Pain physical relieving system for rheumatism immunity

Abstract

The physical pain relieving system comprises a bed body and a massage mechanism arranged on the side of the bed body, the massage mechanism comprises two symmetrical first guide rails and a first connecting plate sliding along the two first guide rails, and the first connecting plate is connected with a first lead screw; the first connecting plate is connected with a second vertically-arranged lead screw, two symmetrical second guide rails are arranged on the two sides of the second lead screw in parallel, and the second lead screw is connected with a second connecting plate through a matched lead screw nut. The second connecting plate is connected with a third connecting plate perpendicular to the second guide rail, the third connecting plate is connected with a third lead screw and third guide rails symmetrically arranged on the two sides of the third lead screw in parallel, the third lead screw is connected with a lead part sliding along the third guide rails, and the lead part is connected with a massage mechanical arm; the physical pain relieving system provided by the invention adopts a three-degree-of-freedom rectangular coordinate type structure and is used for completing large-range space positioning in X-axis, Y-axis and Z-axis directions, accurate massage position positioning is provided for a massage mechanical arm in three degrees of freedom, and the manual labor amount is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of pain rehabilitation, and in particular relates to a physical pain relief system for rheumatism and immunology. Background Art

[0002] Rheumatism and immunology are a series of diseases in internal medicine, mainly including rheumatoid arthritis, ankylosing spondylitis, systemic lupus erythematosus, osteoarthritis, gout, primary Sjögren's syndrome, etc. Rheumatism and immunology can affect multiple organs and systems, and the blood system is also one of the common ones involved. Physical therapy is the application of some physical means, including sound therapy, light therapy, electrotherapy, magnetic therapy, heat therapy, cold therapy, and other physical factors to treat the patient's local or systemic lesions, thereby achieving the purpose of promoting blood circulation and relieving or eliminating pain. It has the advantage of using non-invasive, non-drug treatment methods to deal with the patient's local or systemic dysfunction and discomfort.

[0003] Existing physical pain relief devices for rheumatism and immunity have complex structures and relatively simple functions, and require manual massage to relieve pain, which increases the amount of manual labor. Summary of the invention

[0004] The purpose of the present invention is to solve the problems raised in the background technology and to provide a physical pain relief system for rheumatism immunity. It adopts a three-degree-of-freedom rectangular coordinate structure to complete spatial positioning in a large range in the X, Y and Z axis directions, and provide accurate massage position positioning for the massage robot arm in three degrees of freedom. The three moving joints in the X, Y and Z axis directions are realized by two guide rails and a lead screw to ensure its anti-side swing stiffness and reduce manual labor.

[0005] The object of the present invention is achieved in that:

[0006] A physical pain relief system for rheumatism immunity, comprising a bed and a massage mechanism arranged beside the bed, the massage mechanism comprising two symmetrical guide rails and a connecting plate sliding along the two guide rails, the connecting plate being connected to a lead screw arranged parallel to the two guide rails through a lead screw nut, and the connecting plate slidingly displaces on the guide rail under the action of the lead screw;

[0007] The upper end of one side of the connecting plate 1 is connected with a vertically arranged lead screw 2, two symmetrical guide rails 2 are arranged in parallel on both sides of the lead screw 2, the lead screw 2 is connected with the connecting plate 2 through an adapted lead screw nut, and the connecting plate 2 slides and moves along the height direction of the guide rail 2 under the action of the lead screw 2;

[0008] The top end of the connecting plate 2 away from the connecting plate 1 is connected to a connecting plate 3 set perpendicular to the guide rail 2. The connecting plate 3 is connected to a lead screw 3 and guide rails 3 symmetrically and parallelly set on both sides of the lead screw 3 in the length direction. The lead screw 3 is connected to a guide member that slides along the guide rail 3 through an adaptive lead screw nut, and the guide member is connected to a mechanical arm for massaging patients.

[0009] Preferably, the bottom of the base plate of the connecting plate one slides along the guide rail one through a slider, the vertical plate of the connecting plate one that is perpendicular to the base plate is connected to the guide rail two that is extended along the height direction of the vertical plate, the longitudinal plate of the connecting plate one that is connected between the base plate and the vertical plate is connected to the screw one through a screw nut, and the base plate, the vertical plate and the longitudinal plate are welded to form the connecting plate one.

[0010] Preferably, the top plate of the connecting plate 2 is used to fix the connecting plate 3, and the vertical plate of the connecting plate 2 which is perpendicular to the top plate is connected to the guide rail 2 through a slider, and reinforcing ribs are welded between the top plate and the vertical plate.

[0011] Preferably, a swinging mechanism for swinging the patient's lower limbs is provided at the end of the bed, and the swinging mechanism is arranged on a push box that moves along the side of the bed. The swinging mechanism includes a bracket for placing the patient's lower limbs, and the bracket is connected to a rocker via a support shaft, and the support shaft and the rocker are connected via a pin shaft, and the end of the rocker away from the support shaft is connected to a crank via a connecting rod bearing, and the crank is driven by a swing motor. Preferably, the bottom of the bed is also connected to a slapping mechanism for slapping the patient's body, the slapping mechanism includes a base connected to the bottom of the bed and a transmission gear set arranged on the inner side of the base, the output shaft of the transmission gear set passes through the base and is connected to an eccentric wheel arranged on the outer side of the base, the eccentric wheel is connected to a connecting seat through a connecting rod 1, the connecting seat includes a connecting rod 1 connected to the eccentric wheel and a U-shaped frame connected to a connecting rod 2, the free end of the connecting rod 2 away from the U-shaped frame is connected to a massage head, the rotation of the eccentric wheel drives the connecting rod 1 and the connecting rod 2 to move, and the massage head is driven to perform a variable speed reciprocating motion through the forward and backward movement of the connecting rod 1 and the connecting rod 2, thereby realizing a frequency of slapping massage for the patient.

[0012] Preferably, a support seat for supporting the first connecting rod is further provided on the outer side of the base, and the second connecting rod is arranged on the inner side of the U-shaped frame through a positioning pin.

[0013] Preferably, a plurality of movably connected bed boards are placed in the empty frame of the bed body, and a flipping mechanism for flipping the bed board is connected to the bottom of the bed board corresponding to the lower limbs, so that the patient's lower limbs can be lifted up and down, and the flipping mechanism includes a base arranged on the bed body and a support plate arranged on the upper end of the base and acting on the bed board, two slide grooves are symmetrically provided on both sides of the upper end of the base, and a rack rod with teeth at both ends is slidably connected in the slide groove, and both ends of the support plate corresponding to the rack rod are connected to half gears corresponding to the teeth of the rack rod through fixed shafts, an electric push rod is provided in the bottom groove of the base, the output end of the electric push rod passes through the base and is connected to the bottom of the rack rod, and the reciprocating motion of the electric push rod drives the reciprocating motion of the rack rod in the slide groove.

[0014] Preferably, a positioning seat is provided at the upper end of the base and on the inner side of the corresponding slide groove, and the positioning seat has a clearance groove adapted to the fixed shaft. A guide seat with a guide hole is integrally provided on the side of the clearance groove and the upper end of the positioning seat, and a limiting component is connected to the guide hole of the guide seat. The limiting component limits the fixed shaft after the fixed shaft falls into the clearance groove.

[0015] Preferably, the limit assembly is provided with two groups, and the limit assembly includes a U-shaped connecting frame and a limit rod provided at the two blind ends of the connecting frame and adapted to the guide hole. The limit rod slides in the guide block and extends to the top of the give way groove to limit the fixed axis. The two connecting frames of the two limit assemblies are connected by a pushing rod to control the position of the limit rod relative to the guide hole.

[0016] Preferably, the push rod is driven by a worm gear transmission structure to move bidirectionally along the length direction of the base. The worm gear transmission structure is arranged in a drive box fixed on the base. The drive box and the support plate are connected by a spring telescopic cylinder.

[0017] Preferably, when the robotic arm performs massage under the action of the massage mechanism, its motion trajectory in the plane is a circle, wherein the patient's acupuncture point position is the center of the circle, and the acupuncture point position coordinates are (a, b), then the amplitude R of the robotic arm massage satisfies: R = [(Lcosθ + X1-a) 2 +(Lsinθ-b) 2 ] 1 / 2 , where L is the length of the robot arm, X1 is the relative position coordinate of the robot arm in the X-axis direction, θ is the angle between the robot arm and the X-axis direction, and the acupoint position coordinates (a, b) are obtained through the encoder of the servo motor that controls the lead screw.

[0018] Preferably, the translation amount ΔX of the robot arm in the X-axis direction and the rotation angle feed amount Δθ of the robot arm in the current state satisfy ΔX / Δθ≈Lsinθ′, where θ′ is the current angle between the robot arm and the X-axis when moving to the specified position.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. A physical pain relief system for rheumatism immunity provided by the present invention adopts a three-degree-of-freedom rectangular coordinate structure to complete spatial positioning in a large range of X, Y and Z axis directions, and provide accurate massage position positioning for the massage robot arm in three degrees of freedom. The three moving joints in the X, Y and Z axis directions are realized by two guide rails and a lead screw to ensure its anti-side swing stiffness and reduce manual labor.

[0021] 2. The present invention provides a physical pain relief system for rheumatism immunity, in which the patient's lower limbs are placed on a bracket, and an swing motor installed on a frame drives a crank rocker structure to move. The rocker swings at 40°, and while swinging, a support shaft connected to the rocker through a pin shaft rotates in a bearing seat. The support shaft is connected through a pin shaft to drive the bracket to swing at a swing angle of 40° on the left and right sides, driving the patient's lower limbs to swing, and then driving the whole body to vibrate.

[0022] 3. The present invention provides a physical pain relief system for rheumatism immunity, in which the slapping mechanism adopts an eccentric wheel transmission. The DC motor located under the base transmits the torque to the eccentric wheel through a gear set. The rotation of the eccentric wheel drives the movement of connecting rod one and connecting rod two, and the massage head is driven to move by the forward and backward movement of the connecting rod, thereby applying a slapping action of a certain frequency to the massage part. The massage head and the second connecting rod are connected by a threaded connection, which is easy to install and disassemble and prevents overall movement. The speed of the slapping massage can be controlled by controlling the speed of the motor to achieve a frequency of slapping massage.

[0023] 4. The present invention provides a physical pain relief system for rheumatism immunity, which implements a linear interpolation algorithm in an existing coordinate system, monitors the angle of the robot arm in real time to distribute pulses, and uses the comparative integral method to perform interpolation operations, taking one step at a time and comparing one step at a time. Each step requires completing four steps: coordinate feeding, deviation judgment, deviation calculation, and end point judgment. These four steps are continuously repeated to achieve linear interpolation of the Y axis. Each end of interpolation generates only one stroke increment, which is output to the servo motor of each feed axis in the form of pulses, thereby improving the speed, accuracy, and stability of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of a physical pain relief system for rheumatism and immunity according to the present invention.

[0025] Figure 2 It is a schematic diagram of a massage mechanism of a physical pain relief system for rheumatism and immunity of the present invention.

[0026] Figure 3It is a schematic diagram of a swing mechanism of a physical pain relief system for rheumatism immunity of the present invention.

[0027] Figure 4 It is a schematic diagram of a beating mechanism of a physical pain relief system for rheumatism immunity of the present invention.

[0028] Figure 5 It is a schematic diagram of a flipping mechanism of a physical pain relief system for rheumatism immunity of the present invention.

[0029] Figure 6 yes Figure 5 Side view of.

[0030] In the figure: 100, massage mechanism; 1, bed body; 2, guide rail 1; 3, connecting plate 1; 31, bottom plate; 32, longitudinal plate; 33, vertical plate; 4, lead screw 1; 5, lead screw 2; 6, guide rail 2; 7, connecting plate 2; 71, vertical plate; 72, reinforcing rib; 73, top plate; 8, connecting plate 3; 9, lead screw 3; 10, guide rail 3; 11, guide piece; 12, push box; 13, swing mechanism; 131, bracket; 132, support shaft; 133, rocker; 134, connecting rod bearing; 135, crank; 136, swing The invention comprises the following steps: a) driving motor; 14, base; 15, transmission gear set; 16, eccentric wheel; 17, connecting seat; 171, connecting rod one; 172, U-shaped frame; 18, connecting rod two; 19, massage head; 20, supporting seat; 21, base; 22, electric push rod; 23, supporting plate; 24, half gear; 25, rack rod; 26, tooth groove; 27, limiting assembly; 271, connecting frame; 272, limiting rod; 28, positioning seat; 29, clearance groove; 30, guide seat; 34, fixed shaft; 35, pushing rod; 36, guide hole. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] Combination Figure 1 A physical pain relief system for rheumatism and immunology includes a bed 1 and a massage mechanism 100 arranged on the side of the bed 1. The patient lies prone, supine or sits on the bed. By adjusting the position of the massage mechanism, the mechanical arm used for massage on the massage mechanism is adjusted to the position where the patient needs to relax and massage, so as to physically relieve the patient's diseased part.

[0034] Combination Figure 2The massage mechanism 100 includes two symmetrical guide rails 2 and a connecting plate 3 sliding along the two guide rails 2. The connecting plate 3 is connected to a lead screw 4 arranged parallel to the two guide rails 2 through a lead screw nut. The connecting plate 3 slides and moves on the guide rail 2 under the action of the lead screw 4.

[0035] The bottom of the bottom plate 31 of the connecting plate 3 slides along the guide rail 2 through a slider, and the vertical plate 33 of the connecting plate 3 that is perpendicular to the bottom plate 31 is connected to the guide rail 6 that extends along the height direction of the vertical plate 33. The longitudinal plate 32 of the connecting plate 3 that is connected between the bottom plate 31 and the vertical plate 33 is connected to the screw 4 through a screw nut. The bottom plate 31, the vertical plate 33 and the longitudinal plate 32 are welded to form the connecting plate 3. The four corners of the bottom plate 31 are connected to the guide rail 2 sliders through bolts, and the vertical plate 33 is rigidly connected to the guide rail 6 along the Z-axis direction through bolts. The longitudinal plate 32 is used to install the screw nut, and at the same time serves as a reinforcement rib for the bottom plate 31 and the vertical plate 33 to enhance rigidity.

[0036] The upper end of one side of the connecting plate 1 3 is connected with a vertically arranged lead screw 2 5, and two symmetrical guide rails 2 6 are arranged in parallel on both sides of the lead screw 2 5. The lead screw 2 5 is connected with a connecting plate 2 7 through an adapted lead screw nut, and the connecting plate 2 7 slides and displaces along the height direction of the guide rail 2 6 under the action of the lead screw 2 5.

[0037] The top plate 73 of the second connecting plate 7 is used to fix the third connecting plate 8. The vertical plate 71 of the second connecting plate 7 which is perpendicular to the top plate 73 is connected to the second guide rail 6 through a slider. A reinforcing rib 72 is welded between the top plate 73 and the vertical plate 71.

[0038] The top end of the connecting plate 2 7 away from the connecting plate 1 3 is connected to a connecting plate 3 8 provided with a vertical guide rail 2 6. The connecting plate 3 8 is connected in its length direction with a lead screw 3 9 and guide rails 3 10 symmetrically and parallelly provided on both sides of the lead screw 3 9. The lead screw 3 9 is connected to a guide member 11 which slides along the guide rail 3 10 through an adapted lead screw nut. The guide member 11 is connected to a mechanical arm for massaging patients.

[0039] A three-degree-of-freedom rectangular coordinate structure is used to complete spatial positioning in a large range of the X, Y and Z axis directions, providing accurate massage position positioning for the massage robot arm in three degrees of freedom. The three moving joints in the X, Y and Z axis directions are realized by two guide rails and a lead screw to ensure its anti-side swing stiffness.

[0040] Example 2

[0041] Based on Example 1, Figure 3The end of the bed body 1 is provided with a swing mechanism 13 for swinging the patient's lower limbs. The swing mechanism 13 is arranged on a push box 12 that moves along the side of the bed body 1, so as to facilitate the adjustment of the position of the swing mechanism 13.

[0042] The swing mechanism 13 includes a bracket 131 for placing the patient's lower limbs, the bracket 131 is connected to a rocker 133 via a support shaft 132, the support shaft 132 and the rocker 133 are connected via a pin shaft, and the end of the rocker 133 away from the support shaft 132 is connected to a crank 135 via a connecting rod bearing 134, and the crank 135 is driven by a swing motor 136.

[0043] The patient's lower limbs are placed on the bracket, and the swing motor installed on the frame drives the crank rocker structure to move. The rocker swings at 40°. While swinging, the supporting shaft connected to the rocker through a pin shaft rotates in the bearing seat. The supporting shaft is connected through a pin shaft to drive the bracket to swing at a swing angle of 40° on the left and right sides, driving the patient's lower limbs to swing, and then driving the whole body to vibrate, so as to relax the patient's body.

[0044] Example 3

[0045] Based on Example 1, Figure 4 The bottom of the bed 1 is also connected to a beating mechanism for beating the patient's body. The beating mechanism is arranged at the positions of the human body such as the shoulders, neck, waist, abdomen, and thighs that need to be beated and relaxed. The bed board of the bed can be provided with slots for the massage head to move.

[0046] The slapping mechanism includes a base 14 connected to the bottom of the bed body 1 and a transmission gear set 15 arranged on the inner side of the base 14, the output shaft of the transmission gear set 15 passes through the base 14 and is connected to an eccentric wheel 16 arranged on the outer side of the base 14, the eccentric wheel 16 is connected to a connecting seat 17 through a connecting rod 171, the connecting seat 17 includes a connecting rod 171 connected to the eccentric wheel 16 and a U-shaped frame 172 connected to a connecting rod 2 18, the free end of the connecting rod 2 18 away from the U-shaped frame 172 is connected to a massage head 19, the rotation of the eccentric wheel 16 drives the connecting rod 1 171 and the connecting rod 2 18 to move, and the massage head 19 is driven to perform a variable speed reciprocating motion through the forward and backward movement of the connecting rod 171 and the connecting rod 2 18, so as to achieve a frequency of slapping massage for the patient.

[0047] The beating mechanism adopts eccentric wheel transmission. The DC motor located under the base transmits torque to the eccentric wheel through a gear set. The rotation of the eccentric wheel drives the movement of connecting rod one and connecting rod two, and the massage head is driven to move by the forward and backward movement of the connecting rod, thereby applying a beating action of a certain frequency to the massage part. The massage head and the second connecting rod are connected by a threaded connection, which is convenient for installation and disassembly to prevent overall movement. The speed of the beating massage can be controlled by controlling the speed of the motor to achieve a frequency of beating massage.

[0048] Example 4

[0049] Combination Figure 1 , Figure 4 and Figure 5 A plurality of movably connected bed boards are placed in the empty frame of the bed body 1, and a flipping mechanism for flipping the bed board is connected to the bottom of the bed board corresponding to the lower limbs, so as to lift the patient's lower limbs up and down and perform appropriate traction or stretching on the patient.

[0050] The flipping mechanism includes a base 21 arranged on the bed body 1 and a support plate 23 arranged on the upper end of the base 21 and acting on the bed board. Two slide grooves are symmetrically arranged on both sides of the upper end of the base 21. A rack rod 25 with teeth 26 at both ends is slidably connected in the slide groove. Both ends of the support plate 23 corresponding to the rack rod 25 are connected to a half gear 24 corresponding to the teeth 26 of the rack rod 25 through a fixed shaft 34. An electric push rod 22 is arranged in the bottom groove of the base 21. The output end of the electric push rod 22 passes through the base 21 and is connected to the bottom of the rack rod 25. The reciprocating motion of the electric push rod 22 drives the reciprocating motion of the rack rod 25 in the slide groove.

[0051] A positioning seat 28 is provided at the upper end of the base 21 and the inner side of the corresponding slide groove. The positioning seat 28 has a clearance groove 29 adapted to the fixed shaft 34. A guide seat 30 with a guide hole 36 is integrally provided on the side of the clearance groove 29 and the upper end of the positioning seat 28. A limiting component 27 is connected in the guide hole 36 of the guide seat 30. The limiting component 27 limits the fixed shaft 34 after the fixed shaft 34 falls into the clearance groove 29. The limiting component 27 is provided with two groups, and the limiting component 27 includes a U-shaped connecting frame 271 and a connecting frame 271 provided at two blind ends. , a limit rod 272 adapted to the guide hole 36, the limit rod 272 slides in the guide block and extends to the top of the make way groove 29 to limit the fixed shaft 34, the two connecting frames 271 of the two limit assemblies 27 are connected by a push rod 35 to control the position of the limit rod 272 relative to the guide hole 36, the push rod 35 is driven by a worm gear transmission structure to move in both directions along the length direction of the base 21, the worm gear transmission structure is arranged in a drive box fixed on the base 21, and the drive box and the support plate 23 are connected by a spring telescopic cylinder.

[0052] When the patient's waist, abdomen and lower limbs are placed on the bed board corresponding to the turning mechanism, according to the patient's usage needs, the piston rod of the electric push rod is pushed out or retracted, driving the rack rod connected to the piston rod to move in the corresponding direction in the slide groove. At the same time, the connecting frame moves in the same direction under the action of the worm gear transmission structure, so that the limit rod at the corresponding position is away from the guide hole, leaving the clearance groove. At the same time, the limit rod on the other side extends into the guide hole pair, and the fixed shaft on the corresponding side is restricted in the clearance groove and rotates in the clearance groove. The tooth groove of the rack rod drives the half gear to rotate so that the half gear on the other side leaves the tooth groove of the rack rod, and the fixed shaft restricted in the clearance groove rotates in the clearance groove, and the other side is lifted, thereby realizing the lifting of one end of the bed board. At the same time, the spring telescopic cylinder can limit the separation of the bed board from the turning mechanism, thereby playing a buffering role for the bed board.

[0053] Example 5

[0054] On the basis of Example 1, when the robotic arm performs massage under the action of the massage mechanism, its motion trajectory in the plane is a circle, where the patient's acupuncture point position is the center of the circle, and the acupuncture point position coordinates are (a, b), then the amplitude R of the robotic arm during massage satisfies: R = [(Lcosθ + X1-a) 2 +(Lsinθ-b) 2 ] 1 / 2 , where L is the length of the robot arm, X1 is the relative position coordinate of the robot arm in the X-axis direction, θ is the angle between the robot arm and the X-axis direction, and the acupoint position coordinates (a, b) are obtained through the encoder of the servo motor that controls the lead screw.

[0055] The translation amount ΔX of the robot arm in the X-axis direction and the rotation angle feed amount Δθ of the robot arm in the current state satisfy ΔX / Δθ≈Lsinθ′, where θ′ is the current angle between the robot arm and the X-axis when it moves to the specified position.

[0056] The linear interpolation algorithm is implemented in the existing coordinate system, the angle of the robot arm is monitored in real time to distribute pulses, and the interpolation operation is performed using the comparative integral method. The four steps of coordinate feeding, deviation judgment, deviation calculation, and end point judgment must be completed at each step. The linear interpolation of the Y axis can be realized by continuously looping these four loops. Each time the interpolation ends, only one stroke increment is generated, which is output to the servo motor of each feed axis in the form of pulses, thereby improving the speed, accuracy, and stability of the robot arm. The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, etc. made within the protection scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A physical pain relief system for rheumatism and immunology, characterized in that: The invention comprises a bed body (1) and a massage mechanism (100) arranged beside the bed body (1), wherein the massage mechanism (100) comprises two symmetrical guide rails (2) and a connecting plate (3) sliding along the two guide rails (2), wherein the connecting plate (3) is connected to a lead screw (4) arranged parallel to the two guide rails (2) via a lead screw nut, and the connecting plate (3) slides and moves on the guide rail (2) under the action of the lead screw (4); The upper end of one side of the connecting plate 1 (3) is connected to a vertically arranged lead screw 2 (5), two symmetrical guide rails 2 (6) are arranged in parallel on both sides of the lead screw 2 (5), the lead screw 2 (5) is connected to the connecting plate 2 (7) through an adapted lead screw nut, and the connecting plate 2 (7) slides and moves along the height direction of the guide rail 2 (6) under the action of the lead screw 2 (5); The top end of the second connecting plate (7) away from the first connecting plate (3) is connected to a third connecting plate (8) arranged perpendicular to the second guide rail (6); the length direction of the third connecting plate (8) is connected to a third lead screw (9) and a third guide rail (10) symmetrically arranged on both sides of the third lead screw (9); the third lead screw (9) is connected to a guide member (11) that slides along the third guide rail (10) through an adapted lead screw nut; the guide member (11) is connected to a mechanical arm for massaging a patient.

2. A physical pain relief system for rheumatism and immunology according to claim 1, characterized in that: The bottom of the bottom plate (31) of the connecting plate one (3) slides along the guide rail one (2) through a slider, the vertical plate (33) of the connecting plate one (3) arranged perpendicular to the bottom plate (31) is connected to the guide rail two (6) extending along the height direction of the vertical plate (33), the longitudinal plate (32) of the connecting plate one (3) connected between the bottom plate (31) and the vertical plate (33) is connected to the lead screw one (4) through a lead screw nut, and the bottom plate (31), the vertical plate (33) and the longitudinal plate (32) are welded to form the connecting plate one (3).

3. A physical pain relief system for rheumatism and immunology according to claim 1, characterized in that: The top plate (73) of the second connecting plate (7) is used to fix the third connecting plate (8), and the vertical plate (71) of the second connecting plate (7) which is perpendicular to the top plate (73) is connected to the second guide rail (6) through a slider, and a reinforcing rib (72) is welded between the top plate (73) and the vertical plate (71).

4. A physical pain relief system for rheumatism and immunology according to claim 1, characterized in that: The end of the bed body (1) is provided with a swing mechanism (13) for swinging the patient's lower limbs. The swing mechanism (13) is arranged on a push box (12) movable along the side of the bed body (1). The swing mechanism (13) comprises a bracket (131) for placing the patient's lower limbs. The bracket (131) is connected to a rocker (133) via a support shaft (132). The support shaft (132) and the rocker (133) are connected via a pin shaft. The end of the rocker (133) away from the support shaft (132) is connected to a crank (135) via a connecting rod bearing (134). The crank (135) is driven by a swing motor (136).

5. The physical pain relief system for rheumatism and immunology according to claim 1, characterized in that: The bottom of the bed (1) is also connected to a flapping mechanism for flapping the patient's body, the flapping mechanism comprises a base (14) connected to the bottom of the bed (1) and a transmission gear set (15) arranged on the inner side of the base (14), the output shaft of the transmission gear set (15) passes through the base (14) and is connected to an eccentric wheel (16) arranged on the outer side of the base (14), the eccentric wheel (16) is connected to a connecting seat (17) through a connecting rod (171), and the connecting seat (17) comprises A connecting rod (171) connected to an eccentric wheel (16) and a U-shaped frame (172) connected to a connecting rod (18), wherein a free end of the connecting rod (18) away from the U-shaped frame (172) is connected to a massage head (19), and the rotation of the eccentric wheel (16) drives the connecting rod (171) and the connecting rod (18) to move, and the massage head (19) is driven to perform a variable speed reciprocating motion through the forward and backward movement of the connecting rod (171) and the connecting rod (18), thereby realizing a frequency-dependent tapping massage on the patient.

6. A physical pain relief system for rheumatism and immunology according to claim 5, characterized in that: A support seat (20) for supporting the connecting seat (17) is also provided on the outer side of the base (14), and the second connecting rod (18) is arranged on the inner side of the U-shaped frame (172) through a positioning pin.

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