Full-automatic intelligent infrared physiotherapy instrument

Abstract

The invention discloses a full-automatic intelligent infrared physiotherapy instrument. The invention relates to the technical field of infrared physiotherapy instruments. The problems that an existing infrared physiotherapy instrument needs to be moved and adjusted manually, and the automation degree is low are solved. The device comprises a power supply module, a moving base, a guide cross beam, a physiotherapy assembly, a control panel, a lifting assembly, a rotation assembly, a pitching assembly, a moving assembly, a first corner assembly and a second corner assembly, the lifting assembly is vertically arranged in the middle of the upper end of the moving base, and the rotation assembly is arranged on the upper portion of the execution end of the lifting assembly; the pitching assembly is arranged on one side of the execution end of the rotation assembly, the near end of the guide cross beam is fixedly connected with the execution end of the pitching assembly, the moving assembly is arranged on the guide cross beam, and the physiotherapy assembly is connected with the execution end of the moving assembly through the second corner assembly and the first corner assembly in sequence. A plurality of distance measuring sensors and a plurality of temperature sensors are evenly distributed on the outer side of the physiotherapy assembly in the circumferential direction. The device is used for physiotherapy rehabilitation.

Description

Technical Field

[0001] The invention relates to the technical field of infrared physiotherapy apparatus, and in particular to a fully automatic intelligent infrared physiotherapy apparatus. Background Art

[0002] Infrared therapy devices use the thermal radiation reaction of far infrared rays to increase the temperature of body tissues, thereby promoting the expansion of capillaries, strengthening local metabolism, accelerating tissue recovery, promoting skin scabs, and have an analgesic effect. The thermal radiation reaction of far infrared rays can also accelerate the absorption of congestion or necrotic tissue in subcutaneous or muscle tissue. Therefore, it can treat neck, shoulder, waist, leg pain, postoperative rehabilitation treatment, sports injuries, skin ulcers, etc., and is widely used.

[0003] Most of the users of infrared therapy devices are elderly people with limited mobility. However, the far-infrared therapy devices widely used on the market currently require manual adjustment. If there is no help from others during the treatment process, it will be difficult for elderly patients to independently adjust the position and posture of the far-infrared therapy device due to their limited mobility, which will not only greatly affect the treatment effect of the device, but may also cause burns to the patients.

[0004] During use, infrared therapy devices generally require manual adjustment by staff. According to the "a floor-standing fully automatic baking lamp" proposed with the publication number "CN219090874U", the overall height of the therapy device can be adjusted through the setting of a lifting mechanism. By setting a lifting mechanism, the angle of the therapy device arm can be adjusted. The monitoring device can be adsorbed near the irradiation position through a manual silicone suction cup to achieve the purpose of protecting the patient. However, the movement of the overall device and the placement of the monitoring and protection device still need to rely on manual adjustment by staff, and the degree of automation is low.

[0005] For this purpose, the present invention proposes a fully automatic intelligent infrared physiotherapy apparatus. Summary of the invention

[0006] In order to solve the problem that the movement and adjustment of the existing infrared physiotherapy apparatus need to be manually operated and the automation level is low, the present invention further proposes a fully automatic intelligent infrared physiotherapy apparatus.

[0007] The technical solution adopted by the present invention to solve the above technical problems is:

[0008] A fully automatic intelligent infrared physiotherapy instrument comprises a power supply module, a mobile base, a guide beam, a physiotherapy component, a control panel, a lifting component, a rotating component, a pitching component, a mobile component, a first corner component and a second corner component. The mobile base is horizontally arranged, the power supply module is fixedly connected to the inner side of the mobile base, the lifting component is vertically arranged in the middle of the upper end of the mobile base, the rotating component is arranged on the upper part of the execution end of the lifting component, the pitching component is arranged on one side of the execution end of the rotating component, the proximal end of the guide beam is fixedly connected to the execution end of the pitching component, the mobile component is arranged on the guide beam, the physiotherapy component is connected to the execution end of the mobile component through the second corner component and the first corner component in turn, a plurality of distance measuring sensors and a plurality of temperature sensors are evenly distributed on the outer side of the physiotherapy component along the circumferential direction, the control panel is arranged on one side of the lifting component, and the power supply module, the mobile base, the physiotherapy component, the distance measuring sensor, the temperature sensor, the lifting component, the rotating component, the pitching component, the mobile component, the first corner component and the second corner component are electrically connected to the control panel respectively.

[0009] Furthermore, the mobile base includes a lower base and four Mecanum wheel assemblies, and a Mecanum wheel assembly is respectively provided at the front and rear ends of both sides of the lower base. The Mecanum wheel assembly includes a motor driver, a Mecanum wheel drive motor, a Mecanum wheel and a Mecanum wheel drive motor seat. The Mecanum wheel drive motor is fixedly connected to the inner side of the lower base through the Mecanum wheel drive motor seat, the Mecanum wheel is connected to the output shaft of the Mecanum wheel drive motor, and the Mecanum wheel drive motor is electrically connected to the power supply module through the motor driver and the control panel in turn.

[0010] Furthermore, the lifting assembly includes a lifting motor, a lifting coupling, a screw, a lifting slide, a lifting cover and a lifting platform. The lifting cover is vertically fixed to the middle part of the upper end surface of the moving base, the screw is vertically arranged in the lifting cover, the lifting motor is vertically fixed upward to the middle part of the inner side of the moving base, the output shaft of the lifting motor is connected to the lower end of the screw through the lifting coupling, the lifting slide is sleeved on the outside of the screw and is threadedly connected to the screw, the outer wall of the lifting slide is slidably connected to the inner wall of the lifting cover, a through hole is provided in the middle part of the upper end surface of the lifting cover, the lifting platform is a hollow shell with an open lower end, the middle part of the lifting platform is inserted in the through hole, the lower part of the lifting platform is sleeved on the outside of the screw, and the lower end port of the lifting platform is fixed to the lifting slide, and the lifting motor is electrically connected to the power supply module through the control panel.

[0011] Furthermore, the rotary assembly includes a rotary drive motor, a driving gear, a driven gear shaft and a rotary outer cover. The rotary drive motor is vertically fixed upward on one side of the upper end of the lifting platform. The driving gear is arranged on the output shaft of the rotary drive motor. The driven gear shaft is arranged in the middle of the upper end of the lifting platform. The lower end of the driven gear shaft is rotatably connected to the lifting platform. The gear of the driven gear shaft is meshed with the driving gear. The rotary outer cover is fixed to the lifting platform. The rotary outer cover is fixed to the outer side of the rotary drive motor, the driving gear and the driven gear shaft. The upper end of the driven gear shaft extends vertically upward to the outside of the rotary outer cover. The rotary drive motor is electrically connected to the power supply module through the control panel.

[0012] Furthermore, the pitch assembly includes a pitch stepper motor, which is horizontally fixed to the upper end surface of the driven gear shaft, the output shaft of the pitch stepper motor is vertically fixed to the side wall of the proximal end of the guide beam, and the pitch stepper motor is electrically connected to the power supply module through the control panel.

[0013] Furthermore, the moving component includes a synchronous toothed belt, an upper pressure plate of the toothed belt, a lower pressure plate of the toothed belt, a moving platform, a moving servo motor and two synchronous toothed belt pulleys. A synchronous toothed belt pulley is respectively provided at each end of the guide beam. The moving servo motor is fixedly connected to one side of the proximal end of the guide beam, and the output shaft of the moving servo motor is connected to the synchronous toothed belt pulley at the proximal end. The two synchronous toothed belt pulleys are connected through a synchronous toothed belt. An upper pressure plate of the toothed belt is fixedly connected to the upper end surface of the middle part of the upper side of the synchronous toothed belt, and a lower pressure plate of the toothed belt is fixedly connected to the lower end surface of the middle part of the upper side of the synchronous toothed belt. The lower pressure plate of the toothed belt is arranged corresponding to the upper pressure plate of the toothed belt, and the upper end of the moving platform is fixedly connected to the lower end surface of the lower pressure plate of the synchronous toothed belt, and a moving outer cover is fixedly connected to the outer side of the moving component and the guide beam, and a long rectangular groove is opened at the lower end of the moving outer cover, and the lower end of the moving platform passes through the long rectangular groove and extends downward to the outside of the moving outer cover, and the moving servo motor is electrically connected to the power supply module through the control panel.

[0014] Furthermore, the first corner assembly includes a first head rotating servo, the second corner assembly includes a second head rotating servo and an intermediate connecting piece, the first head rotating servo is fixedly connected to the side wall of the lower end of the mobile platform, the output shaft of the first head rotating servo is fixedly connected to one side of the intermediate connecting piece, the second head rotating servo is fixedly connected to one end of the intermediate connecting piece, the output shaft of the second head rotating servo is fixedly connected to one side of the connecting end of the physiotherapy assembly, the output shafts of the first head rotating servo and the second head rotating servo are vertically arranged, and the first head rotating servo and the second head rotating servo are electrically connected to the power supply module through the control panel respectively.

[0015] Further, the physiotherapy assembly includes a physiotherapy head, a physiotherapy cylinder barrel, a physiotherapy cylinder rod, a physiotherapy connecting plate, four sensor mounting boxes, an outer lampshade assembly and an inner lampshade assembly. The physiotherapy connecting plate is vertically fixed to the middle of the top of the physiotherapy cylinder barrel, the physiotherapy connecting plate is connected to the second corner assembly, the rear end of the physiotherapy cylinder rod is inserted into the body of the physiotherapy cylinder barrel, and the physiotherapy head is fixed to the middle of the front end surface of the physiotherapy cylinder rod.

[0016] The inner lampshade assembly comprises a plurality of inner lampshade blades, which are evenly arranged on the outer side of the therapy head along the circumferential direction, the ends of the inner lampshade blades are fixedly connected to the front end of the therapy cylinder rod, a spring is arranged on the outer side of the inner lampshade blades, one end of the spring is hinged to the middle part of the outer side wall of the inner lampshade blade, and the other end of the spring is hinged to the front end of the therapy cylinder barrel,

[0017] The outer lampshade assembly includes a plurality of outer lampshade blades, which are evenly distributed on the outer side of the inner lampshade assembly along the circumferential direction, and an outer lampshade blade is respectively provided on the outer side between each two adjacent inner lampshade blades, the ends of the outer lampshade blades are fixedly connected to the front end of the therapy cylinder rod, and a pull rod is provided on the outer side of the outer lampshade blade, one end of the pull rod is hinged to the middle part of the outer side wall of the outer lampshade blade, and the other end of the pull rod is hinged to the front end of the therapy cylinder barrel,

[0018] Four sensor installation boxes are evenly distributed on the outer side of the therapy cylinder along the circumferential direction, and a distance sensor and a temperature sensor are provided at the front end of each sensor installation box.

[0019] Furthermore, an anti-dumping switch is provided on one side of the lifting assembly, and the power supply module is electrically connected to the control panel through the anti-dumping switch.

[0020] Furthermore, the fully automatic intelligent infrared physiotherapy device also includes a signal transmitting module, and a signal receiving module is provided on the control panel, and the signal receiving module receives the control signal sent by the signal transmitting module.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The base of the intelligent physiotherapy device is equipped with four Mecanum wheels, on which a motor is installed. The motor is powered by a lithium battery. The patient can remotely control the physiotherapy device to move a long distance, which is convenient for storing the physiotherapy device and switching between different patients.

[0023] 2. The crossbeam can drive the physiotherapy components to realize horizontal rotation, vertical rotation and longitudinal movement along the crossbeam, so as to achieve the purpose of adjusting the position and posture of the physiotherapy components of the intelligent physiotherapy device.

[0024] 3. The intelligent physiotherapy device, through the dual servo structure of the physiotherapy component, uses the control panel to operate the rotation of the servo, and can drive the physiotherapy component of the intelligent physiotherapy device to rotate along two mutually perpendicular axes.

[0025] 4. The intelligent physiotherapy device is equipped with four temperature and distance sensors on the head. When the intelligent physiotherapy device is used to perform physiotherapy on patients, the control system can realize closed-loop control of the lifting and orientation of the physiotherapy components according to the distance sensors. The temperature sensor can be used to monitor the temperature. When the temperature exceeds the set protection temperature, the driving motor adjusts the posture of the physiotherapy device, thereby protecting the patient and avoiding burns to the patient.

[0026] 5. The present invention has an anti-dumping detection function. The device can monitor the dumping state of the device in real time and determine whether dumping occurs. If the device dumps, the anti-dumping switch will be disconnected and the physiotherapy device will stop working, thereby achieving the purpose of protecting the patient.

[0027] 6. The present invention has a wireless communication function, specifically based on the Bluetooth communication module of the STM32 microcontroller, and can realize a short-range wireless communication function. By configuring the relevant parameters of the STM32 Bluetooth module, such as the baud rate, power consumption mode, data format, etc. of the Bluetooth module, stable transmission and reception of data can be achieved.

[0028] 7. The present invention can adjust the opening and closing of the lampshade assembly by controlling the extension and contraction of the cylinder of the therapy assembly, and simultaneously drive the sensor to move outward and inward. Not only can the infrared therapy area be adjusted according to the size of the diseased part, but the sensor can also always maintain a close distance with the lampshade assembly to achieve accurate detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front view of the overall structure of the present invention;

[0030] Figure 2 yes Figure 1 A-direction view in the figure;

[0031] Figure 3 yes Figure 1 The enlarged view at position I in FIG.

[0032] Figure 4 It is a schematic diagram of the structure of the physical therapy component 30, the first corner component and the second corner component in the present invention;

[0033] Figure 5 is a schematic diagram of the physical therapy assembly 30 when the inner lampshade assembly and the outer lampshade assembly are opened in the present invention;

[0034] Figure 6 is a schematic diagram of the physical therapy assembly 30 when the inner lampshade assembly and the outer lampshade assembly are closed in the present invention;

[0035] Figure 7 It is a schematic diagram of the structure of the slider 30-6 in the present invention;

[0036] Figure 8 This is the gesture of the present invention. Figure 1 ;

[0037] Fig. 9 It is a schematic diagram of the structure when the moving component adopts a pneumatic system in the present invention. DETAILED DESCRIPTION

[0038] Specific implementation method 1: Combination Figures 1 to 8 The present embodiment is described. The fully automatic intelligent infrared physiotherapy instrument described in the present embodiment includes a power supply module 1, a mobile base 7, a guide beam 18, a physiotherapy component 30, a control panel 33, a lifting component, a swivel component, a pitch component, a mobile component, a first corner component and a second corner component. The mobile base 7 is horizontally arranged, the power supply module 1 is fixedly connected to the inner side of the mobile base 7, the lifting component is vertically arranged in the middle of the upper end of the mobile base 7, the swivel component is arranged on the upper part of the execution end of the lifting component, the pitch component is arranged on one side of the execution end of the swivel component, and the proximal end of the guide beam 18 is connected to the execution end of the pitch component. The ends are fixedly connected, the moving component is arranged on the guide beam 18, the physical therapy component 30 is connected to the execution end of the moving component through the second corner component and the first corner component in sequence, and a plurality of distance measuring sensors 30-8 and a plurality of temperature sensors 30-9 are evenly distributed on the outer side of the physical therapy component 30 along the circumferential direction. The control panel 33 is arranged on one side of the lifting component, and the power supply module 1, the mobile base 7, the physical therapy component 30, the distance measuring sensor 30-8, the temperature sensor 30-9, the lifting component, the rotation component, the pitch component, the moving component, the first corner component and the second corner component are electrically connected to the control panel 33 respectively.

[0039] In this embodiment, the power supply module 1 is used to provide power to the entire physiotherapy device, wherein the power supply module 1 can use a lithium battery. The intelligent physiotherapy device is remotely controlled to the vicinity of the patient, and then the wired power supply is connected. The wired power supply charges the power supply module 1 and provides sufficient energy for the physiotherapy component 30 of the infrared physiotherapy device.

[0040] The power supply module 1 is electrically connected to the mobile base 7, the physical therapy component 30, the lifting component, the rotating component, the pitch component, the moving component, the first corner component and the second corner component through the control panel 33. The control and adjustment of each component is realized through the control of the control panel 33. The ranging sensor 30-8 and the temperature sensor 30-9 transmit the monitored signals to the control panel 33. The control panel 33 adjusts each component according to the obtained signals to meet the usage requirements.

[0041] The movable base 7 can realize the movement of the position of the entire physiotherapy device on the ground, the lifting component can adjust the height position of the physiotherapy component 30, the rotating component can realize the adjustment of the angle of the physiotherapy component 30 in the horizontal plane, the pitch component can realize the adjustment of the inclination angle of the physiotherapy component 30 in the vertical plane, the moving component can realize the adjustment of the horizontal position of the physiotherapy component 30, and the first corner component and the second corner component can realize the orientation adjustment of the physiotherapy component 30.

[0042] Specific implementation method 2: Combination Figures 1 to 8 This embodiment is described. The mobile base 7 in this embodiment includes a lower base and four Mecanum wheel assemblies. A Mecanum wheel assembly is provided at the front and rear ends of both sides of the lower base. The Mecanum wheel assembly includes a motor driver 3, a Mecanum wheel drive motor 4, a Mecanum wheel 5 and a Mecanum wheel drive motor seat 6. The Mecanum wheel drive motor 4 is fixed to the inner side of the lower base through the Mecanum wheel drive motor seat 6. The Mecanum wheel 5 is connected to the output shaft of the Mecanum wheel drive motor 4. The Mecanum wheel drive motor 4 is electrically connected to the power supply module 1 through the motor driver 3 and the control panel 33 in turn. The undisclosed technical features in this embodiment are the same as those in the specific embodiment 1.

[0043] The Mecanum wheel drive motor 4 is mounted on the lower base through the Mecanum wheel drive motor seat 6, and the four Mecanum wheels 5 are respectively mounted on the output shafts of the four Mecanum wheel drive motors 4, and are powered by the power supply module 1 mounted on the lower base. The lower base is also equipped with a motor driver 3 for driving the movement of the Mecanum wheel drive motor 4.

[0044] Specific implementation method three: Combination Figures 1 to 8 Describe this embodiment. The lifting assembly described in this embodiment includes a lifting motor 2, a lifting coupling 8, a screw 9, a lifting slide 10, a lifting cover 11 and a lifting platform 12. The lifting cover 11 is vertically fixed to the middle part of the upper end surface of the moving base 7, the screw 9 is vertically arranged in the lifting cover 11, the lifting motor 2 is vertically fixed upward to the middle part of the inner side of the moving base 7, the output shaft of the lifting motor 2 is connected to the lower end of the screw 9 through the lifting coupling 8, the lifting slide 10 is sleeved on the outer side of the screw 9 and is threadedly connected to the screw 9, the outer wall of the lifting slide 10 is slidably connected to the inner wall of the lifting cover 11, a through hole is opened in the middle part of the upper end surface of the lifting cover 11, the lifting platform 12 is a hollow shell with an open lower end, the middle part of the lifting platform 12 is inserted in the through hole, the lower part of the lifting platform 12 is sleeved on the outer side of the screw 9, and the lower end port of the lifting platform 12 is fixed to the lifting slide 10, and the lifting motor 2 is electrically connected to the power supply module 1 through the control panel 33. The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0045] The lifting motor 2 is installed on the mobile base 7. The lifting motor 2 drives the screw 9 to rotate, thereby driving the lifting slide 10 on the screw 9 to move up and down. The lifting platform 12 is vertically installed on the lifting slide 10, thereby realizing the lifting and moving of the lifting platform 12.

[0046] The lifting slide 10 has a square shape, and a slide groove is provided on the inner surface of the lifting cover 11. When working, the lifting slide 10 is embedded in the slide groove and slides up and down.

[0047] Specific implementation method four: Combination Figures 1 to 8 This embodiment is described. The slewing assembly described in this embodiment includes a slewing drive motor 13, a driving gear 14, a driven gear shaft 15 and a slewing outer cover 16. The slewing drive motor 13 is vertically fixed to one side of the upper end of the lifting platform 12. The driving gear 14 is arranged on the output shaft of the slewing drive motor 13. The driven gear shaft 15 is arranged in the middle of the upper end of the lifting platform 12. The lower end of the driven gear shaft 15 is rotatably connected to the lifting platform 12. The gear of the driven gear shaft 15 is meshed with the driving gear 14. The slewing outer cover 16 is fixed to the lifting platform 12. The slewing outer cover 16 is fixed to the outer side of the slewing drive motor 13, the driving gear 14 and the driven gear shaft 15. The upper end of the driven gear shaft 15 extends vertically upward to the outside of the slewing outer cover 16. The slewing drive motor 13 is electrically connected to the power supply module 1 through the control panel 33. The technical features not disclosed in this embodiment are the same as those in the specific embodiment 3.

[0048] The rotary drive motor 13 is installed on one side of the lifting platform 12. The driving gear 14 is installed on the output shaft of the rotary drive motor 13 and meshes with the driven gear shaft 15 installed on the lifting platform 12, which can drive the driven gear shaft 15 to rotate.

[0049] In this embodiment, the bottom of the driven gear shaft 15 is matched with the top of the lifting platform 12 through two angular contact ball bearings 17. The outer ring of the angular contact ball bearing 17 is nested in the circular hole at the top of the lifting platform 12. The inner ring spacer 17-1 and the outer ring spacer 17-2 are located between the two angular contact ball bearings 17 to transmit the force from the driven gear shaft 15.

[0050] Specific implementation method five: Combination Figures 1 to 8 This embodiment is described. The pitch assembly in this embodiment includes a pitch stepper motor 26, which is horizontally fixed to the upper end surface of the driven gear shaft 15, and the output shaft of the pitch stepper motor 26 is vertically fixed to the side wall of the proximal end of the guide beam 18. The pitch stepper motor 26 is electrically connected to the power supply module 1 through the control panel 33. The undisclosed technical features in this embodiment are the same as those in the fourth embodiment.

[0051] The top end of the driven gear shaft 15 is hinged to one end of the guide beam 18, and the pitch stepping motor 26 is fixedly connected to the side surface of the top end of the driven gear shaft 15, and its output end is connected to the guide beam 18, which can drive the guide beam 18 to rotate in a vertical plane around the top end of the driven gear shaft 15.

[0052] Specific implementation method six: Combination Figures 1 to 8 The present embodiment is described. The mobile assembly described in the present embodiment includes a synchronous toothed belt 21, a toothed belt upper pressure plate 22, a toothed belt lower pressure plate 23, a mobile platform 24, a mobile servo motor 25 and two synchronous toothed belt pulleys 20. A synchronous toothed belt pulley 20 is respectively provided at each end of the guide beam 18. The mobile servo motor 25 is fixedly connected to one side of the proximal end of the guide beam 18. The output shaft of the mobile servo motor 25 is connected to the proximal synchronous toothed belt pulley 20. The two synchronous toothed belt pulleys 20 are connected by a synchronous toothed belt 21. The upper end surface of the middle part of the upper side of the synchronous toothed belt 21 is fixedly connected to the upper end surface of the synchronous toothed belt 21. There is a toothed belt upper pressure plate 22, a toothed belt lower pressure plate 23 is fixedly connected to the lower end surface of the middle part of the upper side of the synchronous toothed belt 21, the toothed belt lower pressure plate 23 is arranged corresponding to the toothed belt upper pressure plate 22, the upper end of the mobile platform 24 is fixedly connected to the lower end surface of the synchronous toothed belt lower pressure plate 23, the outer side of the mobile assembly and the guide beam 18 is fixedly connected to the mobile cover 19, the lower end of the mobile cover 19 is provided with a long rectangular groove, the lower end of the mobile platform 24 passes through the long rectangular groove and extends downward to the outside of the mobile cover 19, and the mobile servo motor 25 is electrically connected to the power supply module 1 through the control panel 33. The technical features not disclosed in this embodiment are the same as those in the specific embodiment 1.

[0053] The mobile servo motor 25 is installed on one side of the guide beam 18, and its output end is connected to the synchronous toothed belt pulley 20, which can drive the rotation of the synchronous toothed belt pulley 20 and thus drive the movement of the synchronous toothed belt 21. The upper and lower surfaces of the synchronous toothed belt 21 are respectively installed with the toothed belt upper pressure plate 22 and the toothed belt lower pressure plate 23, which can move with the synchronous toothed belt 21. The mobile platform 24 is installed below the toothed belt lower pressure plate 23 and can slide left and right with the synchronous toothed belt 21. A mobile cover 19 is installed on the periphery of the guide beam 18 to play an isolation and protection role.

[0054] In this embodiment, when the precision is not high, the moving component can also adopt a pneumatic system, combined with Fig. 9 As shown, the left and right position of the therapy component 30 is adjusted by pushing the translation cylinder 35. At this time, the air pump motor and the electromagnetic reversing valve 36 are installed beside the bottom of the mobile base 7, the cylinder tail of the translation cylinder 35 is hinged on the hinge seat 34, and the front end of the cylinder rod is hinged on the mobile platform 24. When working, the left and right position of the therapy component 30 is adjusted by starting the air pump motor and the electromagnetic reversing valve 36 to control the extension and contraction of the cylinder rod of the translation cylinder 35.

[0055] Specific implementation method seven: Combination Figures 1 to 8 This embodiment is described. In this embodiment, the first corner assembly includes a first head rotating servo 28, and the second corner assembly includes a second head rotating servo 27 and an intermediate connecting member 29. The first head rotating servo 28 is fixedly connected to the side wall of the lower end of the mobile platform 24, and the output shaft of the first head rotating servo 28 is fixedly connected to one side of the intermediate connecting member 29. The second head rotating servo 27 is fixedly connected to one end of the intermediate connecting member 29, and the output shaft of the second head rotating servo 27 is fixedly connected to one side of the connecting end of the physical therapy assembly 30. The output shafts of the first head rotating servo 28 and the second head rotating servo 27 are vertically arranged, and the first head rotating servo 28 and the second head rotating servo 27 are electrically connected to the power supply module 1 through the control panel 33, respectively. The undisclosed technical features in this embodiment are the same as those in the specific embodiment 6.

[0056] The first head rotary servo 28 is installed on the mobile platform 24, and the output end of the first head rotary servo 28 is connected to the intermediate connecting member 29, and can rotate under the drive of the first head rotary servo 28. The second head rotary servo 27 is installed on the intermediate connecting member 29, and the output end of the second head rotary servo 27 is connected to the physical therapy component 30, and can drive the physical therapy component 30 to rotate. The output shafts of the first head rotary servo 28 and the second head rotary servo 27 are perpendicular, so that the rotation of the first head rotary servo 28 can drive the physical therapy component 30 to rotate in the vertical plane, and the rotation of the other second head rotary servo 27 can drive the physical therapy component 30 to rotate in another vertical direction, so as to achieve the purpose of adjusting the orientation of the physical therapy component 30.

[0057] Specific implementation method eight: Combination Figures 1 to 8 The present embodiment is described. The physiotherapy assembly 30 described in the present embodiment includes a physiotherapy head, a physiotherapy cylinder barrel 30-1, a physiotherapy cylinder rod 30-2, a physiotherapy connecting plate 30-14, four sensor mounting boxes 30-7, an outer lampshade assembly and an inner lampshade assembly. The physiotherapy connecting plate 30-14 is vertically fixed to the middle of the top of the physiotherapy cylinder barrel 30-1. The physiotherapy connecting plate 30-14 is connected to the second corner assembly. The rear end of the physiotherapy cylinder rod 30-2 is inserted into the body of the physiotherapy cylinder barrel 30-1. The physiotherapy head is fixed to the middle of the front end surface of the physiotherapy cylinder rod 30-2.

[0058] The inner lampshade assembly includes a plurality of inner lampshade blades 30-11, which are evenly distributed on the outer side of the therapy head along the circumferential direction. The ends of the inner lampshade blades 30-11 are fixedly connected to the front end of the therapy cylinder rod 30-2. A spring 30-13 is provided on the outer side of the inner lampshade blade 30-11. One end of the spring 30-13 is hinged to the middle part of the outer side wall of the inner lampshade blade 30-11, and the other end of the spring 30-13 is hinged to the front end of the therapy cylinder 30-1.

[0059] The outer lampshade assembly includes a plurality of outer lampshade blades 30-10, which are evenly distributed on the outer side of the inner lampshade assembly along the circumferential direction, and an outer lampshade blade 30-10 is respectively provided on the outer side between each two adjacent inner lampshade blades 30-11, and the end of the outer lampshade blade 30-10 is fixedly connected to the front end of the therapy cylinder rod 30-2, and a pull rod 30-12 is provided on the outer side of the outer lampshade blade 30-10, one end of the pull rod 30-12 is hinged to the middle part of the outer side wall of the outer lampshade blade 30-10, and the other end of the pull rod 30-12 is hinged to the front end of the therapy cylinder 30-1.

[0060] Four sensor mounting boxes 30-7 are evenly distributed along the circumferential direction on the outer side of the therapy cylinder 30-1, and a distance sensor 30-8 and a temperature sensor 30-9 are provided at the front end of each sensor mounting box 30-7. The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0061] The physiotherapy assembly 30 is connected to the output end of the second head rotary steering gear 27 through the physiotherapy connecting plate 30-14 at the tail of the physiotherapy cylinder barrel 30-1. The air pump motor and the electromagnetic reversing valve 36 are at the bottom of the mobile base 7. The extension and retraction of the physiotherapy cylinder rod 30-2 can be controlled by controlling the air pump motor and the electromagnetic reversing valve 36. The end of the physiotherapy cylinder rod 30-2 is hinged with eight inner lampshade blades 30-11 and eight outer lampshade blades 30-10. The eight inner lampshade blades 30-11 and the eight outer lampshade blades 30-10 are assembled on the outside of the physiotherapy head. The eight pull rods 30-12 are connected to form a cover body that can be opened and retracted, one end of the eight pull rods 30-12 is hinged to the front end of the therapy cylinder 30-1, and the other end is hinged to the outer lampshade blade 30-10, and one end of the eight springs 30-13 is hinged to the front end of the therapy cylinder 30-1, and the other end is hinged to the inner lampshade blade 30-11. In this way, when the therapy cylinder rod 30-2 is extended, the pull rod 30-12 drives the outer lampshade blade 30-10 to rotate outward, and the inner lampshade blade 30-11 rotates outward under the pulling force of the spring 30-13, and the heating lamp treatment area increases. When the therapy cylinder rod 30-2 retracts, the outer lampshade blade 30-10 pushes the inner lampshade blade 30-11 to rotate inward, and the heating lamp treatment area decreases.

[0062] The sensor mounting box 30-7 is connected to the therapy cylinder 30-1 through a connecting assembly, which includes a guide column 30-3, a nut 30-4, a cross bracket 30-5 and a slider 30-6. The front end of the therapy cylinder 30-1 is fixedly connected to a cross bracket 30-5, and the end of the cross bracket 30-5 away from the therapy cylinder 30-1 is provided with a guide groove, and a slider 30-6 is inserted in the guide groove. The upper end of the slider 30-6 is a stud, and a nut 30-4 is provided on the outer side of the stud to fix the slider 30-6 on the cross bracket 30-5. A through hole is provided in the center of the slider 30-6, and a guide column 30-3 is inserted in the through hole. One end of the guide column 30-3 passes through the through hole, and the other end is hinged to the outer lamp cover assembly. The sensor mounting box 30-7 is fixedly connected to the guide column 30-3, so as to realize the connection of the sensor mounting box 30-7. In this way, when the outer lamp cover assembly rotates outward, the guide column 30-3 drives the slider 30-6 to slide outward, driving the distance sensor 30-8 and the temperature sensor 30-9 to translate outward.

[0063] In order to protect the physiotherapy head, a physiotherapy cover 31 is fixedly connected to the outer side of the rear end of the physiotherapy cylinder 30 - 1 , and the physiotherapy component 30 is arranged in the physiotherapy cover 31 .

[0064] During the process of the lifting motor 2 controlling the lifting of the entire physiotherapy device, the four distance measuring sensors 30-8 evenly installed on the periphery of the physiotherapy component 30 will detect the distance between the physiotherapy component 30 and the patient's diseased part in real time. According to the distance feedback from the four distance measuring sensors 30-8, the distance between the physiotherapy component 30 and the diseased part is comprehensively evaluated, and the lifting motor 2 and the first head rotating servo 28, the second head rotating servo 27, the moving servo motor 25, and the pitch stepping motor 26 are used to realize the closed-loop control of the lifting of the physiotherapy device and the posture of the physiotherapy component 30.

[0065] During the treatment of the patient, if the four temperature sensors 30-9 evenly arranged in the physical therapy component detect that the temperature of the patient's treatment part is too high, the lifting motor 2 will be started to raise the height of the physical therapy device. When the values ​​fed back by the four temperature sensors 30-9 are greatly different, combined with the distances fed back by the four distance sensors 30-8, the physical therapy device will adjust the posture of the physical therapy component 30 through the head double servo structure, mobile components, etc. to avoid causing burns to the patient.

[0066] Specific implementation method nine: Combination Figures 1 to 8 To explain this embodiment, an anti-dumping switch 32 is provided on one side of the lifting assembly of this embodiment, and the power supply module 1 is electrically connected to the control panel 33 via the anti-dumping switch 32. The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0067] In this embodiment, an anti-dumping switch 32 is also provided. When the physiotherapy apparatus topples over due to external collision or other reasons during use, the anti-dumping switch 32 will cut off the power supply of the physiotherapy apparatus, and the physiotherapy apparatus will stop working immediately.

[0068] Specific implementation method ten: Combination Figures 1 to 8 This embodiment describes a fully automatic intelligent infrared physiotherapy device, which further includes a signal transmitting module, and a signal receiving module is provided on the control panel 13, and the signal receiving module receives the control signal sent by the signal transmitting module. The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0069] In this embodiment, wireless communication can be used to control and adjust the physiotherapy instrument, such as using mobile phone Bluetooth for control. Install APP control software in the mobile phone, use mobile phone Bluetooth as the signal transmission module, and the signal receiving module is the Bluetooth module. Wireless control of the physiotherapy instrument is achieved through the patient's control of the mobile phone software. Specifically, the Bluetooth communication module based on the STM32 microcontroller can realize short-range wireless communication function. By configuring the relevant parameters of the STM32 Bluetooth module, such as the baud rate, power consumption mode, data format, etc. of the Bluetooth module, stable transmission and reception of data can be achieved.

[0070] How it works

[0071] A method for using a fully automatic intelligent infrared physiotherapy device comprises the following steps:

[0072] 1. Use the mobile phone APP software connected to the Bluetooth module to remotely control the physiotherapy device to the patient's vicinity and turn on the power of the physiotherapy device.

[0073] 2. Adjust the height of the physiotherapy device. Start the lifting motor 2 on the mobile base 7 through the mobile phone APP software, and comprehensively evaluate the distance between the physiotherapy component 30 and the patient's diseased part according to the feedback of the four distance measuring sensors 30-8 evenly installed on the periphery of the physiotherapy device, and through the closed-loop control of the physiotherapy device, when it is detected that the distance between the physiotherapy device and the patient's diseased part is appropriate, the lifting motor 2 stops rotating.

[0074] 3. Control the mobile servo motor 25 to rotate, thereby driving the mobile platform 24 to drive the physiotherapy component 30 to move, and finally achieve the purpose of adjusting the left and right position of the physiotherapy component 30. The mobile phone APP software connected to the Bluetooth module controls the pitch stepper motor 26 to rotate, thereby driving the guide beam 18 to rotate around the top of the driven gear shaft 15, and finally achieves the purpose of adjusting the angle of the physiotherapy component 30.

[0075] 4. Adjust the direction of the physical therapy component. The second head rotating servo 27 and the first head rotating servo 28 are controlled by the mobile phone APP software. The control system determines the rotation angle of the second head rotating servo 27 and the first head rotating servo 28 according to the distance difference between the four distance measuring sensors 30-8, and adjusts the distance between the physical therapy component 30 and the diseased part.

[0076] 5. When the posture adjustment of the physiotherapy component 30 is completed, the light bulb of the physiotherapy component 30 is powered on and physiotherapy begins. During the physiotherapy, the four temperature sensors 30-9 arranged in the physiotherapy component 30 detect the temperature of the patient's treatment part in real time. When the temperatures fed back by the four temperature sensors 30-9 are all too high, the lifting motor 2 is started to raise the height of the physiotherapy device. When the numerical differences fed back by the four temperature sensors 30-9 are large, the second head rotating servo 27 or the first head rotating servo 28 is started in combination with the distances fed back by the four ranging sensors 30-8 to adjust the angle of the physiotherapy component 30 to achieve the best treatment effect.

[0077] 6. When the patient feels that the treatment area is too small or too large, the patient can remotely control the treatment assembly 30 to extend or retract the treatment cylinder rod 30-2 to increase or decrease the treatment area.

[0078] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fully automatic intelligent infrared physiotherapy device, characterized in that: The invention comprises a power supply module (1), a mobile base (7), a guide beam (18), a physical therapy component (30), a control panel (33), a lifting component, a slewing component, a pitching component, a mobile component, a first corner component and a second corner component. The mobile base (7) is arranged horizontally, the power supply module (1) is fixedly connected to the inner side of the mobile base (7), the lifting component is vertically arranged in the middle of the upper end of the mobile base (7), the slewing component is arranged on the upper part of the execution end of the lifting component, the pitching component is arranged on one side of the execution end of the slewing component, the proximal end of the guide beam (18) is fixedly connected to the execution end of the pitching component, and the mobile component is arranged on the guide beam (18). On the beam (18), the physiotherapy component (30) is connected to the execution end of the moving component through the second corner component and the first corner component in sequence; a plurality of distance sensors (30-8) and a plurality of temperature sensors (30-9) are evenly distributed on the outer side of the physiotherapy component (30) along the circumferential direction; a control panel (33) is arranged on one side of the lifting component; and a power supply module (1), a moving base (7), a physiotherapy component (30), a distance sensor (32), a temperature sensor (33), a lifting component, a slewing component, a pitch component, a moving component, a first corner component and a second corner component are electrically connected to the control panel (33) respectively.

2. A fully automatic intelligent infrared physiotherapy device according to claim 1, characterized in that: The mobile base (7) comprises a lower base and four Mecanum wheel assemblies. A Mecanum wheel assembly is respectively provided at the front and rear ends of both sides of the lower base. The Mecanum wheel assembly comprises a motor driver (3), a Mecanum wheel drive motor (4), a Mecanum wheel (5) and a Mecanum wheel drive motor seat (6). The Mecanum wheel drive motor (4) is fixedly connected to the inner side of the lower base via the Mecanum wheel drive motor seat (6). The Mecanum wheel (5) is connected to the output shaft of the Mecanum wheel drive motor (4). The Mecanum wheel drive motor (4) is electrically connected to the power supply module (1) via the motor driver (3) and the control panel (33) in sequence.

3. According to claim 1, a fully automatic intelligent infrared physiotherapy device is characterized in that: The lifting assembly comprises a lifting motor (2), a lifting coupling (8), a lead screw (9), a lifting slide (10), a lifting cover (11) and a lifting platform (12); the lifting cover (11) is vertically fixed to the middle of the upper end surface of the movable base (7); the lead screw (9) is vertically arranged in the lifting cover (11); the lifting motor (2) is vertically fixed to the middle of the inner side of the movable base (7); the output shaft of the lifting motor (2) is connected to the lower end of the lead screw (9) through the lifting coupling (8); the lifting slide (10) is sleeved on the lead screw (9) The lifting platform (12) is a hollow shell with an open lower end. The middle part of the lifting platform (12) is inserted into the through hole. The lower part of the lifting platform (12) is mounted on the outer side of the lead screw (9). The lower end port of the lifting platform (12) is fixedly connected to the lifting platform (10). The lifting motor (2) is electrically connected to the power supply module (1) through the control panel (33).

4. A fully automatic intelligent infrared physiotherapy device according to claim 3, characterized in that: The rotary assembly comprises a rotary drive motor (13), a driving gear (14), a driven gear shaft (15) and a rotary outer cover (16); the rotary drive motor (13) is vertically fixed to one side of the upper end of the lifting platform (12); the driving gear (14) is arranged on the output shaft of the rotary drive motor (13); the driven gear shaft (15) is arranged in the middle of the upper end of the lifting platform (12); the lower end of the driven gear shaft (15) is rotated with the lifting platform (12) The driven gear shaft (15) is connected, the gear of the driven gear shaft (15) is meshed with the driving gear (14), the rotary outer cover (16) is fixed to the lifting platform (12), the rotary outer cover (16) is fixed to the outer side of the rotary drive motor (13), the driving gear (14) and the driven gear shaft (15), the upper end of the driven gear shaft (15) vertically extends upward to the outside of the rotary outer cover (16), and the rotary drive motor (13) is electrically connected to the power supply module (1) through the control panel (33).

5. A fully automatic intelligent infrared physiotherapy device according to claim 4, characterized in that: The pitch assembly comprises a pitch stepping motor (26), the pitch stepping motor (26) is horizontally fixed to the upper end surface of the driven gear shaft (15), the output shaft of the pitch stepping motor (26) is vertically fixed to the side wall of the proximal end of the guide beam (18), and the pitch stepping motor (26) is electrically connected to the power supply module (1) through the control panel (33).

6. The fully automatic intelligent infrared physiotherapy device according to claim 1, characterized in that: The moving assembly comprises a synchronous toothed belt (21), a toothed belt upper pressure plate (22), a toothed belt lower pressure plate (23), a moving platform (24), a moving servo motor (25) and two synchronous toothed belt pulleys (20). A synchronous toothed belt pulley (20) is respectively provided at both ends of the guide crossbeam (18). The moving servo motor (25) is fixedly connected to one side of the proximal end of the guide crossbeam (18). The output shaft of the moving servo motor (25) is connected to the proximal synchronous toothed belt pulley (20). The two synchronous toothed belt pulleys (20) are connected via a synchronous toothed belt (21). The toothed belt upper pressure plate is fixedly connected to the upper end surface of the middle part of the upper side of the synchronous toothed belt (21). (22), a toothed belt lower pressure plate (23) is fixedly connected to the lower end surface of the middle part of the upper side of the synchronous toothed belt (21), the toothed belt lower pressure plate (23) is arranged corresponding to the toothed belt upper pressure plate (22), the upper end of the mobile platform (24) is fixedly connected to the lower end surface of the synchronous toothed belt lower pressure plate (23), the outer side of the moving component and the guide beam (18) is fixedly connected to a moving cover (19), the lower end of the moving cover (19) is provided with a long rectangular groove, the lower end of the moving platform (24) passes through the long rectangular groove and extends downward to the outside of the moving cover (19), and the mobile servo motor (25) is electrically connected to the power supply module (1) through the control panel (33).

7. A fully automatic intelligent infrared physiotherapy device according to claim 6, characterized in that: The first corner assembly comprises a first head rotating servo (28), and the second corner assembly comprises a second head rotating servo (27) and an intermediate connecting member (29). The first head rotating servo (28) is fixedly connected to the side wall of the lower end of the mobile platform (24), the output shaft of the first head rotating servo (28) is fixedly connected to one side of the intermediate connecting member (29), the second head rotating servo (27) is fixedly connected to one end of the intermediate connecting member (29), the output shaft of the second head rotating servo (27) is fixedly connected to one side of the connecting end of the physical therapy assembly (30), the output shafts of the first head rotating servo (28) and the second head rotating servo (27) are vertically arranged, and the first head rotating servo (28) and the second head rotating servo (27) are respectively electrically connected to the power supply module (1) through a control panel (33).

8. The fully automatic intelligent infrared physiotherapy device according to claim 1, characterized in that: The physiotherapy assembly (30) comprises a physiotherapy head, a physiotherapy cylinder barrel (30-1), a physiotherapy cylinder rod (30-2), a physiotherapy connecting plate (30-14), four sensor mounting boxes (30-7), an outer lampshade assembly and an inner lampshade assembly. The physiotherapy connecting plate (30-14) is vertically fixed to the middle of the top of the physiotherapy cylinder barrel (30-1), the physiotherapy connecting plate (30-14) is connected to the second corner assembly, the rear end of the physiotherapy cylinder rod (30-2) is inserted into the cylinder body of the physiotherapy cylinder barrel (30-1), and the physiotherapy head is fixed to the middle of the front end surface of the physiotherapy cylinder rod (30-2). The inner lampshade assembly comprises a plurality of inner lampshade blades (30-11), the plurality of inner lampshade blades (30-11) are evenly arranged on the outer side of the physiotherapy head along the circumferential direction, the ends of the inner lampshade blades (30-11) are fixedly connected to the front end of the physiotherapy cylinder rod (30-2), a spring (30-13) is arranged on the outer side of the inner lampshade blade (30-11), one end of the spring (30-13) is hinged to the middle part of the outer side wall of the inner lampshade blade (30-11), and the other end of the spring (30-13) is hinged to the front end of the physiotherapy cylinder barrel (30-1), The outer lampshade assembly comprises a plurality of outer lampshade blades (30-10), which are evenly distributed on the outer side of the inner lampshade assembly along the circumferential direction, and an outer lampshade blade (30-10) is respectively provided on the outer side between each two adjacent inner lampshade blades (30-11), the ends of the outer lampshade blades (30-10) are fixedly connected to the front end of the therapy cylinder rod (30-2), a pull rod (30-12) is provided on the outer side of the outer lampshade blade (30-10), one end of the pull rod (30-12) is hinged to the middle part of the outer side wall of the outer lampshade blade (30-10), and the other end of the pull rod (30-12) is hinged to the front end of the therapy cylinder barrel (30-1), Four sensor installation boxes (30-7) are evenly distributed along the circumferential direction on the outer side of the physiotherapy cylinder barrel (30-1), and a distance sensor (30-8) and a temperature sensor (30-9) are provided at the front end of each sensor installation box (30-7).

9. The fully automatic intelligent infrared physiotherapy device according to claim 1, characterized in that: An anti-dumping switch (32) is provided on one side of the lifting assembly, and the power supply module (1) is electrically connected to the control panel (33) via the anti-dumping switch (32).

10. The fully automatic intelligent infrared physiotherapy device according to claim 1, characterized in that: The fully automatic intelligent infrared physiotherapy device further comprises a signal transmitting module. A signal receiving module is provided on the control panel (33), and the signal receiving module receives the control signal sent by the signal transmitting module.

Images