Orthopedic medical parallel shoulder ultrasonic massage nursing robot

Abstract

The orthopedic medical parallel shoulder ultrasonic massage nursing robot is characterized in that the robot comprises a bed body and a massage mechanism, a control host is fixedly installed below the bed body, a mechanical arm is fixedly installed above the bed body, and the massage mechanism comprises a shell fixedly installed on the mechanical arm; a first motor is fixedly installed in the shell, a rotating disc is fixedly installed below the first motor, a fixed cylinder and a sliding cylinder are symmetrically arranged on the two sides of the bottom of the rotating disc respectively, an ultrasonic massage instrument is slidably installed in the fixed cylinder, a lubricating assembly is slidably installed in the sliding cylinder, and a visual sensor is fixedly installed at the circle center of the bottom of the rotating disc. A sliding groove is formed in the front end of the bed body in a penetrating mode, and an auxiliary assembly is slidably installed in the sliding groove. By arranging the massage mechanism, the ultrasonic massage instrument does reciprocating circular motion on the periphery of the acupuncture point through rotation of the rotating disc, so that ultrasonic waves are prevented from staying on the acupuncture point for a long time, and the acupuncture point is prevented from being stabbed.

Description

Technical Field

[0001] The invention relates to the technical field of massage robots, and in particular to an orthopedic medical parallel shoulder ultrasonic massage nursing robot. Background Art

[0002] With the accelerated pace of society and the increase of work pressure, shoulder and neck diseases have become one of the common diseases of modern people. The traditional method of solving shoulder and neck discomfort mainly relies on manual massage, but manual massage has problems such as low efficiency, unstable strength and technique, and cannot meet people's needs for massage anytime and anywhere. For this reason, ultrasonic massage has emerged, which can make tissue cells vibrate with ultrasonic vibrations, thereby accelerating cell metabolism and relieving discomfort.

[0003] Prior art, such as the Chinese invention patent with announcement number CN111973435A, discloses "a fully automatic ultrasonic massage robot device and its implementation method". When it works, it first uses an imaging scanning mechanism to scan and obtain a three-dimensional contour image of the human body, then processes the three-dimensional contour image of the human body and obtains three-dimensional coordinate data, and then the machine receives command input, processes the command, and directs the ultrasonic massage head mechanism to perform ultrasonic vibration massage operations on human body parts. The whole process does not require operator intervention, has a high degree of artificial intelligence, and can achieve fully automated ultrasonic massage operations. However, the structure has defects, that is, ultrasonic waves cannot be transmitted in the air, and the ultrasonic massage head needs to be attached to the skin during massage, and the gap between the ultrasonic massage head and the skin needs to be filled with a coupling agent to improve the massage effect;

[0004] In addition, the ultrasonic massage head needs to be moved slowly around the affected area during massage to prevent the ultrasonic massage head from staying in one place for a long time. Summary of the invention

[0005] The purpose of the present invention is to provide a device that can make an ultrasonic probe move slowly back and forth in a circular motion targeting at an acupoint, thereby preventing the ultrasonic probe from staying on the acupoint and causing acupoint tingling, and can also automatically replenish coupling agent during massage to improve the ultrasonic wave conduction effect.

[0006] In order to achieve the above-mentioned technical effect, the present invention is implemented through the following technical solutions: an orthopedic medical parallel shoulder ultrasonic massage care robot, characterized in that it includes a bed body and a massage mechanism, a control host is fixedly installed under the bed body, a manipulator is fixedly installed above the bed body, the massage mechanism includes a shell fixedly installed on the manipulator, a No. 1 motor is fixedly installed inside the shell, a turntable is fixedly installed under the No. 1 motor, a fixed cylinder and a sliding cylinder are symmetrically arranged on both sides of the bottom of the turntable, an ultrasonic massager is slidably installed in the fixed cylinder, a lubrication component is slidably installed in the sliding cylinder, a visual sensor is fixedly installed at the center of the bottom circle of the turntable, a slide groove is opened through the front end of the bed body, and an auxiliary component is slidably installed in the slide groove.

[0007] Preferably, a fixed cylinder is eccentrically arranged at the bottom of the turntable, the distance from the center of the fixed cylinder to the center of the turntable is 1 to 1.5 times the diameter of the fixed cylinder, a pressure sensor is arranged at the bottom of the inner wall of the fixed cylinder, and a spring is slidably installed in the fixed cylinder.

[0008] Preferably, a spring is slidably installed in the sliding cylinder, and a limiting groove is provided on the side wall of the sliding cylinder.

[0009] Preferably, the lubrication assembly includes a lubrication cylinder slidably installed inside the sliding cylinder, a spring is slidably installed between the lubrication cylinder and the sliding cylinder, a lubrication ball is rotatably installed at the bottom of the lubrication cylinder, a protrusion is provided on the side wall of the lubrication cylinder, the protrusion is slidably installed in the limiting groove, a liquid storage tank is provided on one side of the protrusion, and the liquid storage tank is connected to the lubrication cylinder through the protrusion.

[0010] Preferably, a spherical sliding seat is provided at the bottom of the lubrication cylinder, a rolling cavity is opened inside the sliding seat, the diameter of the rolling cavity is larger than the diameter of the lubrication ball, a plurality of filling holes are opened at the top of the rolling cavity, and a rolling hole is opened at the bottom of the sliding seat, the diameter of the rolling hole is smaller than the diameter of the lubrication ball.

[0011] Preferably, the lubricating ball is a solid metal ball, and the surface of the lubricating ball is a rough surface.

[0012] Preferably, the auxiliary component includes a slider slidably installed in a slide groove, a threaded rod is threadedly connected to the slider from top to bottom, a massage seat is rotatably installed on the top of the threaded rod, a No. 2 motor is provided on one side of the massage seat, a plurality of fixedly connected cams are rotatably installed inside the massage seat, the cams are meshingly connected to the output end of the No. 2 motor through gears, and a warm light is provided on the top of the massage seat.

[0013] Compared with the related art, the orthopedic medical parallel shoulder ultrasonic massage nursing robot provided by the present invention has the following beneficial effects:

[0014] 1. The present invention provides a massage mechanism and utilizes the rotation of a turntable to make the ultrasonic massager perform reciprocating circular motion around the acupuncture points, thereby preventing the ultrasonic wave from staying on the acupuncture points for a long time, thereby preventing the acupuncture points from causing stinging pain. At the same time, a lubricating component is used to supplement the coupling agent of the ultrasonic massager, thereby improving the ultrasonic wave conduction effect.

[0015] 2. The present invention provides a lubrication component, squeezes the lubrication cylinder through a spring, and when the lubrication ball at the bottom of the lubrication cylinder rolls, the rolling lubrication ball brings out the coupling agent, so that the coupling agent is applied to the skin, thereby reducing the gap between the skin and the ultrasonic massager.

[0016] 3. The present invention sets an auxiliary component, through the action of the slider and the threaded rod, so that the massage seat fits the shoulder, and the cam is driven to rotate by the second motor to massage the patient's shoulder, thereby massaging the area that is difficult for the massage robot to massage. At the same time, the warm light is used to illuminate the shoulder and provide temperature to prevent the patient from getting cold. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a front view of the present invention;

[0020] Figure 3 is a front sectional view of the present invention;

[0021] Figure 4 It is a schematic diagram of the overall structure of the massage mechanism of the present invention;

[0022] Figure 5 It is an enlarged view of point A of the present invention;

[0023] Figure 6 It is a schematic diagram of the cam structure of the present invention.

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0025] 1. Bed body; 11. Slide; 2. Control host; 3. Manipulator; 4. Massage mechanism; 41. Shell; 42. Motor No. 1; 43. Turntable; 431. Fixed cylinder; 432. Sliding cylinder; 4321. Limiting groove; 433. Pressure sensor; 434. Spring; 44. Ultrasonic massager; 45. Lubrication assembly; 451. Lubrication cylinder; 4511. Sliding seat; 4512. Rolling cavity; 4513. Filling hole; 4513. Rolling hole; 452. Lubrication ball; 453. Bump; 454. Liquid storage tank; 46. Visual sensor; 47. Auxiliary assembly; 471. Sliding block; 472. Threaded rod; 473. Massage seat; 474. Motor No. 2; 475. Cam; 476. Warm light. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] Example 1

[0028] See also Figures 1 to 6 As shown, an orthopedic medical parallel shoulder ultrasonic massage nursing robot is characterized in that it includes a bed body 1 and a massage mechanism 4, a control host 2 is fixedly installed below the bed body 1, a manipulator 3 is fixedly installed above the bed body 1, the massage mechanism 4 includes a shell 41 fixedly installed on the manipulator 3, a No. 1 motor 42 is fixedly installed inside the shell 41, a turntable 43 is fixedly installed below the No. 1 motor 42, a fixed cylinder 431 and a sliding cylinder 432 are symmetrically arranged on both sides of the bottom of the turntable 43, an ultrasonic massager 44 is slidably installed in the fixed cylinder 431, a lubrication component 45 is slidably installed in the sliding cylinder 432, a visual sensor 46 is fixedly installed at the center of the bottom of the turntable 43, a slide groove 11 is opened through the front end of the bed body 1, and an auxiliary component 47 is slidably installed in the slide groove 11. The manipulator 3 is raised and lowered through the shell 41, and the turntable 43 is driven to rotate through the No. 1 motor 42. After the turntable 43 rotates, it drives the ultrasonic massager 44 to massage the patient's acupuncture points. During the massage, the lubricating component 45 is coated with coupling agent to fill the gap between the ultrasonic massager 44 and the skin, thereby improving the massage effect of the ultrasonic massager 44.

[0029] A fixed cylinder 431 is eccentrically arranged at the bottom of the rotating disk 43, and the distance between the center of the fixed cylinder 431 and the center of the rotating disk 43 is 1 to 1.5 times the diameter of the fixed cylinder 431. A pressure sensor 433 is arranged at the bottom of the inner wall of the fixed cylinder 431, and a spring 434 is slidably installed in the fixed cylinder 431. The distance between the fixed cylinder 431 and the center of the circle ensures that the outer diameter of the ultrasonic massager 44 does not rotate around the origin when the ultrasonic massager 44 rotates, thereby preventing the ultrasonic wave from continuously stimulating the acupuncture points, thereby preventing the patient from having a tingling sensation. At the same time, the cooperation between the spring 434 and the pressure sensor 433 enables the manipulator 3 to fluctuate according to the value change of the pressure sensor 433, so that the pressure of the ultrasonic massager 44 on the skin remains stable.

[0030] A spring 434 is slidably mounted in the sliding cylinder 432, and a limiting groove 4321 is provided on the side wall of the sliding cylinder 432. The spring 434 is used to fit the lubricating component 45 to the skin, and the limiting groove 4321 can limit the rotation of the lubricating component 45 and provide a filling channel for the coupling agent.

[0031] The lubrication assembly 45 includes a lubrication cylinder 451 slidably mounted inside the sliding cylinder 432, a spring 434 is slidably mounted between the lubrication cylinder 451 and the sliding cylinder 432, a lubrication ball 452 is rotatably mounted at the bottom of the lubrication cylinder 451, a convex block 453 is arranged on the side wall of the lubrication cylinder 451, the convex block 453 is slidably mounted in the limiting groove 4321, a liquid storage tank 454 is arranged on one side of the convex block 453, and the liquid storage tank 454 is connected to the lubrication cylinder 451 through the convex block 453. After the height of the lubrication ball 452 fluctuates, it drives the lubrication cylinder 451 to slide up and down, and the spring 434 pushes the lubrication cylinder 451, so that the lubrication ball 452 fits the skin.

[0032] A spherical sliding seat 4511 is provided at the bottom of the lubricating cylinder 451, and a rolling cavity 4512 is provided inside the sliding seat 4511. The diameter of the rolling cavity 4512 is larger than the diameter of the lubricating ball 452. A plurality of filling holes 4513 are provided at the top of the rolling cavity 4512. A rolling hole 4513 is provided at the bottom of the sliding seat 4511. The diameter of the rolling hole 4513 is smaller than the diameter of the lubricating ball 452. After the coupling agent enters the lubricating cylinder 451 through the protrusion 453, the coupling agent enters the rolling cavity 4512 through the filling hole 4513, and is taken out when the lubricating ball 452 rolls.

[0033] The lubricating ball 452 is a solid metal ball, and the surface of the lubricating ball 452 is a rough surface. The metal ball can seal the rolling hole 4513 by its own weight, and the rough surface of the lubricating ball 452 can bring out more coupling agent.

[0034] The auxiliary component 47 includes a slider 471 slidably mounted in the slide slot 11, a threaded rod 472 is threadedly connected to the slider 471 from top to bottom, a massage seat 473 is rotatably mounted on the top of the threaded rod 472, a No. 2 motor 474 is arranged on one side of the massage seat 473, a plurality of fixedly connected cams 475 are rotatably mounted inside the massage seat 473, the cams 475 are meshed with the output end of the No. 2 motor 474 through gears, and a warm light 476 is arranged on the top of the massage seat 473. The threaded rod 472 can make the massage seat 473 move up and down, and can fit the patient's shoulder in cooperation with the slider 471. After the No. 2 motor 474 rotates, it drives the protrusion 453 to rotate, so as to massage the patient's shoulder. The warm light 476 can provide temperature to the patient and also provide lighting for the visual sensor 46.

[0035] Example 2

[0036] A gasket is provided between the spring 434 and the pressure sensor 433 of the present invention, so that the pressure of the spring 434 on the pressure sensor 433 is uniform;

[0037] The linear speed of the ultrasonic massager 44 of the present invention during reciprocating rotation is 1 cm / s to 2 cm / s;

[0038] The manipulator 3, the visual sensor 46, the pressure sensor 433, the No. 1 motor 42, the No. 2 motor 474, and the warm light 476 of the present invention are electrically connected to the control host 2 respectively;

[0039] The control host 2 of the present invention adopts an external power supply;

[0040] The massage principle of the ultrasonic massager 44 of the present invention is the same as the massage principle of the existing ultrasonic massager 44;

[0041] The connection method of the fixed cylinder 431 and the ultrasonic massager 44 of the present invention is the same as the connection method of the existing telescopic rod;

[0042] The ultrasonic massager 44 of the present invention massages a single acupuncture point for 10 to 15 minutes;

[0043] The visual sensor 46 of the present invention scans the human body in the same manner as the existing massage robot;

[0044] The liquid storage box 454 of the present invention is transparent and filled with coupling agent, and the liquid storage box 454 can be opened;

[0045] The ultrasonic massager 44 of the present invention has a built-in power supply and is connected to the control host 2 via Bluetooth;

[0046] The ultrasonic massager 44 of the present invention can adjust the gear position to adjust the massage intensity;

[0047] The manipulator 3 of the present invention is fixed on the bed 1 by bolts.

[0048] Example 3

[0049] Working principle: During massage, the user lies on the bed 1, and the nursing staff marks the patient's shoulder acupuncture points with special paint, scans the marks through the visual sensor 46, and numbers the acupuncture point marks in sequence, then sets the massage pressure and starts the mechanical arm and the ultrasonic massager 44. When the mechanical arm moves, it moves the turntable 43 to the top of the acupuncture point, and makes the visual sensor 46 face the acupuncture point. Then the mechanical arm controls the turntable 43 to descend vertically. After the ultrasonic massager 44 contacts the patient's skin, the ultrasonic massager 44 is squeezed and moves upward, so that the ultrasonic massager 44 squeezes the spring 43. 4 contracts, and the spring 434 contracts and pushes the pressure sensor 433. When the pressure of the pressure sensor 433 reaches the set value, the mechanical arm stops descending, and then the No. 1 motor 42 is started to drive the turntable 43 to rotate. After the turntable 43 rotates, the ultrasonic massager 44 rotates around the acupuncture point. While rotating, the ultrasonic massager 44 emits ultrasonic waves to massage the subcutaneous tissue. When the ultrasonic massager 44 rotates, the spring 434 is deformed as the height changes, so that the value of the pressure sensor 433 changes, so that the mechanical arm floats up and down, so that the pressure of the ultrasonic massager 44 on the skin is uniform;

[0050] While the ultrasonic massager 44 is massaging, the lubricating component 45 also rotates with the turntable 43. While the lubricating component 45 is rotating, the lubricating cylinder 451 makes the lubricating ball 452 fit the skin through the spring 434. While the turntable 43 is rotating, the lubricating ball 452 moves in accordance with the skin and floats up and down under the action of the spring 434. The coupling agent in the liquid storage tank 454 enters the lubricating cylinder 451 through the internal cavity of the protrusion 453. The coupling agent in the lubricating cylinder 451 enters the rolling cavity 4512 through the filling hole 4513. When the lubricating ball 452 rolls, the coupling agent in the rolling cavity 4512 is applied to the patient's skin by the lubricating ball 452. When the turntable 43 rotates, the ultrasonic massager 44 moves along the rolling track of the lubricating ball 452, so that the space between the ultrasonic massager 44 and the skin is filled with the coupling agent, thereby improving the massage effect of the ultrasonic massager 44. At the same time, when the mechanical arm is lifted, the lubricating ball 452 falls downward under the action of gravity, thereby sealing the rolling hole 4513, thereby preventing the coupling agent in the rolling cavity 4512 from flowing out.

[0051] During shoulder massage, it is difficult for the mechanical arm to massage the top of the shoulder. The user uses the slider 471 to make the massage seat 473 fit the shoulder, and adjusts the height of the massage seat 473 through the threaded rod 472. Then, the second motor 474 is turned on by the control host 2. After the second motor 474 rotates, the cam 475 is driven to rotate through the gear. After the cam 475 rotates, the top of the patient's shoulder is massaged.

[0052] Since the patient needs to take off clothes during the shoulder massage, when the patient feels cold, the warm light lamp 476 can be turned on to illuminate the patient's shoulders to warm the patient. At the same time, the light source emitted by the warm light lamp 476 can illuminate the special paint mark of the visual sensor 46, thereby improving the accuracy of the visual sensor 46.

Claims

1. An orthopedic medical parallel shoulder ultrasonic massage nursing robot, characterized in that: The invention comprises a bed body (1) and a massage mechanism (4), wherein a control host (2) is fixedly installed below the bed body (1), a manipulator (3) is fixedly installed above the bed body (1), the massage mechanism (4) comprises a shell (41) fixedly installed on the manipulator (3), a No. 1 motor (42) is fixedly installed inside the shell (41), a turntable (43) is fixedly installed below the No. 1 motor (42), a fixed cylinder (431) and a sliding cylinder (432) are symmetrically arranged on both sides of the bottom of the turntable (43), an ultrasonic massager (44) is slidably installed in the fixed cylinder (431), a lubrication component (45) is slidably installed in the sliding cylinder (432), a visual sensor (46) is fixedly installed at the center of the bottom circle of the turntable (43), a slide groove (11) is opened through the front end of the bed body (1), and an auxiliary component (47) is slidably installed in the slide groove (11).

2. The orthopedic medical parallel shoulder ultrasonic massage nursing robot according to claim 1, characterized in that: A fixed cylinder (431) is eccentrically arranged at the bottom of the rotating disk (43); the distance between the center of the fixed cylinder (431) and the center of the rotating disk (43) is 1 to 1.5 times the diameter of the fixed cylinder (431); a pressure sensor (433) is arranged at the bottom of the inner wall of the fixed cylinder (431); and a spring (434) is slidably installed in the fixed cylinder (431).

3. The orthopedic medical parallel shoulder ultrasonic massage nursing robot according to claim 1, characterized in that: A spring (434) is slidably installed in the sliding cylinder (432), and a limiting groove (4321) is provided on the side wall of the sliding cylinder (432).

4. The orthopedic medical parallel shoulder ultrasonic massage nursing robot according to claim 1, characterized in that: The lubrication assembly (45) comprises a lubrication cylinder (451) slidably mounted inside the sliding cylinder (432); a spring (434) is slidably mounted between the lubrication cylinder (451) and the sliding cylinder (432); a lubrication ball (452) is rotatably mounted at the bottom of the lubrication cylinder (451); a protrusion (453) is provided on the side wall of the lubrication cylinder (451); the protrusion (453) is slidably mounted in the limiting groove (4321); a liquid storage tank (454) is provided on one side of the protrusion (453); and the liquid storage tank (454) is connected to the lubrication cylinder (451) through the protrusion (453).

5. The orthopedic medical parallel shoulder ultrasonic massage nursing robot according to claim 4, characterized in that: A spherical sliding seat (4511) is arranged at the bottom of the lubricating cylinder (451), a rolling cavity (4512) is opened inside the sliding seat (4511), the diameter of the rolling cavity (4512) is larger than the diameter of the lubricating ball (452), a plurality of filling holes (4513) are opened at the top of the rolling cavity (4512), a rolling hole (4513) is opened at the bottom of the sliding seat (4511), and the diameter of the rolling hole (4513) is smaller than the diameter of the lubricating ball (452).

6. The orthopedic medical parallel shoulder ultrasonic massage nursing robot according to claim 4, characterized in that: The lubricating ball (452) is a solid metal ball, and the surface of the lubricating ball (452) is a rough surface.

7. The orthopedic medical parallel shoulder ultrasonic massage nursing robot according to claim 1, characterized in that: The auxiliary component (47) comprises a slider (471) slidably mounted in the slide groove (11); a threaded rod (472) is threadedly connected to the slider (471) from top to bottom; a massage seat (473) is rotatably mounted on the top of the threaded rod (472); a second motor (474) is arranged on one side of the massage seat (473); a plurality of fixedly connected cams (475) are rotatably mounted inside the massage seat (473); the cams (475) are meshedly connected to the output end of the second motor (474) through gears; and a warm light (476) is arranged on the top of the massage seat (473).

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