Meridian therapy apparatus and method

Abstract

The application relates to a meridian physiotherapy device which comprises a base, a swing arm support, a front side driving part, an upper trunk supporting part, a seat main body, a seat driving part, a physiotherapy mechanical arm, a conditioning head assembly and a camera. The swing arm support is in a rod-shaped structure, the fixed end of the swing arm support is hinged to the base, the other end is a free end, the front side driving part is arranged on the base and can drive the free end of the swing arm support to rotate, the upper trunk supporting part is made of soft material, is arranged on the swing arm support and can be attached to the front side of the upper trunk of a person to be treated, the front side of the seat main body is hinged to the base and is located at the rear side of the swing arm support, the seat surface of the seat main body has at least an inclined state on the base, the seat driving part is arranged on the base and is connected to the rear side of the seat main body, the physiotherapy mechanical arm is arranged at the rear side of the seat main body, the end thereof is provided with the conditioning head assembly, there is at least one physiotherapy head, the camera is located beside the physiotherapy head and can identify a preset area above the seat main body.

Description

Technical Field

[0001] This application relates to the field of physiotherapy equipment technology, and in particular to a meridian physiotherapy device and method. Background Technology

[0002] Traditional Chinese medicine meridian therapy is a core method of traditional physiotherapy. Traditional manual meridian therapy relies on the experience of therapists, resulting in high labor costs, poor standardization, and difficulty in long-term continuous operation. This has led to the development of a series of automated massage and physiotherapy devices.

[0003] Existing automated meridian therapy equipment lacks a comprehensive positioning and support structure for the user's body, and most can only achieve local fixation, which is not conducive to adapting to users of different heights and body shapes.

[0004] Furthermore, the existing massage device lacks an overall linkage support structure, making it basically unable to synchronously and stably limit the head, chest, legs, and arms of the user. In other words, after a certain period of treatment, the user may need to move slightly to ensure that the machine always applies the correct massage points. Summary of the Invention

[0005] In view of this, this application proposes a meridian therapy device, including a base, a swing arm support, a front drive unit, an upper torso support, a seat body, a seat drive unit, a therapy robotic arm, a treatment head assembly, and a camera. The swing arm support has a rod-like structure, with its fixed end hinged to the base and the other end being a free end. The front drive unit is mounted on the base and can drive the free end of the swing arm support to rotate. The upper torso support is made of a soft material and is mounted on the swing arm support, allowing it to contact the upper torso of the person receiving therapy. The front sides fit together, with the front of the seat body hinged to the base. The seat body is located behind the swing arm support. The seat surface of the seat body is at least tilted on the base. The seat drive unit is located on the base and connected to the rear of the seat body, driving the seat body to rotate. The physiotherapy robotic arm is located behind the seat body, with an adjustment head assembly installed at its end. The adjustment head assembly contains a swing adjustment motor, which can drive the physiotherapy head to rotate within a certain range. The camera is located beside the physiotherapy head and can identify a preset area above the seat body.

[0006] In one possible implementation, the treatment head assembly includes a mounting part and a rotating part. The mounting part is a hollow cuboid structure, and an oscillation adjustment motor is mounted on the mounting part. The rotating part is a plate-like structure and is rotatably mounted on the mounting part. There are two rotating parts, which are located on the same side plate of the mounting part. The fixed rotating end of the rotating part is connected to the output end of the oscillation adjustment motor. The free end of the rotating part extends to the outside of the mounting part and can rotate in opposite directions under the drive of the oscillation adjustment motor. There are two treatment heads, corresponding one-to-one with the rotating parts. The treatment heads are located at the free ends of the rotating parts, and the massage output end of the treatment head is a massage head with a buffer.

[0007] In one possible implementation, the upper torso support is adjustable in its front and rear position on the swing arm support. The upper torso support includes a main support plate and a chest support body and a head support body mounted thereon. The main support plate is mounted on the swing arm support. The chest support body is made of soft material and has a recessed structure on its top surface to fit the chest structure of the person undergoing physiotherapy. The head support body is made of soft material and has a ring-shaped structure. The head support body is located in front of the chest support body.

[0008] On the other hand, this application also discloses a meridian therapy method using the meridian therapy device in any of the above implementations. The device has two therapy heads symmetrically arranged on a robotic arm and includes a main control module. The main control module is electrically connected to the front drive unit, the seat drive unit, the therapy robotic arm, the swing adjustment motor, the therapy heads, and the camera. The meridian therapy method includes: activating the front drive unit, rotating the swing arm support to a first preset angle so that the upper torso support unit can support the front of the upper torso of the person receiving therapy; activating the seat drive unit, rotating the seat body to a second preset angle; and the person receiving therapy... When the back of the person being treated is within the camera's recognition range, the front drive unit rotates to the first preset angle, and the main seat rotates to the second preset angle. This is recorded as the initial posture adjustment. The camera recognizes the image of the person's back and sends it to the main control module. The main control module processes and analyzes the image of the person's back to obtain the coordinates of multiple meridian acupoints. The therapeutic robotic arm moves according to the coordinates of the meridian acupoints so that within the range of motion of the therapeutic robotic arm, the head of the therapeutic head is closest to / directly contacts the meridian acupoint to be treated. After each movement of the therapeutic robotic arm, it pauses for a preset time and then starts the therapeutic head.

[0009] In one possible implementation, in the step where the main control module processes and analyzes the back image of the person to be treated to obtain the coordinates of multiple meridian acupoints, the main control module sorts the coordinates of the multiple meridian acupoints according to the direction from top to bottom or bottom to top of the back of the person to be treated to obtain an ordered coordinate set, and the robotic arm for physiotherapy moves in sequence according to the ordered coordinate set.

[0010] In one possible implementation, after the movement of the robotic arm used for physiotherapy, the main control module determines whether the physiotherapy head can directly contact the meridian acupoint being treated. If it can directly contact the meridian acupoint being treated, the swing adjustment motor does not work. If it cannot directly contact the meridian acupoint being treated, the swing adjustment motor is started, and the position of the physiotherapy head is adjusted according to the coordinates of the meridian acupoint being treated, until the head of the physiotherapy head directly contacts the meridian acupoint being treated.

[0011] In one possible implementation, during the initial posture adjustment step, the main control module simultaneously drives the front drive unit and the seat drive unit, or the main control module first drives the front drive unit until its movement ends, and then drives the seat drive unit.

[0012] In one possible implementation, the meridian therapy device also includes a side recognition lens, located at least on one side of the rotating plane of the seat body. After the front drive unit rotates to a first preset angle and the seat body rotates to a second preset angle, this is recorded as preliminary posture adjustment. After the preliminary posture adjustment is completed, the side recognition lens acquires the body posture information image of the person to be treated. The main control unit receives and analyzes the body posture information image to obtain the optimal posture angle. The main control module controls the front drive unit and / or the seat drive unit to adjust the person to be treated to the optimal posture angle, which is recorded as precise posture adjustment.

[0013] In one possible implementation, after precise posture adjustment, the camera directly identifies the optimal posture image of the person undergoing physiotherapy.

[0014] In one possible implementation, before the head of the physiotherapy head reaches the meridian acupoint to be treated, the side recognition lens acquires an image of the physiotherapy point of action. The image of the physiotherapy point of action includes at least the angle range information between the axis of the physiotherapy head and the upper torso of the human body. The main control module determines whether the angle between the physiotherapy head and the upper torso of the human body needs to be adjusted based on the angle range information.

[0015] The beneficial effects of this application are: 1. By hinged arm brackets and seat body at different positions on the base, the arm brackets and seat body can be opened to a certain space under the action of the front drive unit and the seat drive unit, so that the person to be treated can sit down. Alternatively, the arm brackets and seat body can be closed to a preset position to "wrap" the person to be treated from the front and back sides of the body, thus providing support for the body.

[0016] 2. The front torso support part set on the swing arm bracket supports the front side of the human torso, ensuring that the front side of the upper torso of the person sitting on the seat body at an angle after the swing arm bracket and the seat body are closed is supported, and will not move or slip during the physiotherapy process.

[0017] 3. After the camera identifies the back of the person to be treated and determines the meridian acupoints, the physiotherapy robotic arm located at the rear of the main body of the chair drives the adjustment head assembly at its end to act on the different meridian acupoints identified on the back of the person to be treated, thereby realizing automated meridian adjustment.

[0018] 4. The therapy head of this application is mainly suitable for installation at the end of a robotic arm. Combined with a camera to identify acupoints on the human back, it can achieve relatively precise treatment of various acupoints. The robotic arm provides the therapy head with a large range of motion, making it particularly suitable for meridian therapy on large areas such as the back. Furthermore, the rotating part further increases the swing amplitude of the therapy head, adapting to wider areas, such as the waist and back. It can also be tilted towards each other to allow the heads of the two therapy heads to contact each other, adapting to narrower areas, such as the neck and shoulder areas. Moreover, this application typically uses a voice coil motor-driven therapy head with an internal heating device, resulting in a more complex internal structure. This type of therapy head is larger in size and has a longer lever arm. Compared to conventional therapy heads with shorter lever arms, its head swaying is more intense, leading to a larger vibration amplitude at the end of the robotic arm. The dual therapy heads, which are tilted and symmetrically arranged, can decompose the force and counteract the horizontal component of the force perpendicular to the axis of the therapy head. This reduces the vibration amplitude and can reduce the lateral load on the therapy head to a certain extent, thereby reducing the overall wear of the equipment, especially the wear of components near the vibration source.

[0019] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0021] Figure 1 This invention provides a three-dimensional structural schematic diagram of the meridian therapy device according to an embodiment of the present application. Figure 2 This is a schematic diagram of the structure of a meridian therapy device from another perspective, according to an embodiment of this application. Figure 3 This is a top view of the conditioning head assembly according to an embodiment of this application; Figure 4 A side view of the conditioning head assembly according to an embodiment of this application is shown; Figure 5 This application shows a front view of the conditioning head assembly according to an embodiment of the present application; Figure 6 A schematic diagram of the conditioning head assembly and the physiotherapy robotic arm according to an embodiment of this application is shown; Figure 7A partial cross-sectional view of the conditioning head assembly according to an embodiment of this application is shown; Figure 8 This diagram shows the main structure of the upper torso support portion according to an embodiment of this application. Figure 9 This is a partially exploded view of the upper torso support portion according to an embodiment of this application; Figure 10 This diagram shows the main structural structure of the upper torso support portion according to another embodiment of this application; Figure 11 This diagram shows a structural schematic of a linear module according to an embodiment of this application. Figure 12 This diagram shows the internal structure of a linear module according to an embodiment of this application. Figure 13 This diagram shows the bottom view of the linear module according to an embodiment of this application; Figure 14 A partial side view of the leg support body according to an embodiment of this application is shown; Figure 15 This is a perspective structural diagram showing the seat body and swing arm bracket in working state according to an embodiment of this application; Figure 16 This is a side view of the seat body and swing arm bracket in the working state according to an embodiment of this application; Figure 17 A three-dimensional structural schematic diagram of the seat body according to an embodiment of this application is shown; Figure 18 A schematic diagram showing two states of the seat body according to an embodiment of this application; Figure 19 This is a side view of the seat body and swing arm bracket in the working state according to an embodiment of this application; Figure 20 This is a side view of the seat body and swing arm bracket in their initial state, according to an embodiment of this application. Figure 21 A partial schematic diagram of the common rotation axis portion in the seat body and swing arm bracket of an embodiment of this application is shown; Figure 22 This diagram illustrates the structure of the electrical control components of the meridian therapy device according to an embodiment of this application. Figure 23 A schematic flowchart of the meridian therapy method according to an embodiment of this application is shown. Detailed Implementation

[0022] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0023] It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application or to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0026] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0027] like Figures 1-2As shown, the meridian therapy device 1 includes: a base 10, a swing arm support 21, a front drive unit 23, an upper torso support 30, a seat body 50, a seat drive unit 59, a therapy robotic arm 41, a treatment head assembly, and a camera 43. The swing arm support 21 has a rod-like structure, with its fixed end hinged to the base 10 and its other end being a free end. The front drive unit 23 is mounted on the base 10 and can drive the free end of the swing arm support 21 to rotate. The upper torso support 30 is made of soft material and is mounted on the swing arm support 21. The upper torso support 30 can be used with the patient receiving therapy. The upper torso of the staff fits against the front side of the seat body 50, the front side of the seat body 50 is hinged to the base 10, the seat body 50 is located behind the swing arm bracket 21, the seat surface of the seat body 50 has at least an inclined state on the base 10, the seat drive unit 59 is disposed on the base 10, the seat drive unit 59 is connected to the rear side of the seat body 50, and drives the seat body 50 to rotate, the physiotherapy robotic arm 41 is disposed on the rear side of the seat body 50, and an adjustment head assembly is installed at its end, the adjustment head assembly has at least one physiotherapy head 42, and the camera 43 is located beside the physiotherapy head 42, the camera 43 can identify a preset area above the seat body 50.

[0028] In this embodiment, by hinged arm bracket 21 and seat body 50 at different positions on the base 10, the arm bracket 21 and seat body 50 can be opened to a certain space under the action of the front drive part 23 and the seat drive part 59, so that the person to be treated can sit down. Alternatively, the arm bracket 21 and seat body 50 can be closed to a preset position to "wrap" the person to be treated from the front and back sides of the body, thus providing support for the body.

[0029] Specifically, the front torso support 30 set on the swing arm bracket 21 supports the front side of the human torso, ensuring that the front side of the upper torso of the person sitting on the seat body 50 tilted forward after the swing arm bracket 21 and the seat body 50 are closed, and will not move or slip during the physiotherapy process.

[0030] Furthermore, after the camera 43 identifies the back of the person to be treated and determines the meridian acupoints, the physiotherapy robotic arm 41 located at the rear of the seat body 50 drives the adjustment head assembly at its end to act on the different meridian acupoints identified on the back of the person to be treated, thereby realizing automated meridian adjustment.

[0031] like Figures 3-7As shown, in one specific embodiment, the treatment head assembly includes a mounting part 44, a rotating part 45, and a treatment head 42. The mounting part 44 is a hollow cuboid structure, and an oscillation adjustment motor 46 is provided on the mounting part 44. The rotating part 45 is a plate-shaped structure and is rotatably mounted on the mounting part 44. There are two rotating parts 45, which are located on the same side plate of the mounting part 44. The rotating fixed end of the rotating part 45 is connected to the output end of the oscillation adjustment motor 46. The free end of the rotating part 45 extends to the outside of the mounting part 44 and can rotate towards or away from each other under the drive of the oscillation adjustment motor 46. There are two treatment heads 42, which correspond one-to-one with the rotating parts 45. The treatment heads 42 are located at the free ends of the rotating parts 45, and the massage output end of the treatment head 42 is a massage head with a buffer.

[0032] In this embodiment, the swing adjustment motor 46 provided on the mounting part 44 cooperates with the rotating part 45 of the plate-shaped structure to form two rotating pairs on the mounting part 44, thereby realizing the swing of the two physiotherapy heads 42 on the mounting part 44. The setting of the rotating part 45 effectively increases the swing range of the physiotherapy heads 42, and can be used not only for the shoulders and neck of the person receiving physiotherapy, but also for the back, waist and other application scenarios that require a wider range of motion.

[0033] Preferably, the two therapy heads 42 rotate symmetrically on the mounting part 44.

[0034] The mounting part 44 is installed on the physiotherapy robotic arm 41, which further increases the range of use of the physiotherapy head 42 for meridian conditioning. The symmetrical arrangement of the two physiotherapy heads 42 improves the efficiency and range of meridian physiotherapy, and can massage the acupoints located on both sides of the back according to the different needs of the person receiving physiotherapy.

[0035] In one specific embodiment, the mounting part 44 has a cuboid structure, the plate surface of the rotating part 45 is in contact with the first plate surface of the mounting part 44, and can rotate on the surface where the first plate surface of the mounting part 44 is located. The physiotherapy head 42 is mounted on the plate surface of the rotating part 45, and the physiotherapy head 42 extends toward the surface opposite to the first plate surface of the mounting part 44.

[0036] In this embodiment, the rotating part 45 is in contact with the first plate surface of the mounting part 44, and the rotating part 45 swings within a certain angle while in contact with the first plate surface. The plate surface opposite to the first plate surface of the mounting part 44 is the second plate surface. The swing adjustment motor 46 is disposed on the second plate surface of the mounting part 44, and the physiotherapy head 42 is disposed on one side plate surface of the rotating part 45, and the physiotherapy head 42 is disposed facing the second plate surface of the mounting part 44.

[0037] In one specific embodiment, the heads of the two therapy heads 42 are tilted towards each other / away from each other on the mounting portion 44.

[0038] Specifically, such as Figure 4 , Figure 5 As shown, the angle between the axis of the therapy head 42 and the rotation plane of the rotating part 45 is γ.

[0039] Preferably, γ is [70°, 90°].

[0040] In this embodiment, the two therapy heads 42 are inclined towards or away from each other on the mounting part 44. Compared with two completely parallel therapy heads 42, the axial force of the vibrating part is reduced to a certain extent. The symmetrically distributed double therapy head structure also offsets part of the horizontal force, thereby reducing the impact force on the robotic arm and the mounting part 44 and reducing the vibration amplitude of the vibrating part. For detachable connection positions in the equipment, the reduced vibration amplitude can prevent structural loosening. For example, screw connections can prevent screws from loosening, extend the maintenance cycle of the equipment, and make the stress distribution of the whole machine more uniform, thus reasonably improving the service life of the meridian therapy equipment 1.

[0041] Preferably, the heads of the two therapy heads 42 are arranged facing each other on the mounting part 44.

[0042] When the heads of the two therapy heads 42 are set facing each other on the mounting part 44, the therapy head 42 is tilted towards the other side of the therapy head 42 in the direction of the vertical plate of the rotating part 45. When the two rotating parts 45 are rotated to the closest position, the massage positions of the two therapy heads 42 are in contact.

[0043] In this embodiment, when the rotating part 45 swings to the closest position, the two therapy heads 42 can no longer get closer. Since the two therapy heads 42 are set facing each other, the distance between the heads of the therapy heads 42 is smaller than the distance between the tails of the therapy heads 42 due to their tilt at a certain angle. This increases the versatility of the therapy with the two therapy heads 42 and ultimately achieves that the massage positions of the heads of the two therapy heads 42 are in close contact. For narrow and symmetrical human body parts, such as the neck and other areas that require symmetrical therapy, meridian regulation can still be performed well.

[0044] More preferably, the angle γ between the two treatment heads 42 and the rotation plane of the rotating part 45 is 75°.

[0045] The opposing tilted therapy heads 42, compared to completely parallel double heads, reduce the axial force of the vibrating parts, thereby reducing the impact force on the robotic arm and mounting part 44, reducing the vibration amplitude of the vibrating parts, so as to make the stress distribution of the whole machine more uniform and reasonably improve the service life of the equipment.

[0046] In one specific embodiment, the mounting part 44 has a transmission mechanism, which includes a driving gear 443 and a driven gear 444. The swing adjustment motor 46 is shaft-connected to the driving gear 443. The driving gear 443 meshes with the driven gear 444, and the driven gear 444 is shaft-connected to the rotating fixed end of its corresponding rotating part 45.

[0047] like Figure 7 As shown, in one specific embodiment, the mounting part 44 has a symmetrical cuboid structure. The output shaft of the swing adjustment motor 46 is connected to the driving gear 443. Due to the symmetrical swing of the dual therapy heads 42, the number of driven gears 444 is usually odd, with the rotating part 45 closer to the driving gear 443 having one less driven gear 444. Ultimately, two driven gears 444, symmetrical about the axis of the mounting part 44, are respectively shaft-connected to the rotating fixed ends of the two rotating parts 45.

[0048] like Figure 3 As shown, in one specific embodiment, the physiotherapy head 42 has a preset swing angle on the mounting part 44, the swing angle being β, where β is [30°, 90°].

[0049] Preferably, the swing angle of the physiotherapy head 42 on the mounting part 44 is 60°.

[0050] In one specific embodiment, such as Figure 3 As shown, the fixed end of the rotating part 45 is a small circular plate, and the free end of the rotating part 45 is a large circular plate. The fixed end and the free end are connected by a straight line, that is, the axis of the small diameter end of the rotating part 45 is connected to the output shaft of the swing adjustment motor 46. The large diameter end of the rotating part 45 is adapted to the rear structure of the physiotherapy head 42. The rotating part 45 is detachably connected to the physiotherapy head 42 in the large diameter section.

[0051] In this embodiment, the integrally molded mounting ear 441 and mounting part 44 ensure a simple and reliable structure, save costs, and are easy to manufacture. As for the mounting ear 441, which is detachably set on the mounting part 44, it is usually screwed to the mounting part 44. Those skilled in the art can use mounting ears 441 of different specifications to adapt to more models of physiotherapy robotic arms 41.

[0052] In one specific embodiment, the mounting part 44 is a cuboid box structure, and the mounting ear 441 is disposed on the first side of the mounting part 44. The part of the mounting ear 441 connected to the mounting part 44 is smoothly connected. The thickness of the mounting ear 441 is less than the thickness of the mounting part 44. The part of the mounting part 44 connected to the mounting ear 441 is recessed inward to form a notch. The notch and the mounting ear 441 together form a semi-enclosed limiting groove 442. The limiting groove 442 is adapted to the end contour of the physiotherapy robotic arm 41. The notch is the groove wall of the limiting groove 442, and the mounting ear 441 is the groove bottom of the limiting groove 442.

[0053] In this embodiment, the mounting ear 441 is located on the first side of the mounting portion 44. The position where the mounting ear 441 connects is recessed inward to form a notch. The notch of the mounting portion 44 faces the first side of the mounting portion 44, and the notch has an arc-shaped structure. The notch and the mounting ear 441 form a limiting groove 442. The arc-shaped structure of the notch in the mounting portion 44 serves as the semi-enclosed groove wall of the limiting groove 442, and the top surface of the mounting ear 441 serves as the bottom of the limiting groove 442. The mounting ear 441 is provided with a screw hole, preferably with a countersunk hole on the bottom surface of the mounting ear 441, through which it can be detachably connected to the physiotherapy robotic arm 41.

[0054] In one specific embodiment, the swing position of the physiotherapy head 42 is located on the second side opposite to the first side of the mounting part 44, and the swing adjustment motor 46 is disposed on the outer surface of the mounting part 44. The swing adjustment motor 46 and the rotating part 45 are disposed on the same side of the mounting part 44.

[0055] In this embodiment, the mounting ear 441 is located on the first side of the mounting part 44, and the swing position of the physiotherapy head 42 is located on the second side opposite to the first side of the mounting part 44. This arrangement means that the end of the physiotherapy robotic arm 41 is mounted to the first side of the mounting part 44, and the physiotherapy head 42 and the rotating part 45 are located on the second side opposite to the first side of the mounting part 44. This ensures that the swing position of the physiotherapy head 42 driven by the rotating part 45 is on both sides opposite to the physiotherapy robotic arm 41 of the mounting part 44, thus ensuring that the swing movement of the physiotherapy head 42 does not interfere with the movement position of the physiotherapy robotic arm 41.

[0056] In one specific embodiment, the therapy head 42 consists of a housing and a drive device and a massage head inside it. One end of the housing is open, the massage head is snapped into the opening of the housing, and the drive device is fixedly connected to the massage head.

[0057] Preferably, a heating device is also provided inside the housing, and the massage head has a heat-conducting component inside. The heat-conducting component is in contact with the heating device, and the heat generated by the heating device is conducted to the massage head through the heat-conducting component. In addition, the massage head itself is also made of heat-conducting material, so that it can effectively transfer heat to the area being treated during meridian therapy.

[0058] In one specific embodiment, the therapy head 42 includes a housing and a drive device, a massage head, and a heating device (not shown in the internal structure diagram of the therapy head). The housing has a bottle-shaped structure with a closed rear end and can be detachably installed to the free end of the rotating part 45. The front end of the housing is open and is snapped and fixed to the massage head. The drive device is a voice coil motor, which is located inside the rear end of the housing. The voice coil motor is fixedly connected to the massage head. The heating device is located inside the housing. The massage head has a heat-conducting element / the massage head is made of a heat-conducting material, and the heat from the heating device can be conducted to the massage head.

[0059] In this embodiment, the therapy head 42 of this application, such as Figure 6 As shown, due to its built-in voice coil motor and heating device, the treatment head 42, which is larger than the conventional size, has a longer lever arm, resulting in severe end-point swaying, large overturning moment, and stress concentration during use. However, by using two treatment heads 42 arranged in opposite directions, force decomposition and counteracting can reduce some of the lateral load on the treatment head 42, suppressing severe end-point swaying.

[0060] In one specific embodiment, the front and rear positions of the upper torso support 30 on the swing arm bracket 21 are adjustable. The upper torso support 30 includes a main support plate 33 and a chest support body 31 and a head support body 32 disposed thereon. The main support plate 33 is disposed on the swing arm bracket 21. The chest support body 31 is made of soft material and has a recessed structure 311 on its top surface, which is adapted to the chest structure of the person undergoing physiotherapy. The head support body 32 is made of soft material and has a ring-shaped structure. The head support body 32 is located in front of the chest support body 31.

[0061] In one specific embodiment, the upper torso support 30 is provided with arm support bodies 35 on both sides. The arm support bodies 35 have two arm placement platforms, which are located on both sides of the chest support body 31. The second plane where the arm placement platform is located has a preset angle with the first plane of the human upper torso that is in contact with the upper torso support 30. The arm support body 35 is fixedly connected to the swing arm bracket 21, that is, the position of the arm support body 35 is fixed.

[0062] like Figure 9 , Figure 10 As shown, in another embodiment, the arm support body 35 has two arm placement platforms, which are located on both sides of the chest support body 31. The arm support body 35 is fixedly connected to the upper torso support part 30, and the positions of the arm support body 35 and the upper torso support part 30 on the swing arm bracket 21 can be adjusted back and forth.

[0063] Specifically, the main support plate 33 extends to both sides with arm mounting side plates 332. The arm mounting side plates 332 are symmetrically arranged on both sides of the main support plate 33, typically with their surfaces perpendicular to the main support plate 33. There are two arm support bodies 35, each with an arm placement platform. Each arm support body 35 has a handle on its front side. The arm support body 35 can be detachably mounted on the arm mounting side plates 332, such as... Figure 10 As shown, the arm mounting side plate 332 has multiple mounting holes, and the arm mounting body 35 is adjustablely positioned on the arm mounting side plate 332, increasing the versatility of the arm support body 35. Alternatively, the arm mounting body 35 can be integrally formed on the arm mounting side plate 332, ensuring that the second plane of the arm mounting body 35 and the first plane of the chest support body 31 are at a suitable angle, simplifying the installation process while being adaptable to most people.

[0064] Furthermore, such as Figures 8-10 As shown, the upper torso support 30 includes a main support plate 33, a chest support body 31, a head support body 32, and a linear module 34. The chest support body 31 is made of soft material and is located on the top surface of the main support plate 33. The chest support body 31 has a cuboid structure and a recessed structure 311 at its top, which is adapted to the structure of the human chest. The head support body 32 is made of soft material and has a ring-shaped structure. It is located on the top surface of the main support plate 33 and is located in front of the chest support body 31. The linear module 34 has a slidable movable frame 341. The movable frame 341 is fixedly connected to the main support plate 33, and the sliding direction of the movable frame 341 is the straight line connecting the chest support body 31 and the head support body 32.

[0065] It needs to be clarified that the "front" and "forward" directions referred to in this article refer to the direction from the seat body 50 to the swing arm bracket 21, with the head support body 32 located in front of the chest support body 31; the "top" direction refers to the direction facing the concave arc surface of the recessed structure 311 on the chest support body 31. Alternatively, it can be understood that when the front of the upper body is in contact with the upper torso support 30, the direction from the chest to the head is the "front" direction, and the direction from the chest to the back is the "top" direction. Similarly, the "rear" direction referred to in this article is the direction from the swing arm bracket 21 to the seat body 50, and the direction from the back to the chest is the "bottom" direction.

[0066] It should also be noted that the anterior trunk support 30 is primarily intended for physiotherapy of the human back. During use, the chest support body 31 is typically placed at a certain angle, ensuring that the front of the upper body rests on the anterior trunk support 30. The specific angle of inclination of the chest support body 31 can be adjusted by those skilled in the art, as long as the person is in a comfortable position; this will not be elaborated upon here.

[0067] In this embodiment, by setting a chest support body 31 and a head support body 32 on the main support plate 33, the recessed structure 311 on the top surface of the chest support body 31 can limit the position of the human chest and fit well with the human chest. Together with the ring structure of the head support body 32, it can effectively support most of the front part of the upper body, ensuring that the human body does not shift during subsequent back physiotherapy and ensuring the accuracy of the meridian adjustment position.

[0068] Furthermore, such as Figures 11-13 As shown, a linear module 34 is also added at the bottom of the main support plate 33. The linear module 34 moves from the chest to the head, so that the chest support body 31 and the head support body 32 can be adjusted together to adapt to different body lengths and other human body contours. This avoids situations where the support is not properly adapted to the device, causing the body to be suspended and compressing the body during physiotherapy.

[0069] like Figure 9 As shown, in one specific embodiment, the chest support body 31 and the main support plate 33 are detachably connected, and the head support body 32 and the main support plate 33 are detachably connected.

[0070] In one specific embodiment, the chest support body 31 is connected to the main support plate 33 using Velcro, and the head support body 32 is connected to the main support plate 33 using Velcro. This arrangement allows for further fine-tuning of the relative positions of the chest support body 31 and the head support body 32, increasing the number of people that the upper torso support 30 can accommodate.

[0071] In another embodiment, the head support body 32 and the chest support body 31 are integrally formed. This integrally formed structure is connected to the main support plate 33 by Velcro. The integrally formed head support body 32 and chest support body 31 can reduce the number of production and installation steps.

[0072] In addition, the interior of the chest support body 31 and the head support body 32 is made of soft or flexible material, usually sponge or latex. The overall structure is covered with a protective cover. Although soft or flexible materials are used, it is still necessary to ensure that they have a certain degree of support. For example, the chest support body 31 can be made of hard sponge to ensure that the chest support body 31 has sufficient support. Similarly, the head support body 32 can also be made of hard sponge. The specific material selection will not be elaborated in this article.

[0073] like Figure 8 As shown, in one specific embodiment, the recessed structure 311 forms an upper recess 312 and a lower recess 313 on the front and rear edges of the top of the chest support body 31, respectively, with the opening length of the upper recess 312 being smaller than the opening length of the lower recess 313.

[0074] In this embodiment, the recessed structure 311 of the chest support body 31 is a concave arc surface structure. The upper recess 312 located at the front of the chest support body 31 is adapted to the shoulder and neck area of ​​the human body, and the lower recess 313 is adapted to the waist area of ​​the human body. The opening length of the upper recess 312 is smaller than the opening length of the lower recess 313, which is more in line with ergonomics, enhances the fit with the human body and the upper torso support part 30, and ensures the rationality of the design.

[0075] In one specific embodiment, the opening depth of the upper recess 312 is the same as the opening depth of the lower recess 313.

[0076] like Figure 10 As shown, in one specific embodiment, the chest support body 31 is a cuboid with a recessed structure 311 at the top, and a neck support platform 314 extends forward from the front of the chest support body 31. A head clearance groove 315 is provided on the front plate of the neck support platform 314.

[0077] In this embodiment, a neck support platform 314 extends forward from the front side of the chest support body 31. The height of the neck support platform 314 is consistent with the height of the front part of the chest support body 31, and the neck support platform 314 is smoothly connected to the chest support body 31, improving the integrity of the structure. Furthermore, a head clearance groove 315 is formed on the front surface of the neck support platform 314. The head clearance groove 315 is typically concave and generally conforms to the chin area of ​​the head. This increases support for the neck and further improves the comfort of the upper torso support 30.

[0078] Preferably, the top surface of the neck support 314 is smoothly connected to the concave arc surface of the recessed structure 311.

[0079] like Figure 8 , Figure 10As shown, in one specific embodiment, the recessed structure 311 forms two shoulder relief grooves 316 on the left and right sides of the top of the chest support body 31, respectively.

[0080] Specifically, the two shoulder relief grooves 316 are symmetrically arranged about the central axis of the chest support body 31.

[0081] In this embodiment, the shoulder clearance groove 316 is provided so that the shoulders and upper arms of the human body have a good placement position on the chest support body 31, fit more parts of the human body, and ensure the design rationality of the chest support body 31.

[0082] Preferably, the shoulder relief groove 316 has a concave arc surface inside. The width of the middle part of the shoulder relief groove 316 is greater than the width of the front and rear parts of the shoulder relief groove 316. The shoulder relief groove 316 with a concave arc surface has a wider width in the middle. That is, the middle part of the shoulder relief groove 316 is the deepest part of the groove. From the middle part of the shoulder relief groove 316 upwards and downwards, the depth of the groove gradually becomes shallower.

[0083] In one specific embodiment, the recessed structure 311 forms an upper recess 312 and a lower recess 313 on the front and rear edges of the top of the chest support body 31, respectively. The opening length of the upper recess 312 is less than the opening length of the lower recess 313. The recessed structure 311 forms two shoulder relief grooves 316 on the left and right sides of the top of the chest support body 31, respectively. The two shoulder relief grooves 316 are symmetrically arranged. The groove of the shoulder relief groove 316 is a concave arc surface, and the width of the middle part of the shoulder relief groove 316 is greater than the width of the front and rear parts.

[0084] In this embodiment, the specific shape of the recessed structure 311 can be understood as follows: a cylindrical structure with a shorter upper part and a longer lower part is cut out on the top end face of the cuboid chest support body 31. On this basis, two symmetrical shoulder relief grooves 316 are dug out on both sides, with the greatest depth in the middle and shallower depth at the top and bottom.

[0085] like Figure 9 As shown, in one specific embodiment, a head support plate 331 extends from the front of the main support plate 33. The head support plate 331 is fixedly connected to the main support plate 33 / is integrally formed. The head support plate 331 has a ring structure, which is adapted to the structure of the head support body 32. The head support plate 331 is located at the bottom of the head support body 32.

[0086] like Figure 13As shown, in one specific embodiment, the linear module 34 further includes a fixed frame 342, a chest frame drive unit 343, a gear 344, and a rack 345. The movable frame 341 includes a sliding fastener 3411 and a sliding cover 3412. The fixed frame 342 has a hollow cuboid structure. The sliding fastener 3411 is located inside the fixed frame 342 and forms a pull-out structure with the fixed frame 342. The rack 345 is mounted on the sliding fastener 3411. The chest frame drive unit 343 is disposed on the fixed frame 342, and its output shaft is connected to a gear 344 that meshes with the rack 345. The sliding cover 3412 is fixedly connected to the sliding fastener 3411 and covers the outside of the fixed frame 342.

[0087] More specifically, the bottom of the sliding fastener 3411 is provided with a limiting member 3413, which is in the shape of a "∏". The vertical lines on both sides are symmetrically arranged about the axis of the sliding fastener 3411's movement direction and are connected to the bottom of the sliding fastener 3411 through the top horizontal line structure of the limiting member 3413. The lower part of the fixed frame 342 is provided with a limiting opening that matches the limiting member 3413. When the sliding fastener 3411 slides, the front and rear ends of the limiting member 3413 can abut against the edge of the limiting opening, thus playing a limiting role.

[0088] Furthermore, the bottom of the limiting member 3413 is also provided with two mounting members 3414, which are symmetrically arranged about the central axis of the sliding fastener 3411 in the direction of movement. The mounting members 3414 are usually located on both sides of the limiting member 3413. The bottom of the fixed frame 342 is provided with a sliding groove that matches the mounting member 3414. When the sliding fastener 3411 slides, the mounting member 3414 moves back and forth with it. The mounting member 3414 is detachably connected to the main support plate 33 / arm mounting side plate.

[0089] like Figure 14 , Figure 15 As shown, in one specific embodiment, a leg support body 24 is also included. The leg support body 24 is made of soft material and is disposed on the swing arm bracket 21. The leg support body 24 is located below the upper torso support part 30. The leg support body 24 can fit against the legs of the person receiving physiotherapy under the drive of the front drive part 23.

[0090] The seat body 50 is mounted on the base 10, and its seat surface is at least tilted on the base 10. The seat body 50 in the tilted state cooperates with the leg support body 24 to fix the human leg.

[0091] In this embodiment, by connecting the front drive unit 23 to the free end or near the free end of the swing arm bracket 21, the swing arm bracket 21 can rotate within a preset angle. The leg support body 24 located on the swing arm bracket 21 can cooperate with the seat body 50 in an inclined state to provide support and limit the movement of the human leg. Furthermore, by adjusting the stroke length of the front drive unit 23, the swing arm bracket 21 can be positioned at different inclination angles to accommodate people of different heights. While ensuring crucial support, this, combined with the accompanying massage equipment, enhances the overall comfort of the therapeutic experience.

[0092] like Figure 15 As shown, it should be noted that the tilted seat body 50 can be a seat body 50 that can rotate to a certain angle, and the rotation can be achieved by driving the seat body 50 through a drive component; or it can be a fixed seat body 50 that has a tilt angle itself. When a person sits on it and holds the handle of the seat body 50, he / she waits for the swing arm bracket 21 located on the front side to rotate to a preset angle, thereby fixing the knees and / or legs of the person and realizing the function of fixing the person.

[0093] Specifically, the preset angle range for the swing arm bracket 21 to rotate is [45°, 80°]. The specific tilt angle of the seat body 50 that cooperates with it is not limited, but it usually does not have an excessive tilt angle, just enough to ensure that a person can hold on and will not slip off the seat body 50.

[0094] Furthermore, such as Figure 15 , Figure 16 As shown, in one specific embodiment, the swing arm bracket 21 includes a swing arm bracket 21 and a leg side support frame 22. The swing arm bracket 21 is a rod-shaped structure, usually made of metal. The fixed end of the swing arm bracket 21 is hinged to the base 10. The free end of the swing arm bracket 21 or a position near the free end is connected to the front drive unit 23. The leg side support frame 22 extends to both sides of the swing arm bracket 21, and the leg support body 24 is mounted on the leg side support frame 22.

[0095] In one specific embodiment, the position of the leg support body 24 is axially adjustable in the swing arm bracket 21.

[0096] In this embodiment, the leg side support frame 22 can be connected to the swing arm bracket 21 in various ways. A detachable connection is typically used. For example, the leg side support frame 22 can be screwed to the swing arm bracket 21; alternatively, grooves can be provided on both sides of the swing arm bracket 21, and corresponding sliding members matching these grooves can be provided on the leg side support frame 22. This allows the leg side support frame 22 to have a preset displacement on the swing arm bracket 21, and the limiting part restricts it to different positions, further adapting to people with different physical characteristics and increasing the adaptability range of the leg support.

[0097] In one specific embodiment, the swing arm bracket 21 is a rod-shaped structure, and the leg side support frame 22 is a plate-shaped structure horizontally arranged on the swing arm bracket 21, by setting a larger leg support body 24 on the leg side support frame 22. Alternatively, two leg side support frames 22 can be respectively arranged on both sides of the swing arm bracket 21, and two smaller leg support bodies 24 can be installed on the two leg side support frames 22.

[0098] Both of the above methods can adapt to the legs and knees of the human body. The difference lies in that the single plate-shaped leg side support frame 22 is easier to adjust in position on the swing arm bracket 21. However, by setting two leg side support frames 22 on both sides of the swing arm bracket 21, each leg side support frame 22 can be adjusted independently, making it more suitable for users with obvious leg length discrepancies or other related lower limb defects. This provides asymmetrical support for the two legs at different positions, increasing the overall adaptability of the leg support.

[0099] like Figure 16 As shown, in one specific embodiment, the leg support body 24 includes a calf buffer, and a spring 25 is installed between the bottom of the calf buffer and the swing arm bracket 21.

[0100] In this embodiment, the top surface of the knee buffer is the contact surface with the human knee, and a spring 25 is installed between the bottom of the knee buffer and the leg side support frame 22 to further improve the shock absorption performance.

[0101] Preferably, the spring 25 is mounted on the lower part of the calf buffer to ensure that the spring 25 can provide further upward support when the leg support body 24 is tilted.

[0102] In one specific embodiment, the middle section of the swing arm bracket 21 is provided with a bending section, which includes an upper bending section and a lower bending section, and the bending direction of the bending section is towards the side where the seat body 50 is not provided. The leg support body 24 includes a knee buffer and a calf buffer. The knee buffer is located at the upper bending section and the calf buffer is located at the lower bending section.

[0103] In this embodiment, a knee buffer is provided at the upper bend section and a calf buffer is provided at the lower bend section. More support points are added to the front of the swing arm bracket 21 to ensure that each buffer is in full contact with the front of the human lower limb, thus preventing the person receiving physiotherapy from slipping off the main body of the seat 50 due to vibration during physiotherapy and massage, thereby increasing the stability of the meridian physiotherapy device 1.

[0104] In one specific embodiment, the leg support body 24 is symmetrically arranged on both sides of the swing arm bracket 21.

[0105] In one specific embodiment, the middle portion of the leg support body 24 has a support structure, which is adapted to fit the gap between the human legs.

[0106] In one specific embodiment, the leg support body 24 is an integral structure with an internal sponge or latex material and an outer protective cover, which is attached to the leg side support frame 22 by Velcro. This facilitates the movement of the leg support body 24 without requiring a cumbersome disassembly and assembly process.

[0107] In one specific embodiment, the leg support body 24 is positioned at the same level as or slightly below the center of the seat body 50 in an inclined state.

[0108] In this embodiment, the leg support body 24 is slightly lower than the center of the seat body 50 in the tilted state, or the two are level, to at least ensure that the thigh and knee of the human body are level with each other or the knee is slightly lower than the thigh in the physiotherapy state. The design is reasonable and the support effect of the leg support body 24 is obvious.

[0109] like Figure 18 As shown, in one specific embodiment, a seat cushion 51 is provided on the seat surface of the seat body 50. The seat cushion 51 is made of soft material and is fixedly installed on the seat surface of the seat body 50. The front part of the seat cushion 51 is higher than the rear part of the seat cushion 51. The front part of the seat cushion 51 has a protrusion 52. When the seat surface of the seat body 50 is in a horizontal position, the highest point of the protrusion 52 is close to the front part of the seat cushion 51.

[0110] In another embodiment, a protrusion 52 is provided on the seat body 50. The protrusion 52 is integrally formed with the seat body 50. Both the seat body 50 and the protrusion 52 are made of rigid materials. When the seat surface of the seat body 50 is in a horizontal position, the highest position of the protrusion 52 is close to the front of the seat body 50. When the seat surface of the seat body 50 is tilted to a preset angle, the extended surface of the upper surface of the seat body 50 extending forward is basically parallel to the base 10.

[0111] It should be noted that the seat surface of the seat body 50 in this application usually maintains a certain tilt angle in actual use. The description of "when the seat surface of the seat body 50 is in a horizontal position" in this article is only used to more conveniently and intuitively describe the height difference between the protrusion 52 and the lowest position of the rear of the seat body 50 during production and processing.

[0112] In this embodiment, a protrusion 52 is provided at the front of the seat cushion 51. When the seat drive unit 59 is in the retracted state, the seat body 50 does not tilt forward or only tilts forward slightly, making it easy for the user to sit down. When the seat drive unit 59 extends outward to the extended state, the seat body 50 tilts forward more significantly. At this time, the protrusion 52 of the seat cushion 51 plays the role of supporting the front of the human thigh. Since the seat body 50 is tilted forward as a whole, the rear of the seat cushion 51 is also in a higher position. Together with the front human body support component, it achieves overall support for the human body.

[0113] In other words, the design of the seat cushion 51 is mainly to provide effective support for the front of the human thighs when the seat body 50 is tilted forward at a large angle during operation, thus preventing the human body from sliding off the seat.

[0114] Preferably, the swing arm bracket 21 and the seat body 50 are hinged to the same common rotation axis 55 on the base 10.

[0115] In this embodiment, by using a common rotating shaft 55 for the swing arm bracket 21 and seat body 50 which are hinged to different positions of the base 10, the structure of the rotating part is optimized, ensuring that the front and rear rotatable support devices can be used normally, while also reasonably saving manufacturing costs.

[0116] Furthermore, the seat body 50, tilted at a certain angle, works in conjunction with the upper torso support 30 located at the front to limit and fix the human body. Then, the meridian therapy head 42 located above the human back adjusts its position to begin the subsequent meridian therapy process. This article does not impose any limitations on the preset tilt angle of the seat body 50; this preset angle can be adjusted by the travel length of the seat drive unit 59. Those skilled in the art can choose a suitable travel length for the seat drive unit 59, as long as it ensures that the seat body 50 is easy for the user to sit on and will not slip during subsequent meridian therapy. Similarly, this article also does not impose any limitations on the preset tilt angle of the swing arm bracket 21; this angle can be adjusted by the travel length of the front drive unit 23.

[0117] Specifically, such as Figure 20 As shown, the meridian therapy device 1 is initially positioned such that the front drive unit 23 and the seat drive unit 59 are in a retracted state, and the maximum distance exists between the swing arm bracket 21 located on the front side and the seat body 50 located on the rear side. After the therapist sits down, the front drive unit 23 and the seat drive unit 59 begin to operate.

[0118] Furthermore, the front drive unit 23 can begin driving simultaneously with the seat drive unit 59, or the front drive unit 23 can begin driving first, followed by the seat drive unit 59. In other words, the rearward rotation of the swing arm bracket 21 can occur simultaneously with the forward rotation of the seat body 50; alternatively, the swing arm bracket 21 can reach the working position first, followed by the seat body 50. It is important to note that to prevent the person receiving treatment from slipping off the seat body 50, the seat body 50 cannot rotate first. At most, the swing arm bracket 21 and the seat body 50 can rotate together to ensure that the upper torso support unit 30 located on the swing arm bracket 21 can adequately support the upper torso during tilting.

[0119] Thus, as Figure 19 As shown, the front drive unit 23 and the seat drive unit 59 extend to their respective preset strokes and complete self-locking at these positions. The entire device is in working condition, and the therapist is relatively stably and firmly positioned between the upper torso support unit 30 and the seat body 50, ready to begin the subsequent meridian conditioning treatment.

[0120] The front drive unit 23 and the seat drive unit 59 can be controlled by an operating terminal 60, which is electrically connected to both units. Personnel can use the operating terminal 60 to adjust the specific angles of the swing arm bracket 21 and the seat body 50, ensuring that the person receiving physiotherapy is securely fixed while also in a comfortable position during treatment.

[0121] Preferably, the front drive unit 23 has a higher priority in performing drive actions, and the seat drive unit 59 cannot be adjusted before the front drive unit 23 starts to move. Setting the front drive unit 23 to have a higher priority avoids interference between the upper torso support unit 30, the seat body 50 and various parts of the human body when the swing arm bracket 21 and the seat body 50 rotate together, and reasonably avoids the danger of the device squeezing relevant parts of the human body when rotating.

[0122] like Figure 19 As shown, in one specific embodiment, when the distance between the swing arm bracket 21 and the seat body 50 is the shortest, the angle between the first plane of the human upper torso that is in contact with the upper torso support 30 and the seat surface of the seat body 50 is α, where α is [75°, 90°].

[0123] In one specific embodiment, the rotatable angle of the swing arm bracket 21 is greater than the rotatable angle of the seat body 50.

[0124] Preferred, such as Figure 19As shown, in one specific embodiment, the distance from the common rotating shaft 55 to the front drive unit 23 is A, and the distance from the common rotating shaft 55 to the seat drive unit 59 is B, where A < B.

[0125] In this embodiment, the rotatable angle of the swing arm bracket 21 is greater than that of the seat body 50. Since a person sits on the seat body 50, even if it rotates, it should remain within a reasonable range. The distance from the common rotation shaft 55 to the front drive unit 23 is short, allowing the front drive unit 23 to rotate the swing arm bracket 21 to a larger angle more quickly within a shorter drive stroke. Conversely, the distance from the seat body 50 to the common rotation shaft 55 is long, ensuring that the seat drive unit 59 completes the rotation of the seat body 50 more slowly within its drive stroke.

[0126] Preferably, the range of A:B is [1:3, 2:3].

[0127] In one specific embodiment, the hinge point between the swing arm bracket 21 and the base 10 is located at the middle of the common rotation axis 55.

[0128] In one specific embodiment, the seat body 50 has at least two front support legs 58. The front support legs 58 extend forward to an extension frame 53. The seat body 50 is hinged to the base 10 through the extension frame 53. The hinge point between the seat body 50 and the base 10 is located on both sides of a common rotation axis 55.

[0129] Furthermore, such as Figure 17 As shown, a reinforcing crossbeam 57 is provided between the two front support legs 58. The reinforcing crossbeam 57 can further strengthen the structural strength of the front support legs 58 and the extension frame 53, and improve the stability of the front side of the seat body 50 when the seat drive unit 59 rotates and adjusts at the rear of the seat body 50.

[0130] In one specific embodiment, the seat surface of the seat body 50 is perpendicular to the front support leg 58, and the seat surface of the seat body 50 is parallel to the extension frame 53.

[0131] In one specific embodiment, a footrest 54 is provided on the top of the extension frame 53, and the footrest 54 is provided with an anti-slip part. The rear side of the seat body 50 is not provided with a backrest, and armrests 56 are provided on both sides of the seat body 50.

[0132] In this embodiment, there are two footrests 54, which are respectively mounted on two extension frames 53. Typically, the two footrests 54 are symmetrically arranged, and the anti-slip parts on the footrests 54 have anti-slip textures. Armrests 56 are provided on both sides of the seat surface of the main seat 50. To facilitate seating, the armrests 56 only need to be positioned slightly higher than the seat surface. Furthermore, the rear of the seat surface of the main seat 50 does not have a backrest; the rear of the main seat 50 is an open structure to allow the meridian therapy device 1 to perform meridian therapy from the rear.

[0133] In addition, although there is no backrest at the rear of the seat body 50, a fall protection plate (not shown in the figure) can be installed at the rear of the seat body 50. If the user leans back subconsciously, the fall protection plate can hold the back or neck of the person to a certain extent, preventing the person from leaning back and causing danger.

[0134] Furthermore, in one specific embodiment, the seat drive unit 59 is connected to the bottom of the seat surface.

[0135] It should also be noted that this article does not impose any limitations on the preset tilt angle of the seat body 50. The preset angle can be adjusted by the travel length of the seat drive unit 59. Those skilled in the art can choose a seat drive unit 59 with a suitable travel length, as long as it is ensured that the seat body 50 is easy for the user to sit on and will not slip during subsequent meridian therapy.

[0136] like Figure 1 , Figure 2 Thus, this application discloses a meridian therapy device 1, including a base 10, and the following components mounted on the base 10: a swing arm bracket 21, a front drive unit 23, an upper torso support unit 30, an arm support body 35, a leg support body 24, a seat body 50, a seat drive unit 59, a therapy robotic arm 41, a therapy head 42, a camera 43, and an operating terminal 60.

[0137] Specifically, the base 10 is hinged to the fixed end of the swing arm bracket 21, and the front drive unit 23 is connected to the free end of the swing arm bracket 21, driving the swing arm bracket 21 to rotate within a certain angle. An upper torso support unit 30 is installed near the upper part of the swing arm bracket 21, and two arm support bodies 35 are installed on both sides of the upper torso support unit 30. A leg side support frame 22 is installed near the lower part of the swing arm bracket 21.

[0138] The chest support body 31 is mounted on the main support plate 33. The main support plate 33 extends forward to form a head support plate 331, which supports the head support body 32 from the bottom. The head support body 32 and the chest support body 31 are detachably connected / integratedly formed. The main support plate 33 extends to both sides to form arm mounting side plates 332, which are symmetrically arranged on both sides of the main support plate 33. The arm support body 35 has an arm placement groove, and there are two arm support bodies 35, which are detachably connected / integratedly formed on the left and right arm mounting side plates 332 respectively.

[0139] Furthermore, if the upper torso support 30 adopts an electrically driven adjustable method, that is, the upper torso support 30 has a linear module 34, then the operating terminal 60 is electrically connected to the chest frame drive unit 343, and the operator can adjust the upper torso support 30 to match the body contour of the person to be treated by adjusting the button.

[0140] Furthermore, the seat body 50 is hinged to the base 10, and the seat drive unit 59 is connected to the bottom of the seat body 50 to allow the seat body 50 to rotate within a specific angle. A therapeutic robotic arm 41 is located at the rear of the seat body 50, and a therapeutic head 42 is mounted at the end of the robotic arm 41. A camera 43 is mounted beside the therapeutic head 42, and the recognition range of the camera 43 includes at least the upper part of the seat body 50, i.e., the position of the human back. An operating terminal 60 is located on the upper torso support 30, and on the back side of the upper torso support 30. The operating terminal 60 is electrically connected to the front drive unit 23, the seat drive unit 59, and the camera 43.

[0141] The meridian therapy device 1 described above has at least two states: a normal placement state and a therapy and conditioning working state.

[0142] When in its normal placement state, the distance between the swing arm bracket 21 and the seat body 50 is relatively large, so that the person waiting for physiotherapy can enter the seat.

[0143] Once the person seeking physiotherapy is seated, the device enters the physiotherapy treatment state. The front drive unit 23 drives the swing arm bracket 21 to tilt backward at a certain angle, and the seat drive unit 59 drives the seat body 50 to tilt forward. During the tilting process of the seat body 50, the front of the upper body of the person seeking physiotherapy gradually comes into contact with the chest support body 31 and the head support body 32, while the front of the lower body rests on the leg support body 24, thus limiting the overall position of the human body and ensuring that the person seeking physiotherapy will not slip off the seat body 50.

[0144] In other words, if the body does not fit snugly against the aforementioned support components, technicians can drive the chest frame drive unit 343 within the linear module 34 to directly adjust the positions of the chest support body 31, head support body 32, and arm support body 35. The tilt angle of the swing arm bracket 21 can also be adjusted by adjusting the stroke of the front drive unit 23. Alternatively, the tilt angle of the seat body 50 can be adjusted by adjusting the stroke of the seat drive unit 59. The combination of these methods allows the meridian therapy device 1 to adapt to the body contours of most patients.

[0145] Furthermore, after the supporting components are aligned with the corresponding body parts of the person receiving treatment, the camera 43 scans the back of the person receiving treatment, identifies the corresponding meridian locations, and formulates a preset treatment trajectory based on the meridian locations. After the operator confirms the location using the operating terminal 60, the robotic arm 41 is driven to move to the initial position of the preset treatment trajectory, and the treatment head 42 located at the end of the robotic arm 41 begins to perform meridian treatment along the preset treatment trajectory.

[0146] like Figure 22 As shown, in one specific embodiment, a robotic arm mounting frame is also provided on the base 10, and a robotic arm control box 61 is provided on the side of the mounting frame. The mounting frame can be a column structure. An electrical control board 62 is also provided next to the mounting frame, and the main control module is provided on the electrical control board 62. An electrical control box 63 is also provided on the base 10, and is electrically connected to each electrical component through the electrical control box 63.

[0147] On the other hand, this application also discloses a meridian therapy method. Using the meridian therapy equipment described in any of the above embodiments, it further includes a main control module. The main control module is electrically connected to the front drive unit 23, the seat drive unit 59, the therapy robotic arm 41, the swing adjustment motor 46, the therapy head 42, and the camera 43. There are two therapy heads 42, symmetrically arranged on the robotic arm. The meridian therapy method is as follows: the front drive unit 23 is activated, the swing arm bracket 21 rotates to a first preset angle so that the upper torso support unit 30 can support the front of the upper torso of the person receiving therapy, and the seat is activated. Drive unit 59, seat body 50 rotates to the second preset angle, the back of the person to be treated is within the recognition range of camera 43, camera 43 recognizes the image of the back of the person to be treated and sends it to the main control module, the main control module processes and analyzes the image of the back of the person to be treated to obtain the coordinates of multiple meridian acupoints, the physiotherapy robotic arm 41 moves according to the coordinates of the meridian acupoints so that within the range of motion of the physiotherapy robotic arm 41, the head of the physiotherapy head 42 is closest to / directly contacts the meridian acupoint to be treated, and after each movement of the physiotherapy robotic arm 41, it stays for a preset time and starts the physiotherapy head 42.

[0148] The person awaiting treatment first sits on the seat body 50. The system is activated by the operator, or by the camera 43 identifying the approximate area of ​​the person on the seat body 50, or by a gravity sensor installed on the seat body 50, to determine that the person is seated and begin the treatment. The front drive unit 23 is activated to rotate the swing arm bracket 21 to a first preset angle; the seat drive unit 59 is activated to rotate the seat body 50 to a second preset angle. Each completion of one action by these two drive units is recorded as the initial posture adjustment.

[0149] Furthermore, camera 43 acquires an image of the back of the person to be treated. After analyzing the image, the main control module obtains the coordinates of multiple meridian acupoints on the back. The therapeutic robotic arm 41 moves according to the coordinates of the meridian acupoints. The dual therapeutic heads 42, symmetrically arranged at the end of the robotic arm, can usually act symmetrically on the symmetrical meridian acupoints on the back. However, due to the different distances between different meridian acupoints, the dual therapeutic heads 42 can sometimes directly contact the meridian acupoint to be treated. In this case, the treatment of that meridian acupoint can begin directly. Sometimes, however, they may not be able to reach the desired position directly. In this case, the therapeutic robotic arm 41 moves to the position where the head of the therapeutic head 42 is closest to the meridian acupoint to be treated. Then, by adjusting the movement of the swing adjustment motor 46, the therapeutic head 42 is rotated to the coordinate position of the meridian acupoint to be treated before the treatment of that meridian acupoint begins.

[0150] In one specific embodiment, in the step of the main control module processing and analyzing the back image of the person to be treated to obtain the coordinates of multiple meridian acupoints, the main control module sorts the coordinates of the multiple meridian acupoints according to the direction from top to bottom or bottom to top of the back of the person to be treated to obtain an ordered coordinate set, and the physiotherapy robotic arm 41 moves in sequence according to the ordered coordinate set.

[0151] In one specific embodiment, the physiotherapy robotic arm 41 is typically a three-axis robotic arm. After the physiotherapy robotic arm 41 moves, the main control module determines whether the physiotherapy head 42 can directly contact the meridian acupoint being treated. If it can directly contact the meridian acupoint being treated, the swing adjustment motor 46 does not work, and the physiotherapy robotic arm 41 directly begins the treatment action on the meridian acupoint after its movement. If it cannot directly contact the meridian acupoint being treated, the swing adjustment motor 46 drives the rotating part 45 to rotate a certain angle through the transmission component. The physiotherapy head 42, located at the free end of the rotating part 45, adjusts its position according to the point coordinates of the meridian acupoint being treated until the head of the physiotherapy head 42 directly contacts the meridian acupoint being treated.

[0152] In other words, one of the purposes of the rotating part 45 is to adjust the distance between the two therapy heads 42, so as to better adjust the spacing between the two therapy heads 42 during the treatment of different meridian acupoints. This setting allows the spacing between the two therapy heads 42 to be adjusted simultaneously with the movement of the robotic arm, ensuring that the movement of the device is continuous and uninterrupted during the treatment process, improving the efficiency of treating adjacent meridian acupoints, and reducing the time of device movement lag.

[0153] In one specific embodiment, during the initial posture adjustment step, the main control module simultaneously drives the front drive unit 23 and the seat drive unit 59, or the main control module first drives the front drive unit 23 until its movement ends, and then the main control module drives the seat drive unit 59 to start rotating.

[0154] Preferably, in the initial posture adjustment step, the main control module first activates the front drive unit 23. After the swing arm bracket 21 rotates to the first preset angle, the main control module activates the seat drive unit 59, and the seat body 50 rotates to the second preset angle. This ensures that the person receiving treatment has the support of the upper torso support unit 30 before the seat body 50 tilts and rotates. Furthermore, the seat body 50 moves after the upper torso support unit 30, preventing interference between limbs and the equipment during simultaneous movements and avoiding potential injury.

[0155] In one specific embodiment, the meridian therapy device also includes a side recognition lens, which is located at least on one side of the rotation plane of the seat body 50. After the front drive unit 23 rotates to a first preset angle and the seat body 50 rotates to a second preset angle, it is recorded as preliminary posture adjustment. After the preliminary posture adjustment is completed, the side recognition lens acquires the body posture information image of the person to be treated. The main control unit receives and analyzes the body posture information image to obtain the optimal posture angle. The main control module controls the front drive unit 23 and / or the seat drive unit 59 to adjust the person to be treated to the optimal posture angle, which is recorded as precise posture adjustment.

[0156] In one specific embodiment, after the precise posture adjustment is completed, the camera 43 directly identifies the optimal posture back image of the person to be treated.

[0157] In this embodiment, after the initial posture adjustment, in order to avoid the image recognized by the camera 43 not being the final position where the physiotherapist is adjusted to a more comfortable posture, the camera 43 acquires the optimal posture back image after the precise posture adjustment is completed and transmits it to the main control module, thus avoiding the main control module transmitting and analyzing a large amount of unnecessary image information.

[0158] It should also be noted that the camera 43 acquires images of the human back and collects three-dimensional body posture data of the person to be treated. The data is then transmitted to the main control module, which performs noise reduction and modeling on the data. The camera 43, in conjunction with the side recognition lens, identifies the body shape, back curve, and multiple meridian points of the person to be treated, and determines whether the person's body is located in the central area of ​​the camera 43. This step can be achieved by further adjusting the person's posture or by adjusting the camera's viewing angle within a controllable range.

[0159] Furthermore, a large-scale AI data model can be deployed locally. This model incorporates a standard human meridian database and compares personalized posture data collected by cameras 43 and side recognition lenses with the standard database. Combining this with the body type, height, and back posture characteristics of the person receiving treatment, it automatically matches and generates a personalized meridian conditioning path, determining the conditioning points, conditioning intensity, conditioning range, and conditioning parameters. Under normal circumstances, the parameters determined by the AI ​​should be confirmed by professionals in the field on the operating terminal. If any parameter problems are found, the incorrect parameters can be corrected in a timely manner through a human-in-the-loop approach. The AI ​​continuously learns and improves the local large-scale model based on the feedback it receives. Finally, the main control module converts the above parameters into robotic arm control commands.

[0160] In one specific embodiment, before the head of the physiotherapy head 42 reaches the meridian acupoint to be treated, the side recognition lens acquires an image of the physiotherapy point of action. The image of the physiotherapy point of action includes at least the angle range information between the axis of the physiotherapy head 42 and the upper torso of the human body. The main control module determines whether it is necessary to adjust the angle between the physiotherapy head 42 and the upper torso of the human body based on the angle range information.

[0161] In one specific embodiment, the body posture information image includes at least a first angle information, which is the angle between the human thigh and the horizontal axis, and a second angle information, which is the angle between the human torso and the vertical axis, with the adjustment priority decreasing sequentially. Based on the priority, the main control module adjusts the front drive unit 23 and / or the seat drive unit 59 according to the first angle information and the second angle information until the first angle information and the second angle information are both within the corresponding angle range.

[0162] It should be noted that the order of movement of the swing arm bracket 21 and the seat body 50 is reversed in the initial posture adjustment logic and the precise posture adjustment logic. In the initial posture adjustment, it is necessary to ensure that the upper torso support 30 can provide support for the human body first, and the movement should be performed first to avoid interference between the moving equipment and the human limbs; while in the precise posture adjustment, the human body should be seated in a more comfortable position first, so the seat body 50 should be adjusted first.

[0163] In this embodiment, the first angle information—the angle between the thigh and the horizontal axis—has a higher priority than the second angle information—the angle between the upper torso and the vertical axis. This can be understood as first ensuring the patient's posture and sitting angle are within a reasonable range; for example, the first angle information should typically be less than 30°. Then, the angle of the upper torso is adjusted via the front drive unit 23 to ensure the patient is in a comfortable position. Preferably, the second angle information should typically be less than 45°. It should be noted that for most patients with average body types, the above adjustment method can meet their primary needs.

[0164] In another specific embodiment, the body posture information image includes at least the first angle information between the upper torso and the thigh, the second angle information between the thigh and the horizontal axis, and the third angle information between the upper torso and the vertical axis, with the adjustment priority decreasing sequentially. The main control module adjusts the front drive unit 23 and / or the seat drive unit 59 based on the priority until the first angle information, the second angle information, and the third angle information are all within the preset angle range.

[0165] Furthermore, after the initial adjustment of the front drive unit 23 and / or the seat drive unit 59, the side recognition lens acquires the Nth body posture information image, where N is an integer greater than 2, obtaining the third angle information of the angle formed by the upper torso and the thigh. The main control module adjusts the front drive unit 23 and / or the seat drive unit 59 based on this third angle information. After this adjustment, the side recognition lens acquires an angle confirmation image. If the first, second, and third angle information are all within their corresponding angle ranges, subsequent steps are performed. If any one of the first, second, and third angle information is not within its corresponding angle range, the process repeats to acquire body posture information images and continues to adjust based on the current first, second, and third angle information. This continues until all three angle information are within their corresponding angle ranges.

[0166] It should be clarified that, under normal circumstances, after the initial adjustment based on the first angle information, the second angle information, or after the initial adjustment based on the first angle information, the patient will be within the corresponding angle range, thus satisfying the majority of patients seeking physiotherapy to be in a relatively comfortable posture. For the rare cases where the patient's body data is significantly different from that of ordinary people, multiple machine adjustments may be required. In such cases, skilled personnel in the art can operate the terminal 60 to directly adjust the front drive unit 23 and / or the seat drive unit 59 to achieve a relatively comfortable posture for the patient.

[0167] like Figure 23As shown, one of the preferred meridian therapy methods of this application is as follows: 1. Once the therapist is seated, a seating detection is triggered, and the main control module determines that the meridian therapy work should begin.

[0168] 2. Begin initial posture adjustment. First, activate the front drive unit 23 to rotate the swing arm bracket 21 to the first preset angle, and then drive the seat drive unit 59 to rotate the seat body 50 to the second preset angle.

[0169] 3. The side recognition lens captures images of the body posture of the person undergoing physiotherapy. The main control module receives and analyzes the image and calculates the optimal posture angle.

[0170] 4. Initiate precise attitude adjustment according to priority. (1) First, determine whether the first angle information between the seat body 50 and the horizontal axis is within the corresponding angle range. If it is not within the corresponding angle range, the seat drive unit 59 drives the seat body 50 to adjust to the angle range.

[0171] (2) Next, determine whether the second angle information between the upper torso of the human body and the vertical axis is within the corresponding angle range. If it is not within the corresponding angle range, the front drive unit 23 drives the swing bracket to adjust to the angle range.

[0172] (3) Based on the position after precise posture adjustment, the staff in the field further judge whether the person to be treated is in a more comfortable state and whether it is necessary to manually readjust the front drive unit 23 and / or the seat drive unit 59.

[0173] 5. Camera 43 captures images of the back of the person receiving physiotherapy. The main control module extracts multiple meridian acupoints from the captured images and converts them into point coordinates of the meridian acupoints. The point coordinates of the multiple meridian acupoints are sorted according to the direction from top to bottom or bottom to top of the back of the human body to generate an ordered coordinate set.

[0174] 6. The physiotherapy robotic arm 41 moves sequentially according to an ordered coordinate set.

[0175] 7. Before the physiotherapy robotic arm 41 reaches the meridian acupoint to be treated, the main control module determines whether the physiotherapy head 42 can directly contact the meridian acupoint to be treated.

[0176] If the head of the physiotherapy head 42 can directly contact the acupoint, the physiotherapy robotic arm 41 will stay at the position for a preset time to complete the treatment of the current acupoint. If the treatment head 42 cannot directly contact the acupoint, the swing adjustment motor 46 is activated. The swing adjustment motor 46 drives the rotating part 45 through the transmission component to further adjust the position and angle of the treatment head 42 until the head of the treatment head 42 can directly contact the acupoint, thus completing the treatment of the current acupoint.

[0177] 8. Until the coordinates of the last meridian acupoint in the ordered coordinate set are completed, the main control module controls the physiotherapy robotic arm 41 to perform cyclic physiotherapy according to the order of the ordered coordinate set, or resets the relevant components in the meridian physiotherapy device 1 to end the physiotherapy work.

[0178] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A meridian therapy device, characterized in that, It includes a base, a swing arm bracket, a front drive unit, an upper torso support unit, a seat body, a seat drive unit, a physiotherapy robotic arm, a treatment head assembly, and a camera; The swing arm bracket has a rod-shaped structure, with the fixed end of the swing arm bracket hinged to the base and the other end of the swing arm bracket being a free end; The front drive unit is disposed on the base, and the front drive unit can drive the free end of the swing arm bracket to rotate. The upper torso support is made of soft material and is mounted on the swing arm bracket. The upper torso support can fit against the front of the upper torso of the person receiving physiotherapy. The front side of the seat body is hinged to the base, the seat body is located at the rear side of the swing arm bracket, and the seat surface of the seat body has at least an inclined state on the base; The seat drive unit is disposed on the base and is connected to the rear side of the seat body, driving the seat body to rotate; The therapeutic robotic arm is located on the rear side of the main body of the seat, and the adjustment head assembly is installed at its end. The adjustment head assembly has a swing adjustment motor that can drive the therapeutic head to rotate within a certain range. The camera is located next to the physiotherapy head and is capable of identifying a preset area above the main body of the seat.

2. The meridian therapy device according to claim 1, characterized in that, The conditioning head assembly includes a mounting part and a rotating part; The mounting part is a hollow cuboid structure, and the swing adjustment motor is mounted on the mounting part; The rotating part is a plate-shaped structure and is rotatably mounted on the mounting part. There are two rotating parts, which are mounted on the same side plate of the mounting part. The rotating fixed end of the rotating part is connected to the output end of the swing adjustment motor. The free end of the rotating part extends to the outside of the mounting part. The free end of the rotating part can rotate towards or away from each other under the drive of the swing adjustment motor. The number of therapeutic heads is two, corresponding one-to-one with the rotating part. The therapeutic heads are located at the free end of the rotating part, and the massage output end of the therapeutic heads is a massage head with a buffer part.

3. The meridian therapy device according to claim 1, characterized in that, The upper torso support is adjustable in the front and rear positions on the swing arm bracket. The upper torso support includes a main support plate and a chest support body and a head support body disposed thereon. The main support plate is mounted on the swing arm bracket; The main body of the chest support is made of soft material, and its top surface has a recessed structure that is adapted to the chest structure of the person undergoing physiotherapy. The head support body is made of soft material, has a ring-shaped structure, and is located in front of the chest support body.

4. A meridian therapy method, characterized in that, The meridian therapy device according to any one of claims 1-3 includes two therapy heads symmetrically arranged on the robotic arm; it also includes a main control module, which is electrically connected to the front drive unit, the seat drive unit, the therapy robotic arm, the swing adjustment motor, the therapy head and the camera respectively. The meridian therapy method includes: activating the front drive unit, rotating the swing arm bracket to a first preset angle so that the upper torso support unit can support the front of the upper torso of the person to be treated; activating the seat drive unit, rotating the seat body to a second preset angle, so that the back of the person to be treated is within the recognition range of the camera; after the front drive unit rotates to the first preset angle and the seat body rotates to the second preset angle, this is recorded as the initial posture adjustment. The camera identifies the back image of the person undergoing physiotherapy and sends it to the main control module. The main control module processes and analyzes the back image of the person undergoing physiotherapy to obtain the coordinates of multiple meridian acupoints. The therapeutic robotic arm moves according to the coordinates of the meridian acupoints so that within the range of motion of the therapeutic robotic arm, the head of the therapeutic head is closest to / directly contacts the meridian acupoints to be treated, and the therapeutic robotic arm pauses for a preset time after each movement; Activate the therapy head.

5. The meridian therapy method according to claim 4, characterized in that, In the step of the main control module processing and analyzing the back image of the person to be treated to obtain the coordinates of multiple meridian acupoints, the main control module sorts the coordinates of the multiple meridian acupoints according to the direction of the back of the person to be treated from top to bottom or from bottom to top to obtain an ordered coordinate set. The physiotherapy robotic arm moves sequentially according to the ordered coordinate set.

6. The meridian therapy method according to claim 4, characterized in that, After the movement of the physiotherapy robotic arm, the main control module determines whether the physiotherapy head can directly contact the meridian acupoints being treated; If the acupoints to be treated can be directly contacted, the swing adjustment motor will not work; If the acupoint to be treated cannot be directly contacted, the swing adjustment motor is activated, and the position of the treatment head is adjusted according to the coordinates of the acupoint to be treated until the head of the treatment head directly contacts the acupoint.

7. The meridian therapy method according to any one of claims 4-6, characterized in that, In the initial posture adjustment step, the main control module simultaneously drives the front drive unit and the seat drive unit; or the main control module first drives the front drive unit until its action ends, and then drives the seat drive unit.

8. The meridian therapy method according to any one of claims 4-6, characterized in that, The meridian therapy device also includes a side recognition camera, which is located at least on one side of the rotating plane of the seat body; After the front drive unit rotates to the first preset angle and the seat body rotates to the second preset angle, it is recorded as the initial posture adjustment; After the initial posture adjustment is completed, the side recognition lens acquires the body posture information image of the person to be treated. The main control unit receives and analyzes the body posture information image to obtain the optimal posture angle. The main control module controls the front drive unit and / or the seat drive unit to adjust the person to be treated to the optimal posture angle, which is recorded as precise posture adjustment.

9. The meridian therapy method according to claim 8, characterized in that, After the precise posture adjustment is completed, the camera directly identifies the optimal posture back image of the person undergoing physiotherapy.

10. The meridian therapy method according to any one of claims 4-6, characterized in that, Before the head of the physiotherapy head reaches the meridian acupoint to be treated, the side recognition lens acquires an image of the physiotherapy point of action. The image of the physiotherapy point of action includes at least the angle range information between the axis of the physiotherapy head and the upper torso of the human body. The main control module determines whether it is necessary to adjust the angle between the physiotherapy head and the upper torso of the human body based on the angle range information.

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