Intelligent mechanical arm convenient to adjust and position and used for shock wave therapeutic apparatus

Abstract

The invention discloses an intelligent mechanical arm convenient to adjust and position and used for a shock wave therapeutic apparatus, and relates to the technical field of medical treatment. In an existing mechanical arm, in order to facilitate installation of an impact therapeutic apparatus, a clamping mode is generally adopted, however, in the impact treatment process, when an affected part is impacted, the fixing position of the therapeutic apparatus is impacted, the fixing effect of the connecting position is gradually reduced, the therapeutic apparatus finally falls off, and the treatment process is affected; the rubber sleeve is driven to slide, in the sliding process, through cooperation of the top cover and the rotating ring, the fixing and attaching pressure on the impact therapeutic apparatus is gradually increased, meanwhile, the top cover limits ejection of the impact therapeutic apparatus, it is guaranteed that the impact therapeutic apparatus is gradually fixed more stably along with the effect of impact force in the impact therapeutic process, and the phenomenon that the impact therapeutic apparatus is damaged in the using process is avoided. The fixed position is loosened due to impact vibration, so that the impact therapeutic apparatus is separated from the control of the mechanical arm, and the normal proceeding of the impact therapy is influenced.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and specifically to an intelligent robotic arm for a shock wave therapy instrument that is convenient for adjusting and positioning. Background Art

[0002] Shock wave therapy instruments are being used more and more frequently. This instrument requires the therapist to hold the impact gun and maintain an appropriate pressure on the skin surface, and sometimes move within a small range. This is mechanical and repetitive labor for the therapist, and long-term operation often causes soft tissue injuries to the therapist. Clinically, there is a need for an intelligent robotic hand that mimics the operation of the therapist and maintains the posture to meet the needs of rehabilitation workers and high-intensity rehabilitation treatments, and the robotic arm replaces manual fixation of the therapy instrument for treatment;

[0003] In existing robotic arms, in order to facilitate the installation of the shock wave therapy instrument, a clamping method is usually adopted. However, during the shock wave treatment process, when the affected area is impacted, the fixed position of the therapy instrument is also impacted, resulting in a gradual reduction in the fixing effect of the connection position and ultimately detachment, affecting the progress of the treatment process. Summary of the Invention

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0005] An intelligent robotic arm for a shock wave therapy instrument that is convenient for adjusting and positioning, comprising:

[0006] A base, on the top of which a rotating base is installed, and on the top of the rotating base a control arm is installed;

[0007] The control arm is used to drive the shock wave therapy instrument to the patient's treatment position, and a fixing plate is fixedly installed at one end of the control arm away from the rotating base;

[0008] An adjusting mechanism, which is used to control the impact angle of the shock wave therapy instrument, and the adjusting mechanism is installed outside the fixing plate;

[0009] A connecting plate is fixedly installed on the top of the outer side of the fixing plate, a buckle plate is fixedly installed on the outer side of the connecting plate, a shaft block is fixedly installed on the outer side of the buckle plate, a swivel is rotatably installed on the outer side of the shaft block, the inner wall of the swivel is a conical surface with an inner diameter gradually decreasing from top to bottom, and the bottom of the inner wall of the swivel is evenly provided with sliding grooves, and a slip ring is installed on the inner wall of the swivel, which cooperates with the rubber sleeve through the sliding of the slip ring. When installing the impact therapy instrument, the rubber sleeve can be driven to slide by direct insertion and the friction between the rubber sleeve and the impact therapy instrument can be utilized. The rubber sleeve is squeezed by the change in the inner diameter of the swivel to achieve fixation of the impact therapy instrument and improve the convenience of installation. The outer side of the slip ring is evenly provided with bumps, and the slip ring is connected with the sliding groove of the swivel through the bumps. Sliding adaptation, a rubber sleeve is fixedly installed on the inner wall of the slip ring, and the top cover cooperates with the change of the inner diameter of the swivel. During the operation of the impact therapy device, the interaction force between the impact therapy device and the affected part is utilized. During the impact process, the rubber sleeve is driven to slide. During the sliding process, the top cover cooperates with the swivel to gradually increase the fixed fitting pressure on the impact therapy device. At the same time, the top cover limits the ejection of the impact therapy device to ensure that during the impact therapy, as the impact force acts, it is gradually fixed more firmly to avoid the loosening of the fixed position due to impact vibration during use, so that the impact therapy device is out of the control of the mechanical arm and affects the normal progress of the impact therapy. A top cover is fixedly installed on the top of the swivel, and the inner diameter of the top cover gradually increases from top to bottom.

[0010] Preferably, the adjusting mechanism comprises a supporting plate, the supporting plate is fixedly mounted with a bottom of an outer side of a fixing plate, and an arc groove plate is fixedly mounted on the outer side of the supporting plate, an arc groove is opened on the outer side of the arc groove plate, and a slider is slidably mounted at the arc groove of the arc groove of the arc groove of the arc groove, a stud is fixedly mounted on one end of the slider close to the supporting plate, a screw ring is threadedly connected to the outer side of the stud, a pressure ring is fixedly mounted on one side of the screw ring close to the arc groove plate, and the pressure ring is coordinated with the gasket ring, when fixed, the pressure ring is driven close to the arc groove plate by rotating the screw ring, the fitting pressure is increased, and the gasket ring is deformed at the same time, the contact area is increased, the friction between the gasket ring and the arc groove plate is increased, the stability is improved, and the impact angle is avoided to change due to vibration during the impact treatment, and a gasket ring is fixedly mounted on one end of the pressure ring close to the arc groove plate, and the gasket ring is made of rubber material.

[0011] Preferably, a buckle ring is fixedly installed at one end of the slider away from the support plate. A semi-cylindrical tube is fixedly installed on the inner wall of the buckle ring. The semi-cylindrical tube is located directly below the rotating ring. The inner wall of the semi-cylindrical tube is evenly provided with bead grooves. Rotating beads are rotatably installed at the bead grooves of the semi-cylindrical tube. By contacting the impact therapeutic apparatus with the rotating beads, the friction force on the impact therapeutic apparatus is reduced. During the impact treatment process, it assists the rotating ring and the top cover, reduces the resistance when the impact therapeutic apparatus moves upward, and is convenient to gradually increase the fixing force along with the impact force during work, ensuring the fixing effect of the impact therapeutic apparatus. Elastic plates are fixedly installed on both sides of the side of the semi-cylindrical tube away from the slider. The ends of the elastic plates away from the semi-cylindrical tube are arcuately bent inward.

[0012] Preferably, the rotating base includes a fixed cylinder. The fixed cylinder is fixedly installed on the top of the base. A third motor is fixedly installed on the inner wall of the fixed cylinder. Air holes are evenly opened on the outer side of the fixed cylinder. A rotating groove ring is fixedly installed on the top of the fixed cylinder. A rotating groove is opened on the top of the rotating groove ring. A groove is opened at the bottom of the inner wall of the rotating groove ring. An oil groove is opened at the top of the inner wall of the rotating groove ring and an oil hole is opened at the top of the outer side. The oil hole communicates with the oil groove. The inner wall of the rotating groove ring is evenly provided with missing grooves. The top of the missing groove communicates with the oil groove. By the cooperation of the oil groove and the missing groove, while using the missing groove to cooperate with the groove to provide a storage space for the wear debris generated by the rotation between the rotating groove ring and the rotating cylinder to avoid jamming, through the communication between the missing groove and the oil groove, the butter gradually enters the missing groove under the action of gravity, and when the rotating cylinder rotates, it is coated on the surface of the rotating cylinder to improve the lubrication effect. A rotating cylinder is rotatably installed at the rotating groove of the rotating groove ring. A ring groove is opened at the bottom end of the rotating cylinder. The ring groove of the rotating cylinder corresponds to the groove of the rotating groove ring. A top plate is fixedly installed on the top of the rotating cylinder. A connecting column is fixedly installed at the center position of the bottom of the top plate. The bottom end of the connecting column is connected to the output end of the third motor through a coupling.

[0013] Preferably, the control arm includes a connecting seat. The connecting seat is fixedly installed on the top of the top plate. A first motor is fixedly installed on the outer side of the connecting seat. A large arm is rotatably installed at the top of the inner wall of the connecting seat. The output end of the first motor is fixedly connected to the large arm. A second motor is fixedly installed at the end of the large arm away from the connecting seat. A small arm is rotatably connected to the end of the inner wall of the large arm away from the connecting seat. The output end of the second motor is fixedly connected to the small arm. The end of the small arm away from the large arm is fixedly connected to the fixing plate.

[0014] The present invention provides an intelligent robotic arm for a shock wave therapeutic apparatus that is convenient for adjustment and positioning. It has the following beneficial effects:

[0015] 1. The intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning, through the cooperation of the inner diameter changes of the top cover and the rotating ring, during the operation of the shock therapy device, utilizes the mutual force between the shock therapy device and the affected area. During the impact process, by driving the rubber sleeve to slide, and during the sliding process, through the cooperation of the top cover and the rotating ring, gradually increase the fixed fitting pressure on the shock therapy device. At the same time, the top cover restricts the ejection of the shock therapy device, ensuring that during the shock therapy process, with the action of the impact force, it is gradually fixed more firmly, avoiding loosening of the fixed position due to shock vibration during use, causing the shock therapy device to break away from the control of the robotic arm and affecting the normal progress of shock therapy.

[0016] 2. The intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning, through the sliding of the sliding ring and the cooperation with the rubber sleeve, when installing the shock therapy device, it can be directly inserted. By using the friction between the rubber sleeve and the shock therapy device, drive the rubber sleeve to slide, and utilize the change in the inner diameter of the rotating ring to squeeze the rubber sleeve to achieve the fixation of the shock therapy device, improving the convenience of installation.

[0017] 3. The intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning, through the cooperation of the pressure ring and the cushion ring, during fixation, drive the pressure ring to approach the arc groove plate by rotating the screw ring to strengthen the fitting pressure. At the same time, deform the cushion ring to increase the contact area, increasing the friction between the cushion ring and the arc groove plate, improving stability, and avoiding the change of the impact angle due to vibration during the shock therapy process.

[0018] 4. The intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning, through the contact of the rotating beads with the shock therapy device, reduces the friction force on the shock therapy device, assisting the rotating ring and the top cover during the shock therapy process, reducing the resistance when the shock therapy device moves upward, facilitating the gradual increase of the fixing force with the impact force during operation, and ensuring the fixing effect of the shock therapy device.

[0019] 5. The intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning, through the cooperation of the oil groove and the notch, utilizes the notch to cooperate with the groove to provide a storage space for the wear debris generated by the rotation between the rotating groove ring and the rotating cylinder, avoiding jamming. At the same time, through the connection between the notch and the oil groove, the butter gradually enters the notch under gravity and coats the surface of the rotating cylinder when the rotating cylinder rotates, improving the lubrication effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of an intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning according to the present invention;

[0021] Figure 2 is a partial schematic structural diagram of an intelligent robotic arm for a shock wave therapy device that facilitates adjustment and positioning according to the present invention;

[0022] Figure 3 A partial structural side view of an intelligent mechanical arm for a shock wave therapy device that is easy to adjust and position according to the present invention;

[0023] Figure 4 A partial structural anatomical diagram of an intelligent mechanical arm for a shock wave therapeutic device that is easy to adjust and position according to the present invention;

[0024] Figure 5 It is a structural schematic diagram of the regulating mechanism of the present invention;

[0025] Figure 6 It is a partial structural schematic diagram of the regulating mechanism of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the transposition of the present invention;

[0027] Figure 8 It is a schematic diagram of a part of the structure of the transposition of the present invention;

[0028] Figure 9 It is a partial structural anatomical diagram of the transposition of the present invention;

[0029] Figure 10 It is a structural dissection diagram of the rotating groove ring of the present invention.

[0030] In the figure: 1, base; 2, swivel seat; 3, control arm; 4, swivel ring; 5, adjustment mechanism; 6, fixed plate; 7, connecting plate; 8, buckle plate; 9, shaft block; 10, top cover; 11, rubber sleeve; 12, slip ring; 21, fixed cylinder; 22, rotating groove ring; 23, top plate; 24, third motor; 25, connecting column; 26, rotating cylinder; 31, connecting seat; 32, first motor; 33, upper arm; 34, second motor; 35, lower arm; 501, support plate; 502, arc groove plate; 503, buckle ring; 504, rotating bead; 505, elastic plate; 506, semi-cylinder; 507, slider; 508, stud; 509, screw ring; 510, pressure ring; 511, gasket. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The first embodiment, as Figures 1 to 4 As shown, the present invention provides a technical solution:

[0033] An intelligent mechanical arm for a shock wave therapy device that is easy to adjust and position, comprising:

[0034] Base 1, on the top of which a swivel base 2 is installed, and on the top of the swivel base 2 a control arm 3 is installed;

[0035] The control arm 3 is used to drive the impact therapeutic apparatus to the patient's treatment position, and at one end of the control arm 3 away from the swivel base 2, a fixing plate 6 is fixedly installed;

[0036] An adjusting mechanism 5, which is used to control the impact angle of the impact therapeutic apparatus, and the adjusting mechanism 5 is installed on the outside of the fixing plate 6;

[0037] On the top of the outside of the fixing plate 6, a connecting plate 7 is fixedly installed. On the outside of the connecting plate 7, a clamping plate 8 is fixedly installed. On the outside of the clamping plate 8, a shaft block 9 is fixedly installed. A rotating ring 4 is rotatably installed on the outside of the shaft block 9. The inner wall of the rotating ring 4 is a conical surface with a gradually decreasing inner diameter from top to bottom. And at the bottom of the inner wall of the rotating ring 4, sliding grooves are evenly opened. And a sliding ring 12 is installed on the inner wall of the rotating ring 4. Insert the non-impact end of the impact therapeutic apparatus into the inside of the rotating ring 4. Through the rubber sleeve 11 fitting with the outside of the non-impact end of the impact therapeutic apparatus. At the same time, during the insertion process, due to the friction between the impact therapeutic apparatus and the rubber sleeve 11, the rubber sleeve 11 and the sliding ring 12 move upward. By using the cooperation of the inner diameter change between the top cover 10 and the rotating ring 4, when the rubber sleeve 11 slides upward, it is squeezed inward and deformed, increasing the fitting pressure with the impact therapeutic apparatus, realizing the fixation of the impact therapeutic apparatus. At the same time, by using the rotational connection between the rotating ring 4 and the clamping plate 8 through the shaft block 9, and cooperating with the adjusting mechanism 5 to adjust the impact angle of the impact therapeutic apparatus. On the outside of the sliding ring 12, convex blocks are evenly arranged, and the sliding ring 12 is slidably adapted to the sliding grooves of the rotating ring 4 through the convex blocks. On the inner wall of the sliding ring 12, a rubber sleeve 11 is fixedly installed. On the top of the rotating ring 4, a top cover 10 is fixedly installed. The inner diameter of the top cover 10 gradually increases from top to bottom.

[0038] Second Embodiment, on the basis of the First Embodiment, please refer to Figures 5 to 6As shown in the figure, the adjusting mechanism 5 includes a support plate 501. The support plate 501 is fixedly installed at the bottom outside the fixed plate 6, and an arc groove plate 502 is fixedly installed on the outside of the support plate 501. An arc groove is opened on the outside of the arc groove plate 502, and a slider 507 is slidably installed at the arc groove of the arc groove plate 502. The impact therapeutic instrument is inserted into the semi-cylindrical barrel 506. The inner wall of the semi-cylindrical barrel 506 is rotatably installed with a rotating bead 504. The surface of the impact therapeutic instrument is contacted by the rotating bead 504 to reduce the friction force. When adjusting the angle, the medical staff rotates the semi-cylindrical barrel 506, so that the semi-cylindrical barrel 506 drives the slider 507 to slide at the arc groove of the arc groove plate 502, and at the same time drives the rotating ring 4 to rotate, so as to change the impact angle of the impact therapeutic instrument. One end of the slider 507 close to the support plate 501 is fixedly installed with a stud 508. The outside of the stud 508 is threadedly connected with a nut ring 509. One side of the nut ring 509 close to the arc groove plate 502 is fixedly installed with a pressing ring 510. One end of the pressing ring 510 close to the arc groove plate 502 is fixedly installed with a cushion ring 511. The cushion ring 511 is made of rubber material.

[0039] One end of the slider 507 away from the support plate 501 is fixedly installed with a buckle ring 503. The inner wall of the buckle ring 503 is fixedly installed with a semi-cylindrical barrel 506. The semi-cylindrical barrel 506 is located directly below the rotating ring 4, and bead grooves are evenly opened on the inner wall of the semi-cylindrical barrel 506. After the angle adjustment is completed, the medical staff rotates the nut ring 509, utilizes the threaded connection with the stud 508, drives the pressing ring 510 and the cushion ring 511 to approach the arc groove plate 502, increases the fitting pressure between the cushion ring 511 and the arc groove plate 502, and fixes the position of the slider 507 in the arc groove. The rotating bead 504 is rotatably installed at the bead groove of the semi-cylindrical barrel 506. Both sides of the side of the semi-cylindrical barrel 506 away from the slider 507 are fixedly installed with elastic plates 505. One end of the elastic plate 505 away from the semi-cylindrical barrel 506 is curved inward in an arc shape.

[0040] The third embodiment, on the basis of the first and second embodiments, please refer to Figures 7 to 10As shown in the figure, the turntable 2 includes a fixed cylinder 21, which is fixedly installed on the top of the base 1. A third motor 24 is fixedly installed on the inner wall of the fixed cylinder 21. Air holes are evenly arranged on the outer side of the fixed cylinder 21. A rotating groove ring 22 is fixedly installed on the top of the fixed cylinder 21. The third motor 24 drives the top plate 23 to rotate, so that the top plate 23 rotates under the drive, driving the control arm 3 to rotate. At the same time, during the rotation of the top plate 23, the rotating cylinder 26 is driven to rotate in the rotating groove of the rotating groove ring 22. A rotating groove is opened at the top of the rotating groove ring 22, and a groove is opened at the bottom of the inner wall of the rotating groove ring 22. An oil groove is opened at the top of the inner wall of the rotating groove ring 22, and an oil hole is opened at the top of the outer side, and the oil hole is communicated with the oil groove. The inner wall of the rotating groove ring 22 is evenly provided with notches, and the top of the notches is communicated with the oil groove. A rotating cylinder 26 is rotatably installed at the rotating groove of the rotating groove ring 22. During the rotation, the groove of the rotating groove ring 22 corresponds to the ring groove at the bottom end of the rotating cylinder 26. While ensuring support, a storage space is provided for the friction debris between the rotating groove ring 22 and the rotating cylinder 26. At the same time, during maintenance, butter can be introduced into the oil groove of the rotating groove ring 22 through the oil hole. Through the conduction of the oil groove and the notch, during the rotation between the rotating cylinder 26 and the rotating groove ring 22, the butter is evenly coated on the surface of the rotating cylinder 26. A ring groove is opened at the bottom end of the rotating cylinder 26, and the ring groove of the rotating cylinder 26 corresponds to the groove of the rotating groove ring 22. A top plate 23 is fixedly installed on the top of the rotating cylinder 26. A connecting column 25 is fixedly installed at the center position of the bottom of the top plate 23. The bottom end of the connecting column 25 is connected to the output end of the third motor 24 through a coupling.

[0041] The control arm 3 includes a connecting seat 31, which is fixedly installed on the top of the top plate 23. A first motor 32 is fixedly installed on the outer side of the connecting seat 31. A large arm 33 is rotatably installed at the top of the inner wall of the connecting seat 31. The output end of the first motor 32 is fixedly connected to the large arm 33. A second motor 34 is fixedly installed at the end of the large arm 33 away from the connecting seat 31. Through the cooperation of the first motor 32 and the second motor 34, they drive the large arm 33 and the small arm 35 to rotate respectively, adjusting the angle between the large arm 33 and the small arm 35. With the drive of the turntable 2, the impact therapeutic instrument is driven to change its position, so that it performs impact treatment along the set route at a specific impact angle. The small arm 35 is rotatably connected to the end of the inner wall of the large arm 33 away from the connecting seat 31. The output end of the second motor 34 is fixedly connected to the small arm 35. The end of the small arm 35 away from the large arm 33 is fixedly connected to the fixing plate 6.

[0042] During use, the impact therapeutic instrument is connected to the robotic arm. Then, the medical staff manipulates the robotic arm to drive the control arm 3 to rotate by the turntable 2. At the same time, the impact therapeutic instrument is driven by the control arm 3 to reach the affected area where the patient needs impact treatment. Through the cooperation of the rotating ring 4 and the adjusting mechanism 5, while fixing the impact therapeutic instrument, the adjusting mechanism 5 drives the impact end of the impact therapeutic instrument to rotate, adjusting the impact angle to adapt to the characteristics of the affected area.

[0043] When installing the impact therapeutic instrument, insert the non-impact end of the impact therapeutic instrument into the inside of the swivel ring 4. The rubber sleeve 11 fits against the outside of the non-impact end of the impact therapeutic instrument. At the same time, during the insertion process, due to the friction between the impact therapeutic instrument and the rubber sleeve 11, the rubber sleeve 11 and the slip ring 12 move upward. Utilizing the change in the inner diameters of the top cover 10 and the swivel ring 4, during the upward sliding of the rubber sleeve 11, it is inwardly extruded and deformed, increasing the fitting pressure with the impact therapeutic instrument to achieve the fixation of the impact therapeutic instrument. At the same time, the swivel ring 4 and the buckle plate 8 are rotatably connected through the shaft block 9, and the impact angle of the impact therapeutic instrument is adjusted in cooperation with the adjustment mechanism 5.

[0044] In the adjustment mechanism 5, insert the impact therapeutic instrument into the semi-cylindrical barrel 506. There are rotating beads 504 rotatably installed on the inner wall of the semi-cylindrical barrel 506. The surface of the impact therapeutic instrument is in contact with the rotating beads 504 to reduce the frictional force. When adjusting the angle, the medical staff rotates the semi-cylindrical barrel 506, causing the semi-cylindrical barrel 506 to drive the slider 507 to slide in the arc groove of the arc groove plate 502, and at the same time drive the swivel ring 4 to rotate, changing the impact angle of the impact therapeutic instrument. After the angle adjustment is completed, the medical staff rotates the threaded ring 509. Utilizing the threaded connection with the stud 508, the pressing ring 510 and the cushion ring 511 are driven to approach the arc groove plate 502, increasing the fitting pressure between the cushion ring 511 and the arc groove plate 502 to fix the position of the slider 507 in the arc groove.

[0045] In the swivel base 2, the third motor 24 drives the top plate 23 to rotate, causing the top plate 23 to rotate and drive the control arm 3 to rotate. At the same time, during the rotation of the top plate 23, the rotating cylinder 26 rotates in the rotating groove of the rotating groove ring 22. During the rotation process, the groove of the rotating groove ring 22 corresponds to the ring groove at the bottom end of the rotating cylinder 26. While ensuring support, it provides a storage space for the friction debris between the rotating groove ring 22 and the rotating cylinder 26. At the same time, during maintenance, butter can be introduced into the oil groove of the rotating groove ring 22 through the oil hole. Through the conduction of the oil groove and the missing groove, during the rotation between the rotating cylinder 26 and the rotating groove ring 22, the butter is evenly coated on the surface of the rotating cylinder 26.

[0046] In the control arm 3, the first motor 32 and the second motor 34 cooperate to drive the large arm 33 and the small arm 35 to rotate respectively, adjusting the angle between the large arm 33 and the small arm 35. In cooperation with the drive of the swivel base 2, the impact therapeutic instrument is driven to change its position, enabling it to perform impact treatment along the set route at a specific impact angle.

[0047] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0048] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robotic arm for a shock wave therapeutic apparatus that is convenient for adjusting and positioning, characterized in that, Including: A base (1), on the top of which a swivel base (2) is installed, and on the top of the swivel base (2), a control arm (3) is installed; The control arm (3) is used to drive the impact therapeutic apparatus to the patient's treatment position, and a fixing plate (6) is fixedly installed at one end of the control arm (3) away from the swivel base (2); An adjusting mechanism (5), which is used to control the impact angle of the impact therapeutic apparatus, and the adjusting mechanism (5) is installed on the outer side of the fixing plate (6); On the top of the outer side of the fixing plate (6), a connecting plate (7) is fixedly installed. On the outer side of the connecting plate (7), a clamping plate (8) is fixedly installed. On the outer side of the clamping plate (8), a shaft block (9) is fixedly installed. A rotating ring (4) is rotatably installed on the outer side of the shaft block (9). The inner wall of the rotating ring (4) is a conical surface with a gradually decreasing inner diameter from top to bottom. And at the bottom of the inner wall of the rotating ring (4), sliding grooves are uniformly opened. And a sliding ring (12) is installed on the inner wall of the rotating ring (4). On the outer side of the sliding ring (12), protrusions are uniformly arranged. And the sliding ring (12) is slidably matched with the sliding grooves of the rotating ring (4) through the protrusions. A rubber sleeve (11) is fixedly installed on the inner wall of the sliding ring (12). On the top of the rotating ring (4), a top cover (10) is fixedly installed, and the inner diameter of the top cover (10) gradually increases from top to bottom.

2. The intelligent robotic arm for a shock wave therapy instrument facilitating adjustment and positioning according to claim 1, characterized in that: The adjusting mechanism (5) includes a support plate (501), the support plate (501) is fixedly installed at the bottom of the outer side of the fixing plate (6), and on the outer side of the support plate (501), an arc groove plate (502) is fixedly installed. An arc groove is opened on the outer side of the arc groove plate (502), and a slider (507) is slidably installed at the arc groove of the arc groove plate (502). One end of the slider (507) close to the support plate (501) is fixedly installed with a stud (508).

3. The intelligent robotic arm for a shock wave therapy instrument facilitating adjustment and positioning according to claim 2, wherein: The stud (508) is threadedly connected with a screw ring (509). On the side of the screw ring (509) close to the arc groove plate (502), a pressing ring (510) is fixedly installed. One end of the pressing ring (510) close to the arc groove plate (502) is fixedly installed with a cushion ring (511), and the cushion ring (511) is made of rubber material.

4. The intelligent robotic arm for a shock wave therapy instrument facilitating adjustment and positioning according to claim 3, characterized in that: One end of the slider (507) away from the support plate (501) is fixedly installed with a buckle ring (503). On the inner wall of the buckle ring (503), a semi-cylindrical barrel (506) is fixedly installed. The semi-cylindrical barrel (506) is located directly below the rotating ring (4), and on the inner wall of the semi-cylindrical barrel (506), bead grooves are uniformly opened. Rotating beads (504) are rotatably installed at the bead grooves of the semi-cylindrical barrel (506).

5. The intelligent robotic arm for a shock wave therapeutic apparatus facilitating adjustment and positioning according to claim 4, characterized in that: On both sides of the side of the semi-cylindrical barrel (506) away from the slider (507), elastic plates (505) are fixedly installed, and the ends of the elastic plates (505) away from the semi-cylindrical barrel (506) are curved inward in an arc shape.

6. The intelligent robotic arm for a shock wave therapeutic apparatus facilitating adjustment and positioning according to claim 5, characterized in that: The swivel base (2) includes a fixed cylinder (21), the fixed cylinder (21) is fixedly installed on the top of the base (1), and a third motor (24) is fixedly installed on the inner wall of the fixed cylinder (21). Air holes are uniformly opened on the outer side of the fixed cylinder (21).

7. The intelligent robotic arm for a shock wave therapeutic apparatus facilitating adjustment and positioning according to claim 6, characterized in that: At the top of the fixed cylinder (21), a rotating groove ring (22) is fixedly installed. A rotating groove is provided at the top of the rotating groove ring (22), and a groove is provided at the bottom of the inner wall of the rotating groove ring (22). An oil groove is provided at the top of the inner wall of the rotating groove ring (22), and an oil hole is provided at the top of the outer side, and the oil hole communicates with the oil groove. The inner wall of the rotating groove ring (22) is evenly provided with missing grooves, and the top of the missing grooves communicates with the oil groove.

8. An intelligent robotic arm for a shock wave therapy instrument facilitating adjustment and positioning, as claimed in claim 7, wherein: A rotating cylinder (26) is rotatably installed at the rotating groove of the rotating groove ring (22). A ring groove is provided at the bottom end of the rotating cylinder (26), and the ring groove of the rotating cylinder (26) corresponds to the groove of the rotating groove ring (22). A top plate (23) is fixedly installed at the top of the rotating cylinder (26). A connecting column (25) is fixedly installed at the center position of the bottom of the top plate (23). The bottom end of the connecting column (25) is connected to the output end of the third motor (24) through a coupling.

9. The intelligent robotic arm for a shock wave therapeutic apparatus facilitating adjustment and positioning according to claim 8, wherein: The control arm (3) includes a connecting seat (31). The connecting seat (31) is fixedly installed at the top of the top plate (23). A first motor (32) is fixedly installed on the outer side of the connecting seat (31). A large arm (33) is rotatably installed at the top of the inner wall of the connecting seat (31). The output end of the first motor (32) is fixedly connected to the large arm (33).

10. The intelligent robotic arm for a shock wave therapeutic apparatus facilitating adjustment and positioning according to claim 9, characterized in that: A second motor (34) is fixedly installed at one end of the large arm (33) away from the connecting seat (31). A small arm (35) is rotatably connected to one end of the inner wall of the large arm (33) away from the connecting seat (31). The output end of the second motor (34) is fixedly connected to the small arm (35). One end of the small arm (35) away from the large arm (33) is fixedly connected to the fixing plate (6).

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