Self-moving device of four-leaf clover imitating soft physical therapy robot

Abstract

The invention discloses a self-moving device of a four-leaf clover imitating soft physical therapy robot, which relates to the technical field of robot self-moving devices and comprises a first electric slide rail, a first slide block, a support frame, a second electric slide rail, a second slide block, a slide cylinder, a four-leaf clover imitating soft physical therapy robot body, a wedge-shaped plate and the like. The first electric sliding rail is slidably connected with a first sliding block, the first sliding block is movably connected with supporting frames, a second electric sliding rail is fixedly connected between the paired supporting frames, the second electric sliding rail is slidably connected with a second sliding block, the second sliding block is slidably connected with a sliding cylinder, and the sliding cylinder is slidably connected with a four-leaf clover imitating soft physical therapy robot body. The sliding cylinder is connected with paired wedge-shaped plates in a sliding mode. According to the four-leaf clover-imitated soft physical therapy robot, the four-leaf clover-imitated soft physical therapy robot body can be attached to the back of a patient under the action of the gravity of the four-leaf clover-imitated soft physical therapy robot body through the sliding barrel, the wedge-shaped plate and other parts, the serious compression on the back of the patient is avoided while the physical therapy effect is guaranteed, and the comfort level of the device and the use experience of a user are improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot self-moving devices, and in particular to a self-moving device of a four-leaf clover-like soft physiotherapy robot. Background Art

[0002] The four-leaf clover soft therapy robot is an air-driven bionic soft robot made of soft materials. It can simulate human hands to perform acupoint massage, thereby providing a safe, comfortable and personalized massage experience. The product is equipped with an embedded control system that can adjust the massage intensity and speed according to needs. It is also portable and adaptable to fixed and mobile scenes, and can be used for rehabilitation therapy.

[0003] During the massage therapy, it is often necessary to massage multiple acupoints on the back. At this time, it is necessary not only to continuously adjust the position of the four-leaf clover-like soft therapy robot, but also to ensure that the four-leaf clover-like soft therapy robot can fit closely to the human back, so as to achieve better therapy effects. Although the existing self-moving devices can achieve multi-position movement and adjustment, when the therapy equipment needs to fit closely to the human back, it usually relies on power elements such as cylinders or elastic elements such as springs. However, this implementation method may cause more severe compression to the patient's back, resulting in lower comfort of the patient's therapy massage and even fatigue or damage to the patient's back muscles or nerves.

[0004] Based on the above situation, the present invention proposes a self-moving device of a four-leaf clover-like soft physiotherapy robot with high comfort. Summary of the invention

[0005] In order to overcome the disadvantage that the existing self-moving devices usually rely on power elements such as cylinders or elastic elements such as springs when the physiotherapy equipment needs to be in close contact with the human back, but this implementation method may cause more serious compression to the patient's back, thereby resulting in lower comfort of the patient's physiotherapy massage and even fatigue or damage to the patient's back muscles or nerves, the present invention provides a self-moving device of a four-leaf clover-like soft physiotherapy robot with high comfort.

[0006] A self-moving device of a four-leaf clover-like soft physiotherapy robot, comprising a first electric slide rail, a first slider, a support frame, a second electric slide rail, a second slider, a slide cylinder, a spring, a fixing rod, an electromagnet, a magnetic block, a body of the four-leaf clover-like soft physiotherapy robot, a connecting rod, a wedge plate and an inclined plate, wherein the first electric slide rail is slidably connected to the first slider, the first slider is movably connected to the support frame, a second electric slide rail is fixedly connected between the paired support frames, the second electric slide rail is slidably connected to the second slider, the second slider is slidably connected to the slide cylinder, the slide cylinder and the second slide A spring is fixed between the blocks, the second slider is fixed with a pair of fixed rods, the fixed rods are fixed with an electromagnet, the fixed rods are slidably connected to the slide cylinder, the slide cylinder is fixed with a pair of magnetic blocks, the electromagnet and the magnetic blocks are adsorbed and matched, the slide cylinder is slidably connected with a pair of connecting rods, the imitation four-leaf clover soft physiotherapy robot body is fixed between the pairs of connecting rods, the imitation four-leaf clover soft physiotherapy robot body is slidably connected to the slide cylinder, the slide cylinder is slidably connected with a pair of wedge plates, the wedge plates are slidably connected to the fixed rods, the wedge plates are rotatably connected with an inclined plate, and the inclined plate is extruded and matched with the connecting rods.

[0007] Optionally, the first sliding block is provided with longitudinally distributed slots for limiting the support frame.

[0008] Optionally, it also includes a guide plate and a deflection frame, the second electric slide rail is fixedly connected to a pair of guide plates, the slide cylinder is rotatably connected to the deflection frame, the deflection frame is extruded and matched with the guide plate, and the deflection frame is extruded and matched with the body of the imitation four-leaf clover soft therapy robot.

[0009] Optionally, the guide plate is provided with an inclined surface for adjusting the inclination angle of the deflection frame.

[0010] Optionally, the deflection frame is provided with a pair of cross bars for increasing the contact area with the body of the four-leaf clover-like soft physiotherapy robot.

[0011] Optionally, a push frame and a torsion spring are also included, the wedge plate is slidably connected to the push frame, the push frame is pressed and matched with the inclined plate, the push frame is pressed and matched with the fixed rod, and a torsion spring is fixed between the inclined plate and the wedge plate.

[0012] Optionally, the push frame is T-shaped to increase the contact area between the push frame and the fixing rod.

[0013] Optionally, it also includes a sensor and a sensor switch. The second slider is fixedly connected to the sensor, the slide cylinder is fixedly connected to the sensor switch, the sensor and the sensor switch are in contact and matched, the sensor is electrically connected to the first electric slide rail, and the sensor is electrically connected to the second electric slide rail.

[0014] Optionally, a card frame and a tension spring are further included, the card frame is slidably connected between the paired first sliders, the support frame is extrusion-fitted with the card frame, and a tension spring is fixedly connected between the card frame and the first sliders.

[0015] Optionally, the card frame is provided with a curved surface to facilitate the support frame to squeeze the card frame and move the card frame upward.

[0016] The present invention has the following advantages: 1. The present invention uses components such as a slide cylinder and a wedge plate to enable the body of the four-leaf clover-like soft therapy robot to fit against the patient's back under the action of its own gravity, while ensuring the therapy effect and avoiding severe pressure on the patient's back, thereby improving the comfort of the self-moving device of the four-leaf clover-like soft therapy robot and the user experience.

[0017] 2. The present invention uses components such as guide plates and deflection frames to enable the lower part of the four-leaf clover-like soft therapy robot body to tilt and deform to a certain extent when it moves left and right and falls, so that the four-leaf clover-like soft therapy robot body can fit the edges on both sides of the patient's back, thereby improving the comfort of the four-leaf clover-like soft therapy robot's self-moving device and the user experience.

[0018] 3. The present invention uses components such as inclined plates and torsion springs to prevent the four-leaf clover-like soft therapy robot from freely falling a long distance at one time and causing impact on the patient's back due to the fast falling speed, thereby causing injury to the patient's back. This improves the comfort of the four-leaf clover-like soft therapy robot's self-moving device and the user experience.

[0019] 4. The present invention uses components such as sensors and induction switches to lock the first electric slide rail and the second electric slide rail when performing massage therapy on a certain acupuncture point on the patient's back, thereby preventing the first electric slide rail and the second electric slide rail from accidentally causing the four-leaf clover-like soft therapy robot body and the patient's back to slide relative to each other, thereby causing scratches or abrasions on the patient's back due to friction, thereby improving the safety of the self-moving device of the four-leaf clover-like soft therapy robot.

[0020] 5. The present invention can limit and fix the support frame through components such as a clamp frame and a tension spring, thereby preventing the support frame from rotating and falling due to accidental touch, thereby improving the stability of the self-moving device of the four-leaf clover-like soft physiotherapy robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0022] Figure 2 It is a three-dimensional structural schematic diagram of the first electric slide rail, the first slider, the support frame and other components of the present invention.

[0023] Figure 3 It is a three-dimensional structural schematic diagram of the spring, fixing rod, electromagnet and other components of the present invention.

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the connecting rod, wedge plate, inclined plate and other components of the present invention.

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the second electric slide rail, guide plate, deflection frame and other components of the present invention.

[0026] Figure 6 It is a three-dimensional structural schematic diagram of components such as the slide cylinder, guide plate and deflection frame of the present invention.

[0027] Figure 7 It is a three-dimensional structural schematic diagram of the wedge plate, inclined plate, push frame and other components of the present invention.

[0028] Figure 8 It is a three-dimensional structural schematic diagram of the inclined plate, push frame, torsion spring and other components of the present invention.

[0029] Fig. 9 It is a three-dimensional structural schematic diagram of components such as a slide cylinder, a sensor and a sensor switch of the present invention.

[0030] Fig.10 It is a three-dimensional structural schematic diagram of the supporting frame, the clamping frame, the tension spring and other components of the present invention.

[0031] The meanings of the reference numerals in the figure are as follows: 1: first electric slide rail, 2: first slider, 3: support frame, 4: second electric slide rail, 5: second slider, 6: slide cylinder, 7: spring, 8: fixing rod, 9: electromagnet, 10: magnetic block, 11: four-leaf clover-like soft physiotherapy robot body, 12: connecting rod, 13: wedge plate, 14: inclined plate, 15: guide plate, 16: deflection frame, 17: push frame, 18: torsion spring, 19: sensor, 20: induction switch, 21: card frame, 22: tension spring. DETAILED DESCRIPTION

[0032] Reference to an embodiment herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] Example 1

[0034] A self-moving device imitating a four-leaf clover soft physiotherapy robot, such as Figure 1-Figure 4As shown, it includes a first electric slide rail 1, a first slider 2, a support frame 3, a second electric slide rail 4, a second slider 5, a slide cylinder 6, a spring 7, a fixing rod 8, an electromagnet 9, a magnetic block 10, a four-leaf clover-like soft body therapy robot body 11, a connecting rod 12, a wedge plate 13 and an inclined plate 14. The first electric slide rail 1 is slidably connected to the first slider 2 at the top, and the upper part of the first slider 2 is movably connected to the support frame 3. The second electric slide rail 4 is fixedly connected between the upper parts of the left and right support frames 3. The second electric slide rail 4 is slidably connected to the middle part of the second slider 5. The slide cylinder 6 is slidably connected to the upper part of the second slider 5. A spring 7 is fixedly connected between the slide cylinder 6 and the second slider 5. The front and rear sides of the top of the second slider 5 are fixedly connected. The fixed rod 8 and the lower part of the fixed rod 8 are fixed with an electromagnet 9, the fixed rod 8 is slidably connected to the slide 6, the front and rear sides of the bottom of the slide 6 are fixed with magnetic blocks 10, the electromagnet 9 is adsorbed and matched with the adjacent magnetic blocks 10, the left and right sides of the upper part of the slide 6 are slidably connected with connecting rods 12, the upper parts of the left and right connecting rods 12 are fixed with a four-leaf clover soft therapy robot body 11, the four-leaf clover soft therapy robot body 11 is slidably connected to the slide 6, the left and right sides of the top of the slide 6 are slidably connected with wedge plates 13, the wedge plates 13 are slidably connected to the adjacent fixed rod 8, the side of the wedge plate 13 close to the connecting rod 12 is rotatably connected with an inclined plate 14, and the inclined plate 14 is squeezed and matched with the adjacent connecting rod 12.

[0035] like Figure 2 As shown, three slots distributed vertically up and down are provided on the upper front side of the first sliding block 2 for limiting the support frame 3.

[0036] When the patient needs to receive massage therapy with the aid of the Clover soft therapy robot, the two first electric slide rails 1 can be fixed to the left and right sides of the bed by bolts, and then the first electric slide rail 1 can be used to drive the first slider 2, the support frame 3, the second electric slide rail 4 and other components to move forward to the front end, and then the patient can lie on the bed with his head forward and his back upward. At this time, the medical staff can rotate the support frame 3 forward until the upper part of the support frame 3 is separated from the slot of the first slider 2, and then roughly adjust the height of the support frame 3 according to the height of the patient after lying down. After the adjustment is completed, the support frame 3 is rotated backward and enters the corresponding slot of the first slider 2 to The height of the support frame 3 and other components is limited and fixed. After that, the first electric slide rail 1 can be used to drive the first slider 2, the support frame 3 and the four-leaf clover-like soft therapy robot body 11 and other components to move forward and backward to the appropriate position, and then the second electric slide rail 4 can be used to drive the second slider 5, the slide cylinder 6 and the four-leaf clover-like soft therapy robot body 11 and other components to move left and right to the appropriate position. When the four-leaf clover-like soft therapy robot body 11 is located directly above the corresponding acupuncture point on the patient's back, the electromagnet 9 can be started. The electromagnet 9 will fix the magnetic block 10 due to magnetic attraction, so that the magnetic block 10, the slide cylinder 6, the wedge plate 13 and the four-leaf clover-like soft therapy robot body 11 When the components move downward for a distance, the spring 7 is compressed immediately, and the wedge plate 13 and the inclined plate 14 on the left side move downward and move backward under the action of the adjacent fixed rod 8, and the wedge plate 13 and the inclined plate 14 on the right side move downward and move forward under the action of the adjacent fixed rod 8. At this time, the connecting rod 12 loses its restriction and drives the four-leaf clover soft physiotherapy robot body 11 to fall freely until it fits with the patient's back, thereby massaging the corresponding acupuncture points on the patient's back. In this way, the four-leaf clover soft physiotherapy robot body 11 can fit with the patient's back under the action of its own gravity, ensuring the physiotherapy effect while avoiding damage to the patient. The electromagnet 9 can be turned off after the acupoint massage is completed. At this time, the magnetic block 10, the slide cylinder 6 and the wedge plate 13 and other components will move upward and reset under the action of the spring 7, and the wedge plate 13 and the inclined plate 14 will also move in the opposite direction and reset under the action of the fixed rod 8 when they move upward, so that the inclined plate 14 contacts and squeezes the connecting rod 12, so that the connecting rod 12 and the imitation four-leaf clover soft physiotherapy robot body 11 move upward and reset, and then the position of the imitation four-leaf clover soft physiotherapy robot body 11 is adjusted by the first electric slide rail 1 and the second electric slide rail 4, and other acupoints on the patient's back can be massaged.

[0037] Example 2

[0038] On the basis of Example 1, Figure 5 and Figure 6As shown, it also includes a guide plate 15 and a deflection frame 16. The guide plate 15 is fixedly connected to the front right and rear left of the second electric slide rail 4. The lower part of the slide tube 6 is rotatably connected to the deflection frame 16. The deflection frame 16 is squeezed and fitted with the guide plate 15, and the deflection frame 16 is squeezed and fitted with the body 11 of the imitation four-leaf clover soft physiotherapy robot.

[0039] like Figure 5 and Figure 6 As shown, a slope is provided on the top of the guide plate 15 for adjusting the inclination angle of the deflection frame 16.

[0040] like Figure 5 and Figure 6 As shown, cross bars are provided on both the left and right sides of the bottom of the deflection frame 16 to increase the contact area with the body 11 of the four-leaf clover-like soft physiotherapy robot.

[0041] Since there are curved surfaces on the edges of both sides of the human back, when the second electric slide rail 4 drives the second slider 5, the slide cylinder 6 and the deflection frame 16 to move to the left side of the patient's back, and the electromagnet 9 drives the magnetic block 10, the slide cylinder 6, the imitation four-leaf clover soft physiotherapy robot body 11 and the deflection frame 16 to move downward, the right rear part of the deflection frame 16 will contact the guide plate 15 at the rear left side, while the left front part of the deflection frame 16 is not supported. Therefore, the deflection frame 16 will rotate counterclockwise by a certain angle under the action of the guide plate 15 with an inclined surface, and the deflection frame 16 will contact and squeeze the imitation four-leaf clover soft physiotherapy robot body 11 when rotating counterclockwise by a certain angle. The body therapy robot body 11 of the imitation four-leaf clover soft body therapy robot is deformed and rotated counterclockwise by a certain angle. Then, the body therapy robot body 11 of the imitation four-leaf clover soft body therapy robot continues to fall and fits against both sides of the patient's back. When the second electric slide rail 4 drives the second slider 5, the slide cylinder 6 and the deflection frame 16 to move to the right side of the patient's back, the same is true. In this way, the lower part of the body therapy robot body 11 of the imitation four-leaf clover soft body therapy robot will tilt and deform to a certain extent when it moves left and right and falls, so that the body therapy robot body 11 of the imitation four-leaf clover soft body therapy robot can fit against the edges of both sides of the patient's back.

[0042] like Figure 7 and Figure 8 As shown, it also includes a push frame 17 and a torsion spring 18. The upper parts of the two wedge plates 13 that are away from each other are slidably connected with the push frame 17. The push frame 17 is pressed and fitted with the adjacent inclined plate 14. The push frame 17 is pressed and fitted with the adjacent fixed rod 8. A torsion spring 18 is fixed between the inclined plate 14 and the adjacent wedge plate 13.

[0043] like Figure 7 and Figure 8 As shown, the push frame 17 is T-shaped, which is used to increase the contact area between the push frame 17 and the fixing rod 8.

[0044] The presence of the torsion spring 18 and the push frame 17 will keep the inclined plate 14 in a horizontal state. Therefore, when the wedge plate 13 and the inclined plate 14 move away from the adjacent connecting rod 12 under the action of the fixed rod 8, the inclined plate 14 in a horizontal state can still support the connecting rod 12, so that the four-leaf clover-like soft body therapy robot body 11 cannot slide relative to the slide tube 6 at this time. Only when the wedge plate 13 moves downward to contact the fixed rod 8 and squeeze the push frame 17, the push frame 17 will move upward and squeeze the inclined plate 14, so that the inclined plate 14 rotates downward and no longer supports the connecting rod 12, and the torsion spring 18 is deformed immediately. At this time The connecting rod 12 and the four-leaf clover-like soft physiotherapy robot body 11 can fall freely under the action of their own gravity and contact the patient's back, thereby preventing the four-leaf clover-like soft physiotherapy robot body 11 from freely falling a long distance at one time and causing impact on the patient's back due to the fast falling speed, thereby causing injury to the patient's back. When the wedge plate 13 moves upward to reset, the inclined plate 14 rotates upward to reset and squeezes the connecting rod 12 under the action of the torsion spring 18, so that the connecting rod 12 and the four-leaf clover-like soft physiotherapy robot body 11 move upward to reset, and the push frame 17 moves downward to reset under its own gravity and the squeezing of the inclined plate 14.

[0045] like Fig. 9 As shown, it also includes a sensor 19 and a sensor switch 20. The sensor 19 is fixedly connected to the upper right portion of the second sliding block 5, and the sensor switch 20 is fixedly connected to the upper right portion of the slide tube 6. The sensor 19 and the sensor switch 20 are in contact and matched. The sensor 19 is electrically connected to the first electric slide rail 1, and the sensor 19 is electrically connected to the second electric slide rail 4.

[0046] Normally, the sensor 19 is in contact with the inductive switch 20, and the first electric slide rail 1 and the second electric slide rail 4 can respectively drive the first slider 2 and the second slider 5 and other components to move. When the slide 6, the inductive switch 20 and the imitation four-leaf clover soft physiotherapy robot body 11 move downward under the action of the electromagnet 9, so that the inductive switch 20 is separated from the sensor 19, the sensor 19 will lock the first electric slide rail 1 and the second electric slide rail 4 through the controller to prevent the first electric slide rail 1 and the second electric slide rail 4 from accidentally driving the imitation four-leaf clover soft physiotherapy robot body 11 and the patient's back to slide relative to each other, thereby causing scratches or abrasions on the patient's back due to friction. Only when the slide 6, the inductive switch 20 and the imitation four-leaf clover soft physiotherapy robot body 11 move upward and reset under the action of the spring 7, the first electric slide rail 1 and the second electric slide rail 4 will be unlocked and can continue to drive the first slider 2 and the second slider 5 and other components to move.

[0047] like Fig.10As shown, it also includes a bracket 21 and a tension spring 22. The bracket 21 is slidably connected between the upper parts of the left and right first sliders 2. The support frame 3 is pressed and matched with the bracket 21. The tension spring 22 is fixed between the bracket 21 and the first slider 2.

[0048] like Fig.10 As shown, a curved surface is provided on the front side of the lower part of the card frame 21, so that the support frame 3 can squeeze the card frame 21 and move the card frame 21 upward.

[0049] When the medical staff wants to adjust the height of the support frame 3, they need to lift the card frame 21 upwards first, the tension spring 22 is stretched immediately, and then the upper part of the support frame 3 is rotated forward and separated from the first sliding block 2. At this time, the card frame 21 is released, and the card frame 21 will move downward and reset under the action of the tension spring 22 and its own gravity. After adjusting the height of the support frame 3 and rotating the upper part of the support frame 3 backward, the support frame 3 will contact and squeeze the card frame 21, causing the card frame 21 to move upward, and the tension spring 22 is stretched immediately. When the upper part of the support frame 3 continues to rotate backward into the card slot of the first sliding block 2 and separate from the card frame 21, the card frame 21 will move downward and reset under the action of the tension spring 22 and its own gravity and limit the position of the support frame 3, thereby preventing the support frame 3 from rotating and falling due to accidental touch, thereby improving the stability of the device.

[0050] 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 above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A self-moving device for a four-leaf clover-like soft physiotherapy robot, comprising a first electric slide rail (1), a first slider (2), a support frame (3), a second electric slide rail (4), a second slider (5), a slide cylinder (6), a spring (7), a four-leaf clover-like soft physiotherapy robot body (11) and a connecting rod (12), wherein the first electric slide rail (1) is slidably connected to the first slider (2), the first slider (2) is movably connected to the support frame (3), and a pair of support frames (3) are fixedly connected to each other. The second electric slide rail (4) is slidably connected to a second slider (5), the second slider (5) is slidably connected to a slide cylinder (6), a spring (7) is fixedly connected between the slide cylinder (6) and the second slider (5), the slide cylinder (6) is slidably connected to a pair of connecting rods (12), a four-leaf clover soft physiotherapy robot body (11) is fixedly connected between the pair of connecting rods (12), and the four-leaf clover soft physiotherapy robot body (11) is slidably connected to the slide cylinder (6), characterized in that: The invention also comprises a fixed rod (8), an electromagnet (9), a magnetic block (10), a wedge plate (13) and an inclined plate (14); the second sliding block (5) is fixedly connected to a pair of fixed rods (8); the fixed rods (8) are fixedly connected to an electromagnet (9); the fixed rods (8) are slidably connected to a slide cylinder (6); the slide cylinder (6) is fixedly connected to a pair of magnetic blocks (10); the electromagnet (9) and the magnetic block (10) are adsorbed and matched; the slide cylinder (6) is slidably connected to a pair of wedge plates (13); the wedge plates (13) are slidably connected to the fixed rod (8); the wedge plates (13) are rotatably connected to an inclined plate (14); and the inclined plate (14) is pressed and matched with a connecting rod (12).

2. The self-moving device of the four-leaf clover-like soft physiotherapy robot according to claim 1, characterized in that: The first sliding block (2) is provided with longitudinally distributed slots.

3. The self-moving device of the four-leaf clover-like soft physiotherapy robot as claimed in claim 2, characterized in that: The invention also comprises a guide plate (15) and a deflection frame (16); the second electric slide rail (4) is fixedly connected with a pair of guide plates (15); the slide cylinder (6) is rotatably connected with the deflection frame (16); the deflection frame (16) is pressed and matched with the guide plate (15); and the deflection frame (16) is pressed and matched with the body (11) of the imitation four-leaf clover soft body therapy robot.

4. The self-moving device of the four-leaf clover-like soft physiotherapy robot as claimed in claim 3, characterized in that: The guide plate (15) is provided with an inclined surface.

5. The self-moving device of the four-leaf clover-like soft physiotherapy robot according to claim 4, characterized in that: The deflection frame (16) is provided with a pair of cross bars.

6. The self-moving device of the four-leaf clover-like soft physiotherapy robot according to claim 5, characterized in that: The invention also comprises a push frame (17) and a torsion spring (18). The wedge plate (13) is slidably connected with the push frame (17). The push frame (17) and the inclined plate (14) are pressed together. The push frame (17) and the fixed rod (8) are pressed together. The torsion spring (18) is fixedly connected between the inclined plate (14) and the wedge plate (13).

7. The self-moving device of the four-leaf clover-like soft physiotherapy robot according to claim 6, characterized in that: Wherein push frame (17) is T-shaped.

8. The self-moving device of the four-leaf clover-like soft physiotherapy robot as claimed in claim 7, characterized in that: The invention also comprises a sensor (19) and a sensor switch (20); the second slider (5) is fixedly connected to the sensor (19); the slide cylinder (6) is fixedly connected to the sensor switch (20); the sensor (19) and the sensor switch (20) are in contact and matched with each other; the sensor (19) is electrically connected to the first electric slide rail (1); and the sensor (19) is electrically connected to the second electric slide rail (4).

9. The self-moving device of the four-leaf clover-like soft physiotherapy robot as claimed in claim 8, characterized in that: It also includes a card frame (21) and a tension spring (22); the card frame (21) is slidably connected between the paired first sliders (2); the support frame (3) is extrusion-fitted with the card frame (21); and the tension spring (22) is fixedly connected between the card frame (21) and the first slider (2).

10. The self-moving device of the four-leaf clover-like soft physiotherapy robot according to claim 9, characterized in that: The card frame (21) is provided with a curved surface.

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