Novel therapeutic apparatus shell structure

Abstract

The invention relates to a novel therapeutic instrument shell structure, and relates to the technical field of medical equipment safety protection, the novel therapeutic instrument shell structure comprises a mechanical arm main body, an adjusting arm, a center hand and a bed board, the bottom of the mechanical arm main body is connected with a mechanical arm base, and the adjusting arm is connected to the top of one end of the mechanical arm main body; the center hand is connected to the side, away from the mechanical arm body, of the adjusting arm, the bed board is connected to the top of the center hand, the bottoms of the mechanical arm body and the bed board are both connected with distance monitoring radars, and the outer side of the mechanical arm body is sleeved with two sets of long protective shells and two sets of short protective shells. The radar is arranged to prevent the mechanical arm equipment from being collided and impacted, when accidental collision occurs, external impact on the mechanical arm can be reduced, it is ensured that the positioning precision of the mechanical arm is not affected, the protection equipment is convenient to mount and dismount, follow-up overhaul and maintenance of the mechanical arm are facilitated, the protection equipment is of a modular structure, and the protection equipment is convenient to use. And the internal protection module is convenient to replace.

Description

Technical Field

[0001] This application relates to the technical field of medical device safety protection, and in particular, to a novel structure of the outer shell of a therapeutic instrument. Background Art

[0002] The application of robotic arms in medical devices is becoming increasingly widespread. Especially in proton therapeutic instruments, the robotic arm is used to precisely control the position of the treatment bed. The proton therapeutic instrument uses high-energy proton beams to accurately strike cancer cells, and has extremely high requirements for the positioning accuracy of the robotic arm.

[0003] However, during the operation of the robotic arm, positioning deviation may occur due to accidental collisions, which may further affect the treatment effect. Currently, the protection of the robotic arm is mainly achieved through rigid outer shells or sensors, but these methods have problems such as response delay or inability to fully absorb impacts.

[0004] In the prior art, the protection means of the robotic arm mainly include the following several types: One is to use a rigid metal outer shell to reduce collision damage through physical isolation. However, the rigid outer shell will increase the weight of the robotic arm and the inertia during movement, affect its flexibility, and reduce its movement accuracy; The second is to install a collision sensor to trigger an emergency stop mechanism by detecting collision signals. However, there is a delay in the response of the sensor, and it is impossible to completely avoid the impact at the moment of collision, resulting in the inability to completely eliminate the impact after the collision; The third is to use buffer materials to wrap the robotic arm. However, the damping effect of traditional buffer materials such as rubber or sponge is limited, and the damping effect is insufficient. Moreover, it may affect the long-term usability of the robotic arm due to material aging or deformation.

[0005] Therefore, in view of the above related technical problems, a novel structure of the outer shell of a therapeutic instrument is proposed, which can provide real-time impact protection to ensure that the positioning accuracy of the robotic arm is not affected. Summary of the Invention

[0006] In order to improve the above problems, this application provides a novel structure of the outer shell of a therapeutic instrument.

[0007] This application provides a novel structure of the outer shell of a therapeutic instrument, adopting the following technical solutions: A novel structure of the outer shell of a therapeutic instrument includes a robotic arm main body, an adjustment arm, a central hand, and a bed plate. The bottom of the robotic arm main body is connected to a robotic arm base, and the adjustment arm is connected to the top of one end of the robotic arm main body. The central hand is connected to the side of the adjustment arm away from the robotic arm main body, and the bed plate is connected to the top of the central hand. Distance monitoring radars are connected to the bottoms of both the robotic arm main body and the bed plate; Among them, two groups of long protective shells and two groups of short protective shells are sleeved on the outer side of the robotic arm main body, and two groups of symmetrically arranged upper protective shells are sleeved on the outer side of the adjusting arm. The long protective shell, the short protective shell and the upper protective shell all include a floating outer shell, a connecting cover plate and an inserted inner plate.

[0008] Preferably, the floating outer shell is fixedly connected to the outer side of the bottom of the connecting cover plate, and the outer edge of the floating outer shell is fitted with the bottom edge of the connecting cover plate. The symmetry axes between the two groups of long protective shells and the symmetry axes of the two groups of short protective shells are on the same straight line.

[0009] Preferably, the short protective shell is a 1 / 4 arc body, and a 1 / 4 arc-shaped empty groove symmetric to the short protective shell is opened at one end of the long protective shell close to the short protective shell. A 1 / 4 arc-shaped card slot is opened at one end of the upper protective shell close to the central hand.

[0010] By adopting the above technical solution, two groups of long protective shells and two groups of short protective shells are spliced into an integral protective shell structure, and the protective shell structure spliced by the long protective shell and the short protective shell protects the robotic arm main body, while two groups of upper protective shells are spliced into an integral protective shell structure, and the integral protective shell structure spliced by the two groups of upper protective shells protects the adjusting arm.

[0011] Preferably, a buckle baffle is arranged on the inner side of one end of the upper protective shell close to the card slot, and the buckle baffle is a longitudinal semi-circular arc sheet structure. The two groups of upper protective shells are attached to each other at one end away from the buckle baffle.

[0012] Preferably, a splicing connector is connected to one end of the upper protective shell away from the buckle baffle, and splicing connectors are arranged at both ends of the short protective shell and the long protective shell. The splicing connector is fixedly connected to one end of the floating outer shell, and multiple groups of convex blocks and grooves are arranged on the outer side of the splicing connector.

[0013] Preferably, the inserted inner plate is fixedly connected to the floating outer shell by bolts. A soft foam layer is arranged on one side of the inserted inner plate close to the floating outer shell, and an inner layer fitting film is arranged on the side of the inserted inner plate away from the soft foam layer.

[0014] Preferably, multiple groups of spiral springs are fixedly connected to the side of the inserted inner plate away from the inner layer fitting film, and the multiple groups of spiral springs are arranged in an array. Multiple groups of connecting slots engaged with the spiral springs are arranged in the soft foam layer.

[0015] By adopting the above technical solution, when the three-axis robotic arm structure collides, the outer soft foam layer first contacts the obstacle and undergoes initial deformation. Subsequently, the spring buffer layer formed by multiple sets of helical springs absorbs the main impact energy through elastic deformation. Finally, the inner fitting film evenly transfers the residual impact to the main body of the robotic arm. The two-stage shock absorption is achieved through the synergistic effect of the spring buffer layer and the soft foam material, where the spring provides a linear buffer force and the soft foam material provides a non-linear damping force.

[0016] Preferably, a plurality of fixed connection plates are arranged on the inner side of the bottom of the long protective shell, and connection lock fasteners are connected to the bottom ends of one sides of two symmetrically arranged fixed connection plates and the inner tops of two upper protective shells. Connection gaskets are arranged on the outer sides of both ends of the connection lock fasteners.

[0017] Preferably, the connection lock fastener is a hollow semi-circular arc body with openings at both ends, and a connection lock block is slidably connected inside the connection lock fastener. An adjusting threaded handle is connected to the connection lock block through threads. A lock chute is arranged on the outer side of the connection lock fastener, and the adjusting threaded handle is slidably connected in the lock chute.

[0018] Preferably, a bedplate joint is arranged at the connection between the central hand and the bedplate. A robotic arm wire winding device assembly is connected to the bottom of the side of the bedplate away from the distance monitoring radar, and a display is connected to the bottom of the side of the bedplate away from the central hand.

[0019] By adopting the above technical solution, the protective equipment is convenient for installation and disassembly, facilitating subsequent maintenance and repair of the robotic arm. Two adjacent connection lock fasteners are aligned with each other. At this time, locking can be performed by rotating the adjusting threaded handle to slide in the lock chute. The adjusting threaded handle drives the connection lock block to move and rotate, and during the movement of the connection lock block, it enters a relative connection lock fastener, thereby completing the fixed connection between the two connection lock fasteners. The protective structure can be removed, and when an accidental collision occurs, each module component inside the protective structure can be replaced individually. The plug-in inner plate can be removed from the floating outer shell by bolts, the plug-in inner plate can be pulled out from the floating outer shell, and the soft foam layer can be pulled out and removed from the multiple sets of helical springs.

[0020] 1. Compared with the prior art, for the outer shell structure of this new type of therapeutic instrument, a radar is set to prevent the robotic arm device from being collided and impacted. Moreover, when an accidental collision occurs, it can reduce the external impact on the robotic arm, ensuring that the positioning accuracy of the robotic arm is not affected. The distance monitoring radar monitors the distance range between the object and the entire robotic arm or the bed board to control the robotic arm main body, the adjustment arm, and the central hand, so that the movement actions of the robotic arm main body, the adjustment arm, and the central hand are decelerated or stopped, thereby avoiding the occurrence of collisions. When a collision occurs to the three-axis robotic arm structure, the outer soft foam layer first contacts the obstacle and undergoes initial deformation. Subsequently, the spring buffer layer formed by multiple groups of spiral springs absorbs the main impact energy through elastic deformation. Finally, the inner fitting film evenly transfers the residual impact to the robotic arm main body. The two-stage shock absorption is achieved through the synergistic effect of the spring buffer layer and the soft foam material, where the spring provides a linear buffer force and the soft foam material provides a non-linear damping force.

[0021] 2. Compared with the prior art, for the outer shell structure of this new type of therapeutic instrument, the protective equipment is convenient for installation and disassembly, facilitating the subsequent maintenance and repair of the robotic arm. Moreover, the protective equipment adopts a modular structure, making it easy to replace the protective modules inside. After splicing, two adjacent connection lock fasteners are aligned with each other. At this time, the adjustment threaded handle can be rotated to slide in the lock chute for locking. The adjustment threaded handle drives the connection lock block to move and rotate, and the connection lock block enters a set of its relative connection lock fasteners during the movement process, thus completing the fixed connection between the two connection lock fasteners. The protective structure can be removed, and when an accidental collision occurs, each module component inside the protective structure can be replaced individually. The inserted inner plate can be removed from the floating outer shell by bolts, the inserted inner plate can be pulled out from the floating outer shell, and the soft foam layer can be pulled out and removed from the multiple groups of spiral springs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the structural schematic diagram of the present application; Figure 2 is the side structural schematic diagram of the present application; Figure 3 is the exploded view of the present application; Figure 4 is the structural schematic diagram of the upward view at the upper protective shell of the present application; Figure 5 is the structural schematic diagram of the upward view at the long protective shell of the present application; Figure 6 is the structural schematic diagram of the connection structure at the inserted inner plate of the present application; Figure 7 is the structural schematic diagram of the downward view at the soft foam layer of the present application; Figure 8 is the structural schematic diagram at the connection lock fastener of the present application; Figure 9This is a schematic structural diagram of the cross-section of the connection lock fastening part of the present application.

[0023] The reference numerals are: 1, robotic arm main body; 11, robotic arm base; 12, long protective shell; 121, empty slot; 122, fixed connection plate; 13, short protective shell; 2, adjusting arm; 21, upper protective shell; 211, floating outer shell; 2111, inserted inner plate; 2112, inner layer fitting film; 2113, spiral spring; 2114, soft foam layer; 2115, connection slot; 212, buckle baffle; 213, connection cover plate; 214, splicing connection head; 22, card slot; 3, central hand; 31, bed plate joint; 4, bed plate; 41, robot wire winding device assembly; 42, display; 5, connection lock fastener; 51, connection gasket; 52, adjusting threaded handle; 53, connection lock block; 54, lock chute; 6, distance monitoring radar. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] The following is a further detailed description of the present application in conjunction with the attached Figures 1-9 drawings.

[0026] A novel therapeutic instrument housing structure includes a robotic arm main body 1, an adjusting arm 2, a central hand 3 and a bed plate 4. Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , the bottom of the robotic arm main body 1 is connected to a robotic arm base 11, and the adjusting arm 2 is connected to the top of one end of the robotic arm main body 1. The central hand 3 is connected to the side of the adjusting arm 2 away from the robotic arm main body 1, and the bed plate 4 is connected to the top of the central hand 3. Distance monitoring radars 6 are connected to the bottoms of the robotic arm main body 1 and the bed plate 4; Among them, two groups of long protective shells 12 and two groups of short protective shells 13 are sleeved on the outer side of the robotic arm main body 1, and two groups of symmetrically arranged upper protective shells 21 are sleeved on the outer side of the adjusting arm 2. The long protective shells 12, the short protective shells 13, and the upper protective shells 21 all include a floating outer shell 211, a connecting cover plate 213, and a plug-in inner plate 2111. The robotic arm main body 1 is located on the ground through the robotic arm base 11, and the robotic arm main body 1 is connected to the adjusting arm 2 through a rotating shaft, and the adjusting arm 2 is also connected to the central hand 3 through a rotating shaft. Moreover, the robotic arm main body 1, the adjusting arm 2, the central hand 3, and the robotic arm base 11 form a three-axis robotic arm structure. The three-axis robotic arm structure is an existing and mature technology, and the specific connection structure and connection method of the robotic arm main body 1, the adjusting arm 2, the central hand 3, and the robotic arm base 11 are all existing and mature technologies, so no more details will be described here. The distance monitoring radar 6 is a kind of distance sensor, which can be an ultrasonic or infrared sensor. By setting the monitoring control range of the distance of the monitored object from the entire robotic arm or the bed board 4, the robotic arm main body 1, the adjusting arm 2, and the central hand 3 are controlled to decelerate or stop their movement actions, so as to avoid collisions. Moreover, the working mode of the sensor of the distance monitoring radar 6 and the control method of the movement actions of the three-axis robotic arm are all existing and mature technologies, so no more details will be described here. The patient to be treated lies flat on the bed board 4, and the three-axis robotic arm structure composed of the robotic arm main body 1, the adjusting arm 2, the central hand 3, and the robotic arm base 11 is sent into the treatment area. During treatment, the central hand 3 and the bed board 4 extend into the treatment equipment and will not be collided externally, so no protective structure needs to be set on their outer sides.

[0027] Refer to Figure 3 and Figure 4 , the floating outer shell 211 is fixedly connected to the outer bottom side of the connecting cover plate 213, and the outer side edge of the floating outer shell 211 is attached to the bottom edge of the connecting cover plate 213. The symmetry axes between the two groups of long protective shells 12 and the symmetry axes of the two groups of short protective shells 13 are on the same straight line. Because during the actual use process, all possible collisions of the entire treatment instrument equipment come from the side, and the floating outer shell 211 is located on both sides of the robotic arm to be protected and is the main protection structure, while the connecting cover plate 213 is a connecting protection structure covering the upper part of the robotic arm structure. The two groups of long protective shells 12 and the two groups of short protective shells 13 are connected end to end to form a fully enclosed outer shell.

[0028] Refer to Figure 3 and Figure 5, the short protective shell 13 is a 1 / 4 arc body, and an empty groove 121 in the shape of a 1 / 4 arc symmetrical to the short protective shell 13 is provided at one end of the long protective shell 12 close to the short protective shell 13. A card slot 22 in the shape of a 1 / 4 arc is provided at one end of the upper protective shell 21 close to the central hand 3; two groups of short protective shells 13 are spliced into a semi-circular ring body structure, and after two groups of long protective shells 12 are spliced, two empty grooves 121 form a semi-circular notch, and a complete circular hole is formed between the two empty grooves 121 and the two groups of short protective shells 13, and the columnar object connected between the robotic arm main body 1 and the adjusting arm 2 is located in the circular hole in the protective shell structure of the two groups of long protective shells 12 and the two groups of short protective shells 13.

[0029] Refer to Figure 3 and Figure 4 , an inner side of one end of the upper protective shell 21 close to the card slot 22 is provided with a buckle baffle 212, and the buckle baffle 212 is a longitudinal semi-circular arc sheet-like structure. One ends of the two groups of upper protective shells 21 away from the buckle baffle 212 are mutually attached; after the two groups of upper protective shells 21 are spliced, the two card slots 22 form a semi-circular hole, and form a notch for fixing the columnar object connected between the adjusting arm 2 and the central hand 3 with the buckle baffle 212, and the buckle baffle 212 performs limit and positioning during connection.

[0030] Refer to Figure 4 and Figure 5 , one end of the upper protective shell 21 away from the buckle baffle 212 is connected with a splicing connector 214, and splicing connectors 214 are provided at both ends of the short protective shell 13 and the long protective shell 12. The splicing connector 214 is fixedly connected to one end of the floating outer shell 211, and multiple groups of bumps and grooves are provided on the outer side of the splicing connector 214; the two groups of upper protective shells 2 are spliced and connected through the splicing connector 214, the two groups of short protective shells 13 are spliced and connected through the splicing connector 214, the two groups of long protective shells 12 are spliced and connected through the splicing connector 214, and the short protective shell 13 and the long protective shell 12 are also spliced and connected through the splicing connector 214, and the two groups of splicing connectors 214 are spliced and connected through the mutually engaged bumps and grooves, and can be positioned and limited through the bumps and grooves.

[0031] Refer to Figure 4 and Figure 6, the plug-in inner plate 2111 is fixedly connected to the floating housing 211 by bolts. A soft foam layer 2114 is provided on one side of the plug-in inner plate 2111 close to the floating housing 211, and an inner layer fitting film 2112 is provided on the side of the plug-in inner plate 2111 away from the soft foam layer 2114. After the plug-in inner plate 2111 is inserted into the floating housing 211, it is fixed by bolts. The inner layer fitting film 2112 on the inner side of the plug-in inner plate 2111 fits to the outer side of the device to be protected. And the inner layer fitting film 2112 is a silicone film pad, which can absorb a certain impact and can avoid scratching the outer shell of the device during installation and disassembly. The soft foam layer 2114 is polyurethane foam, with a thickness of 8 mm and a density of 25 kg / m³.

[0032] Refer to Figure 6 and Figure 7 , on the side of the plug-in inner plate 2111 away from the inner layer fitting film 2112, a plurality of sets of spiral springs 2113 are fixedly connected, and the plurality of sets of spiral springs 2113 are arranged in an array. A plurality of connecting slots 2115 engaged with the spiral springs 2113 are provided in the soft foam layer 2114. The spiral springs 2113 are stainless steel spiral springs with a diameter of 5 mm, and the distance between the plurality of sets of spiral springs 2113 is 15 mm, and the compression stroke is 8 mm. And the soft foam layer 2114 is formed by integral casting and demolding, and the plurality of connecting slots 2115 on the soft foam layer 2114 are correspondingly sleeved on the outer side of the spiral springs 2113, thus completing the connection between the soft foam layer 2114 and the plug-in inner plate 2111.

[0033] Refer to Figure 5 and Figure 8 , on the inner side of the bottom of the long protective shell 12, a plurality of sets of fixed connecting plates 122 are provided. And at the bottom of one end of two groups of symmetric fixed connecting plates 122 and at the top of the inner side of two groups of upper protective shells 21, connection lock fasteners 5 are connected. Connection gaskets 51 are provided on the outer sides of both ends of the connection lock fasteners 5. After the two long protective shells 12 are connected, one end of the corresponding fixed connecting plates 122 is mutually attached, and the connection lock fasteners 5 are connected to the bottom of the fixed connecting plates 122 or the top of the upper protective shell 21 through the connection gaskets 51 and bolts.

[0034] Refer to Figure 8 and Figure 9, the connecting lock fastener 5 is a hollow semi-circular body with openings at both ends, and a connecting lock block 53 is slidably connected inside the connecting lock fastener 5. An adjusting threaded handle 52 is connected inside the connecting lock block 53 by threads. A lock chute 54 is provided on the outer side of the connecting lock fastener 5, and the adjusting threaded handle 52 is slidably connected in the lock chute 54; after the two groups of connecting lock fasteners 5 are aligned, the adjusting threaded handle 52 can be rotated to slide in the lock chute 54 for locking or unlocking. The adjusting threaded handle 52 drives the connecting lock block 53 to move and rotate, and the connecting lock block 53 enters or moves away from the opposite group of connecting lock fasteners 5 during the movement, so as to complete the fixed connection or separation between the two groups of connecting lock fasteners 5. When the two groups of connecting lock fasteners 5 are connected, they will pull and close the various connected devices towards the center, so that the connected devices are connected more tightly.

[0035] Refer to Figure 1 and Figure 2 , a bedplate joint 31 is provided at the connection between the central hand 3 and the bedplate 4. A robot winding device assembly 41 is connected to the bottom of the side of the bedplate 4 away from the distance monitoring radar 6, and a display 42 is connected to the bottom of the side of the bedplate 4 away from the central hand 3; the bedplate 4 is connected to the bedplate joint 31 of the central hand 3, and the bedplate 4 can be replaced with a seat according to the needs of the patient. The display 42 and the robot winding device assembly 41 are control devices for the entire three-axis robotic arm, which are existing mature technologies and will not be elaborated here. The connection method between the bedplate 4 and the seat and the bedplate joint 31 can be a quick connection structure of sliding or plugging, and its specific connection structure is an existing mature technology and will not be elaborated here.

[0036] The working process of this application is as follows: First, the protection structure is installed and connected to the three-axis robotic arm structure composed of the robotic arm main body 1, the adjusting arm 2, the central hand 3, and the robotic arm base 11. The two upper protective shells 2 are spliced and connected through the splicing connector 214. The two short protective shells 13 are spliced and connected through the splicing connector 214. The two long protective shells 12 are spliced and connected through the splicing connector 214. The short protective shell 13 and the long protective shell 12 are also spliced and connected through the splicing connector 214. The two long protective shells 12 and the two short protective shells 13 are spliced into an integral protective shell structure, and the protective shell structure spliced by the long protective shell 12 and the short protective shell 13 protects the robotic arm main body 1. The two upper protective shells 21 are spliced into an integral protective shell structure, and the integral protective shell structure spliced by the two upper protective shells 21 protects the adjusting arm 2; After splicing is completed, two adjacent connecting locking fasteners 5 are aligned with each other. At this time, locking can be performed by rotating the adjusting threaded handle 52 to slide in the lock chute 54. The connecting lock block 53 is driven by the adjusting threaded handle 52 to move and rotate, and the connecting lock block 53 enters a set of opposite connecting locking fasteners 5 during the movement process, thereby completing the fixed connection between the two sets of connecting locking fasteners 5. And when the two sets of connecting locking fasteners 5 are connected, various devices they connect will be tightened and pulled closer to the center, so that the connected devices are connected more tightly; When the three-axis robotic arm needs to be overhauled and maintained, the protective structure can be removed. And when an accidental collision occurs, each module component inside the protective structure can be replaced separately. The plug-in inner plate 2111 can be removed from the floating outer shell 211 by bolts, the plug-in inner plate 2111 is pulled out from the floating outer shell 211, and the soft foam layer 2114 can be pulled out and removed from the multi-group spiral springs 2113; Connect the bed board 4 or the seat to the bed board joint 31 according to the patient's needs. The patient to be treated lies flat on the bed board 4 or sits on the seat. Then, the three-axis robotic arm structure composed of the robotic arm main body 1, the adjusting arm 2, the central hand 3, and the robotic arm base 11 drives the patient on the bed board 4 or the seat into the treatment instrument. The distance monitoring radar 6 monitors the distance range of the object from the entire robotic arm or the bed board 4 to control the robotic arm main body 1, the adjusting arm 2, and the central hand 3, so that the movement actions of the robotic arm main body 1, the adjusting arm 2, and the central hand 3 are decelerated or stopped, thereby avoiding the occurrence of collisions. When the three-axis robotic arm structure collides, the outer soft foam layer 2114 first contacts the obstacle and undergoes an initial deformation. Subsequently, the spring buffer layer formed by the multi-group spiral springs 2113 absorbs the main impact energy through elastic deformation. Finally, the inner fitting film 2112 uniformly transfers the remaining impact to the robotic arm main body, and two-stage shock absorption is achieved through the synergistic effect of the spring buffer layer and the soft foam material.

[0037] The embodiments of the specific implementation manners are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. The same components are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A housing structure of a new type of therapeutic apparatus, comprising a robotic arm main body (1), an adjustment arm (2), a central hand (3) and a bed board (4), characterized in that: The bottom of the robotic arm main body (1) is connected to a robotic arm base (11), and the adjusting arm (2) is connected to the top of one end of the robotic arm main body (1). The central hand (3) is connected to the side of the adjusting arm (2) away from the robotic arm main body (1), and the bed board (4) is connected to the top of the central hand (3). Distance monitoring radars (6) are connected to the bottoms of both the robotic arm main body (1) and the bed board (4). Among them, two groups of long protective shells (12) and two groups of short protective shells (13) are sleeved on the outer side of the robotic arm main body (1). Two groups of symmetrically arranged upper protective shells (21) are sleeved on the outer side of the adjusting arm (2). The long protective shells (12), short protective shells (13), and upper protective shells (21) all include a floating outer shell (211), a connecting cover plate (213), and a plug-in inner plate (2111).

2. The outer shell structure of a new type of therapeutic instrument according to claim 1, characterized in that: The floating outer shell (211) is fixedly connected to the outer side of the bottom of the connecting cover plate (213), and the outer side edge of the floating outer shell (211) is fitted with the bottom edge of the connecting cover plate (213). The symmetry axes between the two groups of long protective shells (12) and the symmetry axes of the two groups of short protective shells (13) are on the same straight line.

3. The outer shell structure of a new type of therapeutic instrument according to claim 1, characterized in that: The short protective shell (13) is a 1 / 4 arc body, and an empty groove (121) in the shape of a 1 / 4 arc symmetrical to the short protective shell (13) is opened at one end of the long protective shell (12) close to the short protective shell (13). A 1 / 4 arc-shaped card slot (22) is opened at one end of the upper protective shell (21) close to the central hand (3).

4. The outer shell structure of a novel therapeutic apparatus according to claim 3, characterized in that: A buckle baffle (212) is arranged on the inner side of one end of the upper protective shell (21) close to the card slot (22), and the buckle baffle (212) is a longitudinal semi-circular arc sheet structure. The two groups of upper protective shells (21) are fitted to each other at the ends away from the buckle baffle (212).

5. A novel therapeutic instrument housing structure according to claim 4, wherein: A splicing connector (214) is connected to the end of the upper protective shell (21) away from the buckle baffle (212), and splicing connectors (214) are arranged at both ends of the short protective shell (13) and the long protective shell (12). The splicing connector (214) is fixedly connected to one end of the floating outer shell (211). Multiple groups of protrusions and grooves are arranged on the outer side of the splicing connector (214).

6. The outer shell structure of a novel therapeutic instrument according to claim 1, characterized in that: The plug-in inner plate (2111) is fixedly connected to the floating outer shell (211) by bolts. A soft foam layer (2114) is arranged on one side of the plug-in inner plate (2111) close to the floating outer shell (211). An inner layer fitting film (2112) is arranged on the side of the plug-in inner plate (2111) away from the soft foam layer (2114).

7. A novel therapeutic instrument housing structure according to claim 6, characterized in that: Multiple groups of spiral springs (2113) are fixedly connected to the side of the plug-in inner plate (2111) away from the inner layer fitting film (2112), and the multiple groups of spiral springs (2113) are arranged in an array. Multiple connection slots (2115) engaged with the spiral springs (2113) are arranged in the soft foam layer (2114).

8. A novel therapeutic apparatus housing structure according to claim 1, wherein: A plurality of fixed connecting plates (122) are arranged on the inner side of the bottom of the long protective shell (12), and connecting lock fasteners (5) are connected to the bottom of one end of two groups of symmetrically arranged fixed connecting plates (122) and the inner top of two groups of upper protective shells (21). Connecting gaskets (51) are arranged on the outer sides of both ends of the connecting lock fastener (5).

9. The outer shell structure of a new type of therapeutic instrument according to claim 8, characterized in that: The connecting lock fastener (5) is a hollow semi-circular arc body with openings at both ends, and a connecting lock block (53) is slidably connected in the connecting lock fastener (5). An adjusting threaded handle (52) is connected to the connecting lock block (53) by threads. A lock chute (54) is arranged on the outer side of the connecting lock fastener (5), and the adjusting threaded handle (52) is slidably connected in the lock chute (54).

10. A novel therapeutic instrument housing structure according to claim 9, characterized in that: A bedplate joint (31) is arranged at the connection between the central hand (3) and the bedplate (4). A robot wire winding device assembly (41) is connected to the bottom of one side of the bedplate (4) away from the distance monitoring radar (6), and a display (42) is connected to the bottom of one side of the bedplate (4) away from the central hand (3).

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