting flange is fixed on the vertical support plate.

[0021] The characteristics and benefits of the present application are:

[0022] 1、The end effector of the rehabilitation robot, through the cooperation of each component in the first drive assembly, the massage head is kneaded, the first connecting member and the second connecting member are designed as an eccentric axis to prevent tangential force from causing damage to the skin of the massage site during finger kneading, and a force sensor is arranged to detect and feedback the massage pressure in real time.

[0023] 2、The end effector of the rehabilitation robot, through the cooperation of the cam and the second support plate in the second drive assembly, the outer shaft moves up and down reciprocally, and through the cooperation of the eccentric member, the first connecting member, the second connecting member and the transmission roller, the massage head vibrates.

[0024] 3、The end effector of the rehabilitation robot, through the cooperation of the limiting spring sleeved on the limiting column of the soft protection assembly, the massage force can be effectively buffered, through the cooperation of the pressure adjusting disc, the fixed block and the flexible member, the vibration generated by the execution assembly can be applied to the massage site of the user, and the safety of human-computer interaction is effectively improved on the basis of functional diversification. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the end effector of the rehabilitation robot;

[0026] Figure 2 It is a schematic diagram of the structure of the first drive assembly in the end effector of the rehabilitation robot;

[0027] Figure 3 It is a schematic diagram of the structure of the soft protection assembly in the end effector of the rehabilitation robot;

[0028] Figure 4 It is a schematic diagram of the structure of the execution assembly in the end effector of the rehabilitation robot;

[0029] Figure 5This is a schematic diagram of the structure of the second drive component in the end effector of the rehabilitation robot of the present invention;

[0030] Figure 6 This is a schematic diagram of the pressure regulating disc in the end effector of the rehabilitation robot of the present invention;

[0031] Figure 7 This is a schematic diagram showing the state of the rehabilitation robot end effector of the present invention being used in conjunction with a collaborative robot.

[0032] Key reference numerals:

[0033] First drive assembly 1, first motor 11, fixed plate 12, first coupling 13, main shaft 14, threaded pin 15, compliance protection assembly 2, servo motor 201, servo disc 202, pressure regulating plate 203, servo motor base 204, first support plate 205, fixed block 206, flexible component 207, cylindrical pressure plate 208, limit post 209, torsion spring 210, limit spring 211, support base 212, first limit switch 213, actuation assembly 3, outer shaft 301, boss 3011, pad 302, pressure... Contraction spring 303, limit pin 304, second support plate 305, gasket 306, first light-blocking plate 307, second limit switch 308, eccentric part 309, first connecting part 310, second connecting part 311, force sensor 312, transmission roller 313, massage head 314, second drive assembly 4, second motor 41, second coupling 42, cam 43, bearing seat 44, third support plate 45, motor seat 46, connecting sleeve 47, second light-blocking plate 48, connecting flange 5, vertical support plate 6. Detailed Implementation

[0034] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0035] This invention discloses an end effector for a rehabilitation robot, capable of performing end-effector actions. In one specific embodiment, it is an end effector capable of reproducing finger kneading, finger vibration, and acupressure techniques, possessing multiple massage functions while ensuring safe human-machine interaction. Figure 1 As shown, it includes a first drive assembly 1, a compliance protection assembly 2, an execution assembly 3, a second drive assembly 4, a connecting flange 5, and a vertical support plate 6. The first drive assembly 1 is located above the compliance protection assembly 2, the execution assembly 3 is located below the first drive assembly 1, and the second drive assembly 4 is located below the compliance protection assembly 2. The vertical support plate 6 is connected to the connecting flange 5. The first drive assembly 1 drives the execution assembly 3 to perform kneading and pressing to achieve finger kneading massage, and the second drive assembly 4 drives the execution assembly 3 to vibrate to achieve finger vibration massage.

[0036] like Figure 2As shown, the first driving assembly 1 comprises a first motor 11, a fixed plate 12, a first coupling 13, a main shaft 14 and a threaded pin 15, the first motor 11 is located above the fixed plate 12, the output shaft of the first motor 11 is connected with the main shaft 14 through the first coupling 13, and the threaded pin 15 is arranged at the bottom of the main shaft 14.

[0037] As shown in Figure 3 and Figure 6 As shown, the flexible protection assembly 2 comprises a steering engine 201, a steering disc 202, a pressure adjusting disc 203, a steering engine seat 204, a first support plate 205, a fixed block 206, a flexible piece 207, a cylindrical pressing piece 208, a limiting column 209, a torsional spring 210, a limiting spring 211, a support seat 212 and a first limiting switch 213, the output shaft of the steering engine 201 is connected with the pressure adjusting disc 203 through the steering disc 202, the steering engine 201 is connected with the first support plate 205 through the steering engine seat 204, the fixed block 206 is slidably connected with the first support plate 205 through a groove structure, and the bottom end surface of the fixed block 206 is in contact with the outer contour surface of the pressure adjusting disc 203, the flexible piece 207 is embedded in the open slot of the fixed block 206, the flexible piece 207 is in contact with the limiting column 209 through the cylindrical pressing piece 208, the torsional spring 210 is sleeved on the torsional spring seat 211, and the torsional spring seat 211 is fixed on the first support plate 205, the first end of the torsional spring 210 is clamped on the first support plate 205, the second end of the torsional spring 210 abuts against the fixed block 206, the fixed block 206 keeps in contact with the pressure adjusting disc 203 through the torsional spring 210, the first end of the limiting column 209 is arranged on the third support plate 45 of the second driving assembly 4, the second end of the limiting column 209 penetrates through the first support plate 205, the limiting spring 211 is sleeved on the limiting column 209, and the limiting spring 211 is arranged between the first support plate 205 and the third support plate 45, the support seat 212 is sleeved on the main shaft 14 and arranged on the first support plate 205, and the first limiting switch 213 is arranged on the support seat 212.

[0038] As shown in Figure 4As shown, the execution assembly 3 comprises an outer shaft 301, a cushion block 302, a compression spring 303, a limiting pin 304, a second support plate 305, a gasket 306, a first light barrier 307, a second limiting switch 308, an eccentric part 309, a first connecting part 310, a second connecting part 311, a force sensor 312, a transmission roller 313 and a massage head 314, the outer shaft 301 is sleeved in the middle part of the main shaft 14, the outer shaft 301 is connected with the main shaft 14 through the threaded pin 15, the relative rotation between the outer shaft 301 and the main shaft 14 is limited, the cushion block 302 is sleeved at the bottom of the outer shaft 301, and the cushion block 302 is connected with the outer shaft 301 through the limiting pin 304, the compression spring 303 is sleeved on the outer shaft 301, and the compression spring 303 is arranged between the boss 3011 in the middle part of the outer shaft 301 and the cushion block 302, the second support plate 305 is arranged below the cushion block 302, the cushion block 302 is connected with the second support plate 305 through the gasket 306, the first light barrier 307 is arranged at one end of the cushion block 302 away from the limiting pin 304, the second limiting switch 308 is arranged on the second support plate 305, the first end of the eccentric part 309 is connected with the bottom end of the outer shaft 301, the first connecting part 310 is connected with the second end of the eccentric part 309 through a bearing, the second connecting part 311 is connected with the first connecting part 310 through a cylindrical pin, and the force sensor 312 is arranged between the first connecting part 310 and the second connecting part 311, the transmission roller 313 is arranged at the bottom of the second connecting part 311, and the massage head 314 is sleeved on the transmission roller 313.

[0039] As shown in the figure, Figure 5 As shown, the second driving assembly 4 comprises a second motor 41, a second shaft coupling 42, a cam 43, a bearing seat 44, a third support plate 45, a motor seat 46, a connecting sleeve 47 and a second light barrier 48, the output shaft of the second motor 41 is connected with the cam shaft on the cam 43 through the second shaft coupling 42, the bearing seat 44 is sleeved at the end of the cam shaft, and the bearing seat 44 is fixedly connected with the third support plate 45, the second motor 41 is connected with the third support plate 54 through the motor seat 46, the outer circumferential surface of the cam 43 is in contact with the end surface of the boss 3011 in the middle part of the outer shaft 301, the end of the third support plate 45 away from the second motor 41 is provided with a main shaft hole, the connecting sleeve 47 is sleeved on the main shaft 14 through the main shaft hole, the second light barrier 48 is arranged on the connecting sleeve 47, and the third support plate 45 is connected with the second support plate 305 through a support column. In an embodiment of the present application, the connecting sleeve 47 is a copper sleeve.

[0040] The end execution mechanism of the rehabilitation robot is further described in the following embodiments:

[0041] Before massage, first connect the installation end of the connecting flange 5 in the end execution device with the end of the collaborative robot, and then operate the massage end execution device to the massage part through the collaborative robot to complete the massage preparation work.

[0042] AsFigures 1 to 7 As shown, in the process of kneading, i.e. finger-kneading massage, first, the massage end effector is pressed to the massage site by the collaborative robot, and when the value detected by the force sensor 312 reaches the set massage force value, the collaborative robot stops moving downward, and then the massage end effector is shifted in a specified direction by a displacement of a kneading radius, so that the kneading center of the massage head 314 coincides with the rotation axis of the first motor 11 within a certain error, and then the first motor 11 drives the main shaft 14 to rotate through the first coupling 13, the main shaft 14 drives the outer shaft 301 to rotate through the threaded pin 15, the outer shaft 301 drives the eccentric part 309 to rotate, the eccentric part 309 drives the first connecting part 310 to rotate, the eccentric part 309 is connected with the first connecting part 310 through a plastic bearing, so that the first connecting part 310 rotates around its axis relative to the eccentric part 309, preventing damage to the skin of the massage site due to the tangential force during the implementation of the finger-kneading method, the first connecting part 310 drives the second connecting part 311 to rotate, a force sensor 312 is arranged between the first connecting part 310 and the second connecting part 311 for real-time detection of the feedback massage force value, the second connecting part 311 drives the transmission drum 313 to rotate, the transmission drum 313 is internally provided with a bearing, so that the transmission drum 313 rotates around its axis relative to the second connecting part 311, preventing the connection line of the force sensor 312 from being entangled, the transmission drum 313 drives the massage head 314 to rotate to knead the skin of the massage area, thereby realizing the finger-kneading method massage. When the operation is completed, the first motor 11 reduces the rotation speed, and after the first light barrier 307 triggers the second limit switch 308, the rotation of the first motor 11 is stopped, ensuring that the massage head 314 stops at the initial position after each finger-kneading method, preventing a large deviation between the kneading center of the massage head 314 and the rotation center of the first motor 11.

[0043] In the process of vibration, i.e. finger-vibration massage, first, the massage end effector is pressed to the massage site by the collaborative robot, and when the value detected by the force sensor 312 reaches the set massage force value, the collaborative robot stops moving, and then the cam 43 is driven to rotate by the second motor 41 through the second coupling 42, in the push phase of the cam 43, the cam 43 pushes the outer shaft 301 to move downward, in the return phase of the cam 43, the outer shaft 301 gradually returns to the initial position under the action of the compression spring 303, the rapid up-and-down movement of the outer shaft 301 is realized by rotating the cam 43 at a high frequency, and the up-and-down movement of the outer shaft 301 is indirectly transmitted to the massage head 314 through the eccentric part 307, the first connecting part 310, the second connecting part 311 and the transmission drum 313, so that the massage head 314 vibrates the user's skin, thereby realizing the finger-vibration method massage.

[0044] When the massage end effector performs finger pressure massage, first, the collaborative robot slowly applies pressure to the massage site by manipulating the massage end effector, when the value detected by the force sensor 312 reaches the set massage force value, the collaborative robot stops moving and stays at the current position for 3-10 seconds, then the collaborative robot slowly lifts the massage end effector up to the value detected by the force sensor 312, and the process is repeated for 1-10 minutes, finally the massage end effector of the collaborative robot returns to the initial position, and the finger pressure massage is completed.

[0045] In the finger vibration massage, in order to prevent the amplitude generated in the finger vibration method from being absorbed by the limiting spring 211, it is necessary to limit the buffering effect of the limiting spring 211 within the set massage force range. The rudder 201 of the flexible protection assembly 2 drives the pressure adjusting disc 203 connected with the rudder disc 202 to rotate, and then pushes the fixed block 206 to move towards the limiting column 209, thereby extruding the flexible part 207. The extrusion of the flexible part 207 applies pressure to the cylindrical pressing sheet 208, so that the cylindrical pressing sheet 208 extrudes the limiting column 209. When the execution assembly 3 appears to be lifted upward, static friction will be generated between the cylindrical pressing sheet 208 and the limiting column 209, and the limiting column 209 will be limited from rising under the action of the static friction, so that the limiting spring 211 will not be compressed during the finger vibration massage within the set massage force range, so that the amplitude generated in the finger vibration method will not be absorbed by the limiting spring 211. The rotation angle of the pressure adjusting disc 203 corresponds to the displacement amount of the fixed block 206, and the compression amount of the flexible part 207 is adjusted by controlling the rotation angle of the pressure adjusting disc 203, so as to control the extrusion force between the limiting column 209 and the cylindrical pressing sheet 208, so as to adjust the upper limit of the massage force. When the force sensor 312 detects that the current massage force exceeds the set upper limit of the massage force, the rudder 201 drives the pressure adjusting disc 203 to rotate to the initial angle through the rudder disc 202, at this time the cylindrical pressing sheet 208 and the limiting column 209 are separated, thereby restoring the buffering effect of the flexible protection assembly 2, effectively ensuring the safety of the user during massage. If the pressure adjusting disc 203 cannot be rotated to the initial angle due to the failure of the rudder 201, when the massage force exceeds the set upper limit of the massage force, the execution assembly 3 will overcome the friction between the cylindrical pressing sheet 208 and the limiting column 209 and continue to rise, so that the limiting spring 211 will continue to be compressed, and the flexible protection assembly 2 will restore the buffering protection effect.

[0046] During the massage work, when the lifting height of the execution assembly 3 exceeds the working deformation amount of the limiting spring 211 (exceeds the maximum massage force), the first limit switch 213 will be triggered by the second light barrier 48 and send a feedback signal to the control system, and then the control system drives the massage end effector of the robot to retract, effectively ensuring the safety of human-machine interaction.

[0047] The above described embodiments are only to illustrate the preferred embodiments of the present application, and are not intended to limit the scope of the present application. Any modification and improvement of the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A rehabilitation robot end effector characterized by, It includes first drive assembly, flexible protection assembly, execution assembly and second drive assembly, the first drive assembly is located above the flexible protection assembly, the execution assembly is arranged below the first drive assembly, the second drive assembly is located below the flexible protection assembly, the first drive assembly drives the execution assembly to carry out kneading and pressing, and the second drive assembly drives the execution assembly to vibrate; The first drive assembly includes a first motor, a fixed plate, a first coupling and a main shaft, the first motor is located above the fixed plate, and the output shaft of the first motor is connected with the main shaft through the first coupling; The execution assembly includes an outer shaft, a pad, a compression spring, a limiting pin, a second support plate, a first light barrier, a second limiting switch, an eccentric piece, a first connecting piece, a second connecting piece, a force sensor, a transmission roller and a massage head, the outer shaft is sleeved on the middle part of the main shaft, the outer shaft is connected with the main shaft through a threaded pin, and the relative rotation between the outer shaft and the main shaft is limited, the pad is sleeved on the bottom of the outer shaft, and the pad is connected with the outer shaft through the limiting pin, the compression spring is sleeved on the outer shaft, and the compression spring is arranged between the boss in the middle part of the outer shaft and the pad, the second support plate is arranged below the pad, the first light barrier is arranged at one end of the pad away from the limiting pin, the second limiting switch is arranged on the second support plate, the first end of the eccentric piece is connected with the bottom end of the outer shaft, the first connecting piece is connected with the second end of the eccentric piece through a bearing, the second connecting piece is connected with the first connecting piece through a cylindrical pin, and the force sensor is arranged between the first connecting piece and the second connecting piece, the transmission roller is arranged at the bottom of the second connecting piece, and the massage head is sleeved on the transmission roller; The second drive assembly includes a second motor, a second coupling, a cam, a bearing seat, a third support plate, a motor seat, a connecting sleeve and a second light barrier, the output shaft of the second motor is connected with the cam shaft on the cam through the second coupling, the bearing seat is sleeved on the end of the cam shaft, and the bearing seat is fixedly connected with the third support plate, the second motor is connected with the third support plate through the motor seat, the outer circumferential surface of the cam is in contact with the end surface of the boss in the middle part of the outer shaft, one end of the third support plate away from the second motor is provided with a main shaft hole, the connecting sleeve is sleeved on the main shaft through the main shaft hole, and the second light barrier is arranged on the connecting sleeve. The flexible protection assembly comprises a steering engine assembly, a limiting column, a pressure adjusting disc, a fixed block, a flexible piece, a limiting spring and a first limiting switch, the steering engine assembly is connected with the pressure adjusting disc, the bottom end surface of the fixed block is in contact with the outer contour surface of the pressure adjusting disc, the flexible piece is embedded in the fixed block and is in contact with the limiting column, the first end of the limiting column is arranged on the third supporting plate of the second driving assembly, the limiting spring is sleeved on the limiting column, the first limiting switch is arranged outside the main shaft, and the limiting spring is arranged between the third supporting plate and the flexible protection assembly.

2. The rehabilitation robot end effector according to claim 1, characterized in that, The steering engine assembly comprises a steering engine, a steering disc and a steering engine seat, and the flexible protection assembly further comprises a first supporting plate, a torsion spring and a supporting seat, the output shaft of the steering engine is connected with the pressure adjusting disc through the steering disc, the steering engine is connected with the first supporting plate through the steering engine seat, the fixed block is slidingly connected with the first supporting plate through a groove structure, the flexible piece is embedded in the open slot of the fixed block, the flexible piece is in contact with the limiting column through a cylindrical pressing sheet, the torsion spring is sleeved on a torsion spring seat, the torsion spring seat is installed on the first supporting plate, the first end of the torsion spring is clamped on the first supporting plate, the second end of the torsion spring is in abutment against the fixed block, the fixed block keeps in contact with the pressure adjusting disc through the torsion spring, and the second end of the limiting column is arranged in the first supporting plate.

3. The rehabilitation robot end effector according to claim 2, wherein, The limiting spring is arranged between the first supporting plate and the third supporting plate, the supporting seat is sleeved on the main shaft, the supporting seat is arranged on the first supporting plate, and the first limiting switch is arranged on the supporting seat.

4. The rehabilitation robot end effector of claim 1, wherein, The contour curve of the cam is connected by four six-order spline curves.

5. The rehabilitation robot end effector of claim 2, wherein, The contour curve of the pressure adjusting disc is connected by six six-order spline curves.

6. The rehabilitation robot end effector of claim 1, wherein, The third supporting plate is connected with the second supporting plate through a supporting column.

7. The rehabilitation robot end effector of claim 1, wherein, In kneading and pressing, the first motor drives the main shaft to rotate through the first shaft coupling, the main shaft drives the outer shaft to rotate through the threaded pin, the outer shaft drives the eccentric piece to rotate, and then the eccentric piece drives the first connecting piece to rotate, the first connecting piece rotates relative to the eccentric piece around the axis of the first connecting piece, the first connecting piece drives the second connecting piece to rotate, the second connecting piece drives the transmission drum to rotate relative to the second connecting piece around the axis of the transmission drum, so as to drive the massage head to rotate and realize kneading and pressing.

8. The rehabilitation robot end effector of claim 7, wherein, After kneading and pressing is completed, the first light shielding sheet triggers the second limiting switch, and then the first motor stops rotating to reset the massage head.

9. The rehabilitation robot end effector of claim 1, wherein, In vibration, the second motor drives the cam to rotate through the second shaft coupling, and high-frequency rotation of the cam drives the outer shaft in contact with the cam to move up and down, and the vibration is indirectly transmitted to the massage head through the eccentric piece, the first connecting piece, the second connecting piece and the transmission drum, so that the massage head realizes vibration.

10. The rehabilitation robot end effector of claim 1, wherein, The connecting flange and the vertical supporting plate are further arranged for connecting the robot body, and the connecting flange is fixed on the vertical supporting plate.

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