Low-thermal-inertia robot physical therapy end, end control device and physical therapy robot

Abstract

The application discloses a low-thermal-inertia robot physiotherapy end, an end control device and a physiotherapy robot. The low-thermal-inertia robot physiotherapy end is applied to the end control device. The end control device comprises a control driving module. The low-thermal-inertia robot physiotherapy end comprises a first shell which is formed with a containing cavity, and the bottom of the first shell is a contact surface. A heating piece is arranged on the inner side of the bottom of the first shell. The heating piece is used for being connected with the control driving module. The heating piece works when receiving a heating driving signal output by the control driving module. A thermal detection device is arranged on the heating piece. The thermal detection device is used for being connected with the control driving module. The thermal detection device is used for detecting the temperature of the heating piece and outputting a temperature detection signal to the control driving module. The application can accelerate the heat conduction speed in the low-thermal-inertia robot physiotherapy end and reduce the reaction time of the contact surface temperature of the user's skin.

Description

Technical Field

[0001] This invention relates to the field of robotic therapy, and more particularly to a low-thermal-inertia robotic end effector, end effector control device, and therapeutic robot. Background Technology

[0002] With the development of robot-assisted physiotherapy technology, intelligent physiotherapy endpoints with precise temperature control have shown broad application prospects in rehabilitation medicine, sports injury treatment, and chronic pain relief. Hyperthermia, as one of the core methods of physiotherapy, requires the end effector to safely and efficiently stimulate human tissue according to a preset temperature curve. However, human skin is extremely sensitive to temperature; excessively high temperatures can cause burns, while excessively low temperatures are ineffective. An ideal physiotherapy endpoint needs to achieve millisecond-level rapid heating and cooling, as well as high-precision steady-state temperature control.

[0003] Most therapeutic heating heads employ simple PID or on / off temperature control, integrating the heating element, temperature sensor, and heat-conducting structure into a solid metal shell, relying on passive heat dissipation for temperature regulation. Current solutions suffer from high thermal inertia, making millisecond-level dynamic adjustment difficult. This is because the internal heat-conducting structure of existing therapeutic heating heads often uses solid metal or high-fill-rate thermally conductive materials, resulting in extremely high overall heat capacity. This leads to a severe "energy storage effect" during heat generation, conduction, and dissipation: during heating, a large amount of heat is absorbed by the structure itself, slowing down the temperature rise of the skin contact surface; during cooling, the stored residual heat is continuously released, causing prolonged temperature overshoot. Traditional heating heads typically take more than 2 seconds to heat from 25°C to 45°C, and even longer to cool naturally from 45°C to 40°C. This lag in thermal response makes the system unsuitable for precise therapeutic modes requiring rapid alternation of hot and cold stimulation. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a low thermal inertia robotic physiotherapy end effector, an end effector control device and a physiotherapy robot, which can accelerate the heat conduction speed in the low thermal inertia robotic physiotherapy end effector and reduce the reaction time to the temperature of the user's skin contact surface.

[0005] The technical solution of the present invention is as follows: A low-thermal-inertia robotic therapeutic end effector is applied to an end-effector control device, the end-effector control device including a control drive module, the low-thermal-inertia robotic therapeutic end effector comprising: The first housing has a receiving cavity, and the bottom of the first housing is a contact surface; A heating element is disposed in close to the bottom inner side of the first housing. The heating element is used to connect to the control drive module. The heating element operates when it receives a heating drive signal output by the control drive module. A thermal detection device is attached to the heating element. The thermal detection device is used to connect to the control and drive module and is used to detect the temperature of the heating element and output a temperature detection signal to the control and drive module.

[0006] Optionally, the material of the first housing is an engineering plastic with low thermal conductivity, and the thickness of the first housing ranges from 0.5 to 1.5 mm.

[0007] Optionally, the heating element is a polyimide heating film, and the thickness of the polyimide heating film is less than or equal to 0.3 mm.

[0008] Optionally, the thermal detection device is a thermistor.

[0009] Optionally, the cavity of the first housing is filled with flexible silicone, the thermal conductivity of which is greater than or equal to 3 W / m·K.

[0010] The present invention also proposes an end-effector control device, including a control drive module and a low thermal inertia robotic end-effector as described above, wherein the control drive module is connected to the heating element and thermal detection device in the low thermal inertia robotic end-effector.

[0011] Optionally, the end control device also includes: The second housing has a cavity, the control drive module is disposed inside the second housing, and the low thermal inertia robotic therapy end is disposed in contact with the outer surface of the second housing.

[0012] Optionally, the control drive module includes: A printed circuit board is disposed within the second housing; A sampling circuit is disposed on the printed circuit board. The sampling circuit is connected to the thermal detection device in the low thermal inertia robot end effector. The sampling circuit is used to collect the temperature detection signal output by the thermal detection device. A control circuit is disposed on the printed circuit board. The input terminal of the control circuit is connected to the output terminal of the sampling circuit, and the output terminal of the control circuit is connected to the heating element in the low thermal inertia robot end effector. The control circuit is used to output a heating drive signal to the heating element according to the temperature detection signal output by the sampling circuit. A comparison circuit is disposed on the printed circuit board. The input terminal of the comparison circuit is connected to the output terminal of the sampling circuit. The comparison circuit is used to cut off the heating drive signal output by the control circuit to the heating element when the temperature value of the thermal detection device is greater than the temperature safety threshold based on the temperature detection signal.

[0013] The present invention also proposes a physiotherapy robot, including a robot body and an end-effector control device as described above, wherein the robot body and the control drive module in the end-effector control device are connected.

[0014] Optionally, the robot body includes: The main control system is used to detect the user's heartbeat and output a first detection signal to the terminal control device; The end control device is used to detect the user's heartbeat and output a second detection signal to the main control system. When the end control device does not receive the first detection signal within a preset time, it stops outputting the heating drive signal to the low thermal inertia robot physiotherapy end. If the main control system does not receive the second detection signal within a preset time, it stops outputting the first detection signal and issues an alarm signal.

[0015] The present invention provides a low-thermal-inertia robotic therapeutic end effector comprising a first housing, a heating element, and a thermal detection device. The first housing has a accommodating cavity, and its bottom surface is the contact surface, which contacts the user's skin. The heating element is fitted to the inner bottom surface of the first housing and is connected to a control drive module. The heating element operates upon receiving a heating drive signal from the control drive module. The thermal detection device is fitted to the heating element and is connected to the control drive module. The thermal detection device detects the temperature of the heating element and outputs a temperature detection signal to the control drive module. Thus, the low-thermal-inertia robotic therapeutic end effector of this invention can rapidly conduct heat to the user's skin contact surface, reducing the reaction time to the temperature of the user's skin contact surface, and accurately detects the temperature of the heating element, providing feedback on the heating status for subsequent temperature control. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the low-thermal-inertia robotic physiotherapy end effector of the present invention.

[0018] Figure 2 This is a functional module schematic diagram of another embodiment of the end control device of the present invention.

[0019] Figure 3 This is a functional module schematic diagram of an embodiment of the end control device of the present invention.

[0020] Figure 4 This is a schematic diagram of an embodiment of the end control device of the present invention.

[0021] Figure 5 This is a schematic diagram of the functional modules of an embodiment of the physiotherapy robot of the present invention.

[0022] Explanation of reference numerals in the attached drawings: 1. First housing; 2. Heating element; 3. Thermal detection device; 10. Low thermal inertia robotic end effector; 20. Control drive module; 21. Second housing; 22. Printed circuit board; 23. Sampling circuit; 24. Control circuit; 25. Comparison circuit; 100. End effector control device; 200. Robot body. Detailed Implementation

[0023] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0024] In the implementation methods and claims, unless otherwise specified in the text, the terms "a," "an," "the," and "the" may also include plural forms. If the embodiments of the present invention involve descriptions of "first," "second," etc., such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0025] It should be further understood that the term "comprising" as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when an element is referred to as "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0026] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0027] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] With the development of robot-assisted physiotherapy technology, intelligent physiotherapy endpoints with precise temperature control have shown broad application prospects in rehabilitation medicine, sports injury treatment, and chronic pain relief. Hyperthermia, as one of the core methods of physiotherapy, requires the end effector to safely and efficiently stimulate human tissue according to a preset temperature curve. However, human skin is extremely sensitive to temperature; excessively high temperatures can cause burns, while excessively low temperatures are ineffective. An ideal physiotherapy endpoint needs to achieve millisecond-level rapid heating and cooling, as well as high-precision steady-state temperature control.

[0029] Most therapeutic heating heads employ simple PID or on / off temperature control, integrating the heating element, temperature sensor, and heat-conducting structure into a solid metal shell, relying on passive heat dissipation for temperature regulation. Current solutions suffer from high thermal inertia, making millisecond-level dynamic adjustment difficult. This is because the internal heat-conducting structure of existing therapeutic heating heads often uses solid metal or high-fill-rate thermally conductive materials, resulting in extremely high overall heat capacity. This leads to a severe "energy storage effect" during heat generation, conduction, and dissipation: during heating, a large amount of heat is absorbed by the structure itself, slowing down the temperature rise of the skin contact surface; during cooling, the stored residual heat is continuously released, causing prolonged temperature overshoot. Traditional heating heads typically take more than 2 seconds to heat from 25°C to 45°C, and even longer to cool naturally from 45°C to 40°C. This lag in thermal response makes the system unsuitable for precise therapeutic modes requiring rapid alternation of hot and cold stimulation.

[0030] To address the aforementioned issues, this invention proposes a low-thermal-inertia robotic end effector for use in an end-effector control device, which includes a control drive module.

[0031] Reference Figure 1 In one embodiment, the low-thermal-inertia robotic therapeutic end effector 10 includes: The first housing 1 has a receiving cavity, and the bottom of the first housing 1 is a contact surface; Heating element 2 is disposed in close to the bottom inner side of the first housing 1. Heating element 2 is used to connect to control drive module 20. Heating element 2 works when it receives heating drive signal output by control drive module 20. A thermal detection device 3 is attached to the heating element 2. The thermal detection device 3 is used to connect to the control drive module 20. The thermal detection device 3 is used to detect the temperature of the heating element 2 and output a temperature detection signal to the control drive module 20.

[0032] In this embodiment, the first housing 1 provides protection for the internal components of the low-thermal-inertia robotic end effector 10. Specifically, it isolates external dust and moisture, blocks disinfectant and human sweat stains in the treatment environment, prevents components from being corroded and short-circuited, and prevents impurities from jamming the transmission structure. At the same time, the first housing 1 can also buffer bumps and external impacts during daily operation, protecting the precision parts inside the low-thermal-inertia robotic end effector 10 from damage, significantly reducing the probability of failure, and extending the overall service life of the low-thermal-inertia robotic end effector 10. Furthermore, since the low-thermal-inertia robotic end effector 10 needs to come into contact with the user's body during treatment, there are certain requirements for the shape of the first housing 1. For example, the first housing 1 can be made with rounded corners and no sharp edges to avoid scratching the user's skin. During the physiotherapy process at the low thermal inertia robotic end effector 10, the heating element 2 can output a suitable physiotherapy temperature, such as 40℃-45℃. The heating element 2 is positioned against the inner bottom of the first housing 1, with the bottom of the first housing 1 serving as the contact surface, allowing heat from the heating element 2 to be quickly conducted to the user's skin. Furthermore, the heating element 2 can be configured to match the shape of the bottom of the first housing 1. Specifically, when the heating element 2 receives a heating drive signal from the control drive module 20, it begins to heat up until the temperature reaches the appropriate physiotherapy temperature, which can be set according to actual conditions and user needs. In addition, the first shell 1 of the low-thermal-inertia robotic therapy end effector 10 is usually made of plastic or metal. In winter, the temperature is low, resulting in a poor user experience. Therefore, preheating can be achieved using the heating element 2, raising the temperature of the contact surface between the low-thermal-inertia robotic therapy end effector 10 and the user's skin to near body temperature. This ensures that the low-thermal-inertia robotic therapy end effector 10 does not cause a cold stimulus when in contact with the user's skin, providing a warm and comfortable experience throughout, helping the user relax and improving the overall therapy experience. The thermal detection device 3 is the core component for temperature sensing in the low-thermal-inertia robotic therapy end effector 10. The thermal detection device 3 is attached to the heating element 2. Since the heating element 2 is attached to the bottom inner side of the first shell 1, and the bottom of the first shell 1 is the contact surface with the user's skin, the thermal detection device 3 detects the real-time temperature of the heating element 2, which is equivalent to detecting the temperature output to the user's skin. Attaching the thermal detection device 3 to the heating element 2 reduces temperature detection errors. The temperature detection signal output by the thermal detection device 3 to the control and drive module 20 allows the control and drive module 20 to determine the therapeutic temperature of the low-thermal-inertia robotic end effector 10 on the user's skin. This enables the control and drive module 20 to output a heating drive signal to maintain the temperature of the heating element 2 at a suitable therapeutic temperature. Overall, the low-thermal-inertia robotic end effector 10, through the combination of a thin-walled cavity, a heating film, and a thermistor, eliminates the thermal buffering mechanism found in traditional structures, achieving real-time heat generation, sensing, and compensation.

[0033] The present invention provides a low-thermal-inertia robotic therapeutic end effector 10 comprising a first housing 1, a heating element 2, and a thermal detection device 3. The first housing 1 has a accommodating cavity, and its bottom is a contact surface that contacts the user's skin. The heating element 2 is fitted to the inner bottom of the first housing 1 and is connected to a control drive module 20. The heating element 2 operates upon receiving a heating drive signal from the control drive module 20. The thermal detection device 3 is fitted to the heating element 2 and is connected to the control drive module 20. The thermal detection device 3 detects the temperature of the heating element 2 and outputs a temperature detection signal to the control drive module 20. Thus, the low-thermal-inertia robotic therapeutic end effector 10 can rapidly conduct heat to the user's skin contact surface, reducing the reaction time to the temperature of the user's skin contact surface, and accurately detects the temperature of the heating element 2, providing feedback on the heating status for subsequent temperature control.

[0034] In one embodiment, the material of the first housing 1 is a low thermal conductivity engineering plastic, and the thickness of the first housing 1 ranges from 0.5 to 1.5 mm.

[0035] In this embodiment, a low thermal conductivity engineering plastic (such as PEEK or modified PC) is used as the material of the first shell 1. This can lock the heat of the heating film towards the contact surface with the user's skin, reducing the ineffective heat loss to the interior of the low thermal inertia robotic therapeutic end 10. This not only results in a fast heating speed but also allows the target therapeutic temperature to be reached with lower power. Regarding the thickness of the first shell 1, if it is too thin (less than 0.5 mm), even if a low thermal conductivity material is used, the heat conduction will be too fast, leading to large temperature fluctuations, high difficulty in temperature control, and a high risk of local overheating. On the other hand, if it is too thick (more than 1.5 mm), the heat conduction loss will be large, and it will take several minutes to reach the preset therapeutic temperature. Therefore, in this embodiment, the thickness of the first shell 1 is set in the range of 0.5-1.5 mm, which allows the heat of the heating element 2 to be discharged evenly and smoothly, with the temperature difference between the contact surface and the body surface not exceeding 0.3℃. This ensures a stable output of the golden therapeutic temperature of 40℃-45℃, preventing both insufficient temperature from achieving the relaxation and circulation-promoting effect and excessive temperature from causing user discomfort. Furthermore, the low thermal conductivity engineering plastic itself is much lighter than metal materials. With a thickness of 0.5-1.5mm, the overall shell weighs only a dozen grams, which hardly adds any extra load. At the same time, this thickness of engineering plastic can fully withstand the repeated pressure of daily physiotherapy.

[0036] In one embodiment, the heating element 2 is a polyimide heating film with a thickness of less than or equal to 0.3 mm.

[0037] In this embodiment, the polyimide heating film is a heating element with excellent electrical insulation, high temperature resistance, and flexibility. By controlling the thickness of the polyimide heating film to 0.3mm or less, the high flexibility of the polyimide material is preserved, allowing the heating element 2 to adaptively conform to the human body contour with the deformation of the low thermal inertia robotic end effector 10. This eliminates uneven heating caused by gaps in the fit, improving the uniformity of thermal therapy and user experience. Furthermore, polyimide itself has excellent thermal conductivity, and the thin design further reduces the thermal resistance of the heating film, minimizing heat loss within the film layer. This results in a faster heating rate and reduced thermal inertia, enabling more sensitive temperature regulation and precise maintenance of the appropriate temperature required for therapy. Additionally, during therapy, the low thermal inertia of the robotic end effector 10 may require repeated deformation to adjust its position. A polyimide heating film with a thickness ≤0.3mm exhibits better resistance to bending fatigue and is less prone to internal heating wire breakage or film cracking after frequent bending deformation, making it suitable for long-term, high-frequency motion scenarios of the robotic end effector.

[0038] In one embodiment, the thermal detection device 3 is a thermistor.

[0039] In this embodiment, a thermistor is used as the thermal detection device 3 because the thermistor itself is small in size and thin in package thickness, and can be easily integrated into the low thermal inertia robotic end effector 10 without occupying additional installation space, and will not increase the overall size and weight of the low thermal inertia robotic end effector 10. Furthermore, conventional thermal therapy requires the temperature to be stably controlled within the human body's comfortable and safe range of 35℃-45℃. Excessive temperature deviation can easily lead to burns or insufficient therapeutic effect. Thermistors have high temperature sensitivity and fast temperature response within this commonly used therapeutic temperature range, and can provide real-time feedback on the actual temperature of the heating element 2. Alternatively, platinum resistance thermometers or thermocouples can also be used as the thermal detection device 3, depending on the actual situation and user needs.

[0040] In one embodiment, the cavity of the first housing 1 is filled with flexible silicone, and the thermal conductivity of the flexible silicone is greater than or equal to 3 W / m·K.

[0041] In this embodiment, flexible silicone is filled into the cavity of the first housing 1, which can solidify the heating element 2 and the thermal detection device 3 as a whole, avoiding the displacement of components due to long-term vibration and deformation. At the same time, the flexible silicone can absorb the impact stress during the physiotherapy contact process, improving the structural reliability of the internal components. Compared with ordinary low thermal conductivity silicone, this solution limits the thermal conductivity to ≥3W / m·K while retaining the flexibility of silicone. It will not cause the entire filling layer to harden due to the addition of high thermal conductivity fillers, and can adapt to the adaptive deformation requirements of the low thermal inertia robot physiotherapy end effector 10, ensuring that the end effector can fit well with the irregular curved surfaces of the human body such as the shoulders, neck, and joints, improving the comfort of physiotherapy. Moreover, the thermal conductivity of ordinary silicone is usually only 0.5 to 1.5W / m·K. After filling, it will form a large thermal resistance, which can easily cause the heat generated by the heating element 2 to be unable to be quickly transferred to the human body contact side outside the housing, resulting in problems such as overheating inside the heating element 2, insufficient temperature rise on the human body contact side, and uneven temperature distribution on the contact surface. In this implementation, the use of highly thermally conductive flexible silicone with a thermal conductivity greater than or equal to 3W / m·K can significantly reduce the overall thermal resistance of the potting layer, allowing the heat emitted by the heating element 2 to be quickly and evenly transferred to the entire physiotherapy contact surface. This reduces heat loss and heating energy consumption, while avoiding problems such as excessively high local temperatures or insufficient heating, effectively improving the uniformity and effectiveness of thermal physiotherapy.

[0042] Furthermore, current physiotherapy robots suffer from low temperature control accuracy, posing a dual risk of burns and ineffective treatment. This is because of the physical distance between the heat source and the sensor, and the sensor signal must be transmitted via wires to the robot's main controller (located in the robot body or control cabinet), which then issues PWM commands to drive the MOSFET. This closed-loop circuit exhibits significant signal transmission delays and electromagnetic noise interference, causing the temperature value acquired by the PID controller to always be outdated. When the treatment head is subjected to external pressure or the robot moves rapidly, the contact thermal resistance changes drastically, and the controller cannot respond in time, easily causing temperature overshoot, exceeding the 43℃ safety threshold and resulting in burns. Conversely, the temperature is insufficient, failing to reach the 39-42℃ treatment window required for effective treatment. Moreover, current physiotherapy robots have low integration and lack end-effector autonomous sensing and safety protection capabilities. The core control circuit 24 of existing robotic physiotherapy systems (including the microcontroller, MOSFET, and PID algorithm module) is typically located inside the robot control cabinet or body, with the end effector merely carrying the heating film and NTC sensor, making it a passive actuator. This distributed architecture not only increases the complexity of the wiring harness and the risk of signal attenuation, but also, in special circumstances, if the communication between the main controller and the terminal is interrupted or the main control program crashes, the heating head will lose its temperature monitoring capability, potentially leading to continuous heating and serious safety accidents. Furthermore, because the terminal lacks an independent MCU and motion sensing unit, it cannot determine in real time whether it is in contact with the target (e.g., no-load heating can also cause overheating), resulting in a fundamental lack of intelligent autonomous protection capabilities.

[0043] Therefore, the present invention also proposes an end-point control device 100.

[0044] Reference Figure 2 In one embodiment, the end-effector control device 100 includes a control drive module 20 and a low-thermal-inertia robotic therapy end effector 10 as described above. The control drive module 20 is connected to the heating element 2 and the thermal detection device 3 in the low-thermal-inertia robotic therapy end effector 10. In this embodiment, the control drive module 20 can receive the temperature detection signal output by the low-thermal-inertia robotic therapy end effector 10, convert the temperature detection signal into a temperature value, and control the operation of the low-thermal-inertia robotic therapy end effector 10 according to the temperature value. It is understood that since the low-thermal-inertia robotic therapy end effector 10 described above is used in the end-effector control device 100 of the present invention, the embodiments of the end-effector control device 100 of the present invention include all the technical solutions of all embodiments of the low-thermal-inertia robotic therapy end effector 10, and the achieved technical effects are also completely the same, and will not be repeated here.

[0045] Reference Figure 3 In one embodiment, the end control device 100 further includes: The second housing 21 has a cavity, the control drive module 20 is disposed inside the second housing 21, and the low thermal inertia robot therapy end effector 10 is disposed in contact with the outer surface of the second housing 21.

[0046] In this embodiment, the second housing 21 can provide protection for the control drive module 20 inside the end-effector 100, specifically referring to the protection provided by the first housing 1 in the above embodiment. The number of low-thermal-inertia robotic therapeutic ends 10 disposed on the end-effector 100 can be multiple, specifically referring to... Figure 4 Multiple low-thermal-inertia robotic therapeutic ends 10 can be spaced apart on the outer surface of the second housing 21, and the spacing between the multiple low-thermal-inertia robotic therapeutic ends 10 can be set according to actual conditions and user needs. Setting multiple low-thermal-inertia robotic therapeutic ends 10 allows for comprehensive skin treatment of the user. Furthermore, placing the low-thermal-inertia robotic therapeutic ends 10 against the outer surface of the second housing 21 can reduce signal transmission time.

[0047] Reference Figure 3 In one embodiment, the control drive module 20 includes: Printed circuit board 22 is disposed inside the second housing 21; The sampling circuit 23 is disposed on the printed circuit board 22. The sampling circuit 23 is connected to the thermal detection device 3 in the low thermal inertia robot physiotherapy end 10. The sampling circuit 23 is used to collect the temperature detection signal output by the thermal detection device 3. A control circuit 24 is disposed on the printed circuit board 22. The input terminal of the control circuit 24 is connected to the output terminal of the sampling circuit 23, and the output terminal of the control circuit 24 is connected to the heating element 2 in the low thermal inertia robot therapy end effector 10. The control circuit 24 is used to output a heating drive signal to the heating element 2 according to the temperature detection signal output by the sampling circuit 23. A comparison circuit 25 is disposed on the printed circuit board 22. The input terminal of the comparison circuit 25 is connected to the output terminal of the sampling circuit 23. The comparison circuit 25 is used to cut off the heating drive signal output by the control circuit 24 to the heating element 2 when the temperature value of the thermal detection device 3 is greater than the temperature safety threshold according to the temperature detection signal.

[0048] In this embodiment, electronic components can be integrated on the printed circuit board 22 to form a sampling circuit 23, a control circuit 24, and a comparison circuit 25. The sampling circuit 23 can collect the temperature detection signal output by the thermal detection device 3 in the low thermal inertia robotic end effector 10 in real time, and supply it to the control circuit 24 to adjust the heating power of the heating element 2. Specifically, the electrical signal output by the thermal detection device 3 can be divided by a voltage divider resistor, filtered, and then output to the control circuit 24. The control circuit 24 may include a microcontroller, which can run a PID temperature control algorithm to adjust the PWM duty cycle to control the heating film power based on the temperature detection signal fed back by the sampling circuit 23 in real time. The sampling frequency of the sampling circuit 23 is not less than 20Hz, and combined with the extremely short heat conduction path, it forms an ultra-short closed-loop control loop of "sampling-calculation-drive", with a theoretical thermal hysteresis time constant of less than 0.5 seconds. In addition, a comparison circuit 25 independent of the control circuit 24 can also be set on the printed circuit board 22. The comparison circuit 25 can be composed of a hardware comparator. When the temperature value represented by the temperature detection signal sampled by the sampling circuit 23 exceeds the temperature safety threshold (e.g., 45℃), the hardware comparator directly cuts off the gate drive signal of the MOS transistor, shutting off the signal path between the control circuit 24 and the heating element 2. This eliminates the need to wait for instructions from the control circuit 24, achieving microsecond-level local hardware protection. Through this hardware-level over-temperature cutoff setting, the end-effector control device 100 possesses autonomous protection capabilities independent of the main control system of the physiotherapy robot. Even if the main control system or communication with the physiotherapy robot is interrupted, the end-effector control device 100 can immediately cut off heating, significantly improving the safety level.

[0049] This invention also proposes a physiotherapy robot.

[0050] Reference Figure 5 In one embodiment, the physiotherapy robot includes a robot body 200 and an end-effector control device 100 as described above. The robot body 200 and the control drive module 20 in the end-effector control device 100 are connected. The robot body 200 may include a main control system for the physiotherapy robot, used to monitor the user's status and control the overall working status of the physiotherapy robot. It is understood that since the end-effector control device 100 described above is used in the physiotherapy robot of the present invention, the embodiments of the physiotherapy robot of the present invention include all the technical solutions of all embodiments of the end-effector control device 100, and the achieved technical effects are exactly the same, and will not be repeated here.

[0051] In one embodiment, the robot body 200 includes: The main control system is used to detect the user's heartbeat and output a first detection signal to the terminal control device 100; The end control device 100 is used to detect the user's heartbeat and output a second detection signal to the main control system. When the end control device 100 does not receive the first detection signal within a preset time, it stops outputting the heating drive signal to the low thermal inertia robot therapy end 10. If the main control system does not receive the second detection signal within a preset time, it stops outputting the first detection signal and issues an alarm signal.

[0052] In this embodiment, the terminal control device 100 and the main control system can be connected via a communication bus, with each operating its own heartbeat timer independently. The terminal control device 100 periodically sends status messages to the main control system, i.e., outputs a second detection signal, and simultaneously detects the heartbeat output by the main control system. If the terminal control device 100 does not receive a valid heartbeat (first detection signal) from the main control system for more than a set time (e.g., 200ms), the terminal control device 100 determines that the communication is interrupted or the main control system is faulty, immediately stops the PWM output, de-energizes the heating film, and resets to the initialization state. Similarly, if the main control system does not receive a heartbeat (second detection signal) from the terminal control device 100 for more than a set time, it also cuts off external output and issues an alarm signal to alert the staff; the specific length of the set time can be set according to the actual situation and user needs. Thus, the solution in this embodiment can ensure that if either party fails or the communication link is disconnected, the terminal control device 100 automatically enters a safe steady state. The dual-end heartbeat interlock mechanism in this embodiment enables the end control device 100 to have autonomous protection capabilities that allow it to operate independently of the main control system. Even if the main control system of the physiotherapy robot crashes or communication is interrupted, the end control device 100 can immediately cut off the heating, significantly improving the safety level.

[0053] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A low-thermal-inertia robotic end effector, applied to an end-effector control device, the end-effector control device comprising a control drive module, characterized in that, The low-thermal-inertia robotic therapeutic end effector includes: The first housing has a receiving cavity, and the bottom of the first housing is a contact surface; A heating element is disposed in close to the bottom inner side of the first housing. The heating element is used to connect to the control drive module. The heating element operates when it receives a heating drive signal output by the control drive module. A thermal detection device is attached to the heating element. The thermal detection device is used to connect to the control and drive module and is used to detect the temperature of the heating element and output a temperature detection signal to the control and drive module.

2. The low-thermal-inertia robotic therapeutic end effector as described in claim 1, characterized in that, The first housing is made of low thermal conductivity engineering plastic, and the thickness of the first housing ranges from 0.5 to 1.5 mm.

3. The low-thermal-inertia robotic therapeutic end effector as described in claim 1, characterized in that, The heating element is a polyimide heating film, and the thickness of the polyimide heating film is less than or equal to 0.3 mm.

4. The low-thermal-inertia robotic therapeutic end effector as described in claim 1, characterized in that, The thermal detection device is a thermistor.

5. The low-thermal-inertia robotic therapeutic end effector as described in claim 1, characterized in that, The cavity of the first housing is filled with flexible silicone, and the thermal conductivity of the flexible silicone is greater than or equal to 3 W / m·K.

6. A terminal control device, characterized in that, It includes a control drive module and a low thermal inertia robotic end effector as described in any one of claims 1-5, wherein the control drive module is connected to the heating element and thermal detection device in the low thermal inertia robotic end effector.

7. The end-point control device as described in claim 6, characterized in that, Also includes: The second housing has a cavity, the control drive module is disposed inside the second housing, and the low thermal inertia robotic therapy end is disposed in contact with the outer surface of the second housing.

8. The end-point control device as described in claim 7, characterized in that, The control drive module includes: A printed circuit board is disposed within the second housing; A sampling circuit is disposed on the printed circuit board. The sampling circuit is connected to the thermal detection device in the low thermal inertia robot end effector. The sampling circuit is used to collect the temperature detection signal output by the thermal detection device. A control circuit is disposed on the printed circuit board. The input terminal of the control circuit is connected to the output terminal of the sampling circuit, and the output terminal of the control circuit is connected to the heating element in the low thermal inertia robot end effector. The control circuit is used to output a heating drive signal to the heating element according to the temperature detection signal output by the sampling circuit. A comparison circuit is disposed on the printed circuit board. The input terminal of the comparison circuit is connected to the output terminal of the sampling circuit. The comparison circuit is used to cut off the heating drive signal output by the control circuit to the heating element when the temperature value of the thermal detection device is greater than the temperature safety threshold based on the temperature detection signal.

9. A physiotherapy robot, characterized in that, It includes a robot body and an end-effector control device as described in any one of claims 6-8, wherein the robot body and the control drive module in the end-effector control device are connected.

10. The physiotherapy robot as described in claim 9, characterized in that, The robot body includes: The main control system is used to detect the user's heartbeat and output a first detection signal to the terminal control device; The end control device is used to detect the user's heartbeat and output a second detection signal to the main control system. When the end control device does not receive the first detection signal within a preset time, it stops outputting the heating drive signal to the low thermal inertia robot physiotherapy end. If the main control system does not receive the second detection signal within a preset time, it stops outputting the first detection signal and issues an alarm signal.

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