Acupuncture point physiotherapy robot capable of rapidly switching tail end therapeutic apparatus

Abstract

The utility model discloses an acupoint physiotherapy robot capable of rapidly switching a tail end therapeutic instrument, which comprises a base, the base is connected with the fixed end of a lifting mechanism, the lifting end of the lifting mechanism is fixedly connected and linked with a physiotherapy bed frame, a movable arm connecting mechanism is installed on one side of the bed frame through a screw, one side of the connecting mechanism is connected with a first movable arm, and the other side of the connecting mechanism is connected with a second movable arm. The first movable arm is connected with the display through a movable connecting assembly; the top surface of the connecting mechanism is connected with a second movable arm, and the front end of the second movable arm is connected with the physiotherapy execution tail end; image information collected by the binocular camera is processed and analyzed to obtain the position of a target acupuncture point, then the joint movement angle is transmitted to the robot control cabinet, movement control over the robot body is achieved, the tail end therapeutic apparatus can be rapidly switched under the condition that the treatment process is not interrupted, and the treatment efficiency is improved. And the efficiency and the continuity of acupoint physiotherapy are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of physiotherapy robots, in particular to an acupoint physiotherapy robot capable of quickly switching terminal therapeutic instruments. Background Art

[0002] Acupoint therapy, as a traditional treatment method, is still widely used in modern medicine. However, traditional acupoint therapy has certain limitations. The existing acupoint therapy robots need to manually replace the treatment instrument when performing terminal acupoint therapy, which leads to discontinuous treatment process and additional manpower consumption. This method has problems such as low efficiency, interrupted treatment process, and poor patient experience. Summary of the invention

[0003] In order to solve the above-mentioned technical problems, the utility model provides an acupoint therapy robot capable of quickly switching terminal therapeutic instruments.

[0004] The technical solution of the utility model is achieved in this way:

[0005] The utility model discloses an acupoint therapy robot with a fast switching terminal therapeutic device, comprising a base, wherein the base is connected to a fixed end of a lifting mechanism, the lifting end of the lifting mechanism is fixedly connected and linked to a therapy bed frame, a movable arm connection mechanism is installed on a screw rod on one side of the bed frame, one side of the connection mechanism is connected to a first movable arm, and the first movable arm is connected to a display through a movable connection component; a second movable arm is connected to the top surface of the connection mechanism, and a front end of the second movable arm is connected to a therapy execution terminal.

[0006] The bottom of the second movable arm is connected with a turntable, the turntable is connected with a T-shaped support frame, and the T-shaped support frame is connected with a connecting mechanism.

[0007] The connecting mechanism comprises a connecting plate and a side mounting plate mounted on the side of the connecting plate, and the first movable arm is connected to the side mounting plate.

[0008] The second movable arm includes a supporting arm and a working arm connected to the supporting arm through a mechanical arm joint, and the working arm is connected to the physical therapy execution terminal through the mechanical arm joint.

[0009] The lifting mechanism comprises a plurality of telescopic devices, each of which comprises a telescopic arm and a fixed arm, and the movement of the telescopic device is controlled by a cylinder.

[0010] The lifting mechanism is provided with at least four groups of telescopic devices, and every two groups are connected by connecting frames, and the connecting frames are sleeved on the outer edge of the fixed arm.

[0011] The control box also contains a high-performance computer as a control center.

[0012] The physiotherapy execution end includes a flange connected to the working arm, a fixing part connected to the flange, and a suction device connected to the fixing part. The suction device includes a wavy card groove arranged on the periphery, an electromagnetic suction head arranged on the inner circle, and a pin arranged in the middle.

[0013] The physiotherapy execution end also includes a physiotherapy head. There is at least one physiotherapy head, including a passive finger pressure head, an elbow pressure head, an active ultrasonic instrument, a radio frequency instrument, and a magnetic shock wave instrument. The physiotherapy head is provided with a magnetic suction station connected to the electromagnetic suction head, and a pin hole connected to the pin.

[0014] A control box is placed on one side of the bed frame, and a high-performance computer is also housed in the control box, serving as a control center.

[0015] The connecting mechanism is also provided with a camera bracket, and a binocular camera is installed at the bottom of the end of the camera bracket.

[0016] The image information collected by the binocular camera of the utility model is processed and analyzed by the control center to obtain the target acupoint position, and the joint movement angle is transmitted to the robot control cabinet. The robot control cabinet drives the robot body to move according to the received control signal and performs acupoint treatment operations. The three-dimensional mechanical sensor, temperature sensor and distance sensor provide real-time treatment parameter feedback, and closed-loop control is performed through the control center to ensure the comfort and safety of the treatment. Finally, the display serves as a human-computer interaction interface, displays the information of the control system and accepts the instructions of the operator.

[0017] Beneficial effects of the utility model:

[0018] The utility model realizes the function of quickly switching the terminal therapeutic instrument. Through the coordination of the robot control center, the image information collected by the binocular camera is processed and analyzed to obtain the target acupoint position, and then the joint movement angle is transmitted to the control center to realize the motion control of the robot body. The terminal therapeutic instrument can be quickly switched without interrupting the treatment process, thereby improving the efficiency and continuity of acupoint therapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the utility model.

[0020] Figure 2 It is a side view of the utility model.

[0021] Figure 3 yes Figure 1 A partial enlarged view of middle A.

[0022] Figure 4 yes Figure 1 A partial enlarged view of B.

[0023] Figure 5 It is a structural schematic diagram of the physical therapy execution terminal of the utility model.

[0024] In the figure, 1-base; 2-lifting mechanism; 3-bed frame; 4-movable arm connecting mechanism; 5-first movable arm; 6-second movable arm; 7-movable connecting assembly; 8-physiotherapy execution terminal; 9-binocular camera; 10-physiotherapy head; 11-support arm; 12-working arm; 13-mechanical arm joint; 14-side mounting plate; 15-display; 16-flange; 17-wavy card slot; 18-pin; 19-electromagnetic suction head; 20-physiotherapy head; 21-turntable; 22-T-type support frame; 23-magnetic suction station; 24-pin hole; 25-telescopic arm; 26-fixed arm; 27-connecting frame; 28-camera bracket; 29-fixing part. DETAILED DESCRIPTION

[0025] like Figure 1-Figure 5 As shown, the utility model is an acupoint therapy robot with a fast switching terminal therapeutic device, comprising a base 1, the top surface of the base 1 is connected to the fixed end of the lifting mechanism 2, the lifting end of the lifting mechanism 2 is fixedly connected and linked to the therapy bed frame 3, a movable arm connecting mechanism 4 is installed on one side of the bed frame 3 with a screw, one side of the connecting mechanism is connected to the first movable arm 5, and the first movable arm 5 is connected to the display through a movable connecting component 7; the top surface of the connecting mechanism is connected to the second movable arm 6, and the front end of the second movable arm 6 is connected to the therapy execution terminal 8.

[0026] The bottom of the second movable arm 6 is connected with a turntable 21, the turntable 21 is connected with a T-shaped support frame 22, and the T-shaped support frame 22 is connected with a connecting mechanism.

[0027] The connecting mechanism comprises a connecting plate and a side mounting plate 14 mounted on the side of the connecting plate, and the first movable arm 5 is connected to the side mounting plate 14 .

[0028] The second movable arm 6 includes a supporting arm 11 and a working arm 12 connected to the supporting arm 11 via a mechanical arm joint, and the working arm 12 is connected to the physical therapy execution terminal 8 via the mechanical arm joint.

[0029] The lifting mechanism 2 includes a plurality of telescopic devices, each of which includes a telescopic arm 25 and a fixed arm 26, and the movement of the telescopic device is controlled by a cylinder.

[0030] A control box 20 is placed on one side of the bed frame 3, and a high-performance computer is also housed in the control box 20, serving as a control center.

[0031] The lifting mechanism is provided with at least four groups of telescopic devices, and every two groups are connected by connecting frames 27, and the connecting frames 27 are sleeved on the outer edge of the fixed arm.

[0032] The physiotherapy execution end 8 includes a flange 16 connected to the working arm 12, a fixing part 29 connected to the flange 16, and a suction device connected to the fixing part 29. The suction device includes a wavy card groove 17 arranged on the periphery, an electromagnetic suction head 19 arranged on the inner circle, and a pin 18 arranged in the middle.

[0033] The physiotherapy execution terminal 8 also includes a physiotherapy head 10, and there is at least one physiotherapy head 10, including one or more of a passive finger pressure head, an elbow pressure head, an active ultrasonic device, a radio frequency device, and a magnetic shock wave device. The physiotherapy head 10 is provided with a magnetic suction station 23 connected to the electromagnetic suction head 19, and a pin hole 24 connected to the pin 18.

[0034] The connecting mechanism is also provided with a camera bracket 28 , and a binocular camera 9 is installed at the bottom of the end of the camera bracket 28 .

[0035] In the present invention, the first movable arm 5 and the second movable arm 6 are both prior art.

[0036] In the present invention, the physiotherapy heads 10 are uniformly stored on one side of the physiotherapy bed frame 3 , so that the second movable arm 6 can be easily accessed.

[0037] Working process:

[0038] The utility model processes the image information collected by the binocular camera 9 through the computer of the control cabinet to obtain the position of the target acupuncture points. The position information will be used for subsequent motion planning and control. The control center calculates the joint movement angle according to the target acupuncture point position, transmits these control signals to the robot, and drives the robot body to move; the robot is a first movable arm 5 and a second movable arm 6 component and a physical therapy execution terminal 8.

[0039] The robot body moves according to the control signal, accurately positions the terminal treatment instrument to the target acupoint, and performs corresponding acupoint treatment operations, such as massage, stimulation, etc., and can quickly switch the terminal treatment instrument without interrupting the treatment process, thereby improving the efficiency and continuity of acupoint therapy. The robot body monitors the contact force, temperature, spatial distance and other parameters between the terminal actuator and the human body in real time through three-dimensional mechanical sensors, temperature sensors and distance sensors, and feeds back the data provided by these sensors to the control center. Through closed-loop control, the control center adjusts the treatment according to the measured parameter data to ensure the comfort and safety of the treatment. The display 15 displays the information of the control system and accepts the instructions of the operator. The operator completes the operation of the entire control system and device through the touch screen, including starting / stopping treatment, adjusting movement speed and intensity, etc.

Claims

1. An acupoint therapy robot with a fast switching terminal therapeutic device, characterized in that: The invention comprises a base (1), the top surface of the base (1) is connected to the fixed end of a lifting mechanism (2), the lifting end of the lifting mechanism (2) is fixedly connected and linked to a physiotherapy bed frame (3), a screw rod on one side of the bed frame (3) is installed with a movable arm connecting mechanism (4), one side of the connecting mechanism is connected to a first movable arm (5), and the first movable arm (5) is connected to a display (15) through a movable connecting component (7); the top surface of the connecting mechanism is connected to a second movable arm (6), and the front end of the second movable arm (6) is connected to a physiotherapy execution end (8); The physiotherapy execution end (8) comprises a flange (16) connected to the working arm (12), a fixing member (29) connected to the flange (16), and a suction device connected to the fixing member (29), wherein the suction device comprises a wave-shaped card slot (17) arranged on the periphery, an electromagnetic suction head (19) arranged on the inner circle, and a pin (18) arranged in the middle; The physiotherapy execution terminal (8) also includes a physiotherapy head (10), and the physiotherapy head (10) has at least one, including a passive finger pressure head, an elbow pressure head, an active ultrasonic instrument, a radio frequency instrument, and a magnetic shock wave instrument. The physiotherapy head (10) is provided with a magnetic suction station (23) connected to the electromagnetic suction head (19), and a pin hole (24) connected to the pin (18).

2. According to claim 1, the acupoint therapy robot with a fast switching terminal therapeutic device is characterized in that: The bottom of the second movable arm (6) is connected to a turntable (21), the turntable (21) is connected to a T-shaped support frame (22), and the T-shaped support frame (22) is connected to a connecting mechanism.

3. The acupoint therapy robot with a fast switching terminal therapeutic device according to claim 1, characterized in that: The connecting mechanism comprises a connecting plate and a side mounting plate (14) mounted on the side of the connecting plate, and the first movable arm (5) is connected to the side mounting plate (14).

4. The acupoint therapy robot with a fast switching terminal therapeutic device according to claim 1, characterized in that: The second movable arm (6) comprises a support arm (11) and a working arm (12) connected to the support arm (11) via a mechanical arm joint (13); the working arm (12) is connected to the physiotherapy execution terminal (8) via the mechanical arm joint.

5. The acupoint therapy robot with fast switching terminal therapeutic apparatus according to claim 1, characterized in that: The lifting mechanism (2) comprises a plurality of telescopic devices, each of which comprises a telescopic arm and a fixed arm (26). The movement of the telescopic device is controlled by a cylinder.

6. The acupoint therapy robot with a fast switching terminal therapeutic device according to claim 1 or 5, characterized in that: The lifting mechanism (2) is provided with at least four groups of telescopic devices, and every two groups are connected by connecting frames (27), and the connecting frames (27) are sleeved on the outer edge of the fixed arm (26).

7. The acupoint therapy robot with a fast switching terminal therapeutic device according to claim 1, characterized in that: A control box (20) is placed on one side of the bed frame (3), and a high-performance computer is also housed in the control box (20) as a control center.

8. The acupoint therapy robot with fast switching terminal therapeutic device according to claim 1, characterized in that: The connecting mechanism is also provided with a camera bracket (28), and a binocular camera (9) is installed at the bottom of the end of the camera bracket (28).

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