Novel hollow object-carrying integrated platform at tail end of physiotherapy manipulator

Abstract

The utility model relates to a novel physical therapy mechanical arm tail end hollow type object carrying integrated platform, and belongs to the technical field of human body services. Comprising an over-force bouncing-off protection assembly, the over-force bouncing-off protection assembly comprises an over-force bouncing-off sliding sleeve and a mounting base which are movably connected, and the inner and outer sliding contact surfaces of the over-force bouncing-off sliding sleeve and the mounting base are provided with safety assemblies for providing pre-abutting force for overload protection; the mounting bracket is provided with an interface for connecting the corresponding controllable operation platform; and the force sensing assembly comprises a force sensor, and the force sensor is arranged between the mounting base and the mounting bracket. By arranging the force sensing assembly, the magnitude and the direction of generated contact force can be accurately detected, and when the contact force borne by the over-force bouncing-off protection assembly is too large, the over-force bouncing-off protection assembly enables the over-force bouncing-off sliding sleeve and the installation base to be disengaged from contact, overload protection is completed, and the overall safety is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of human body services, in particular to a novel hollow loading integrated platform at the end of a physiotherapy manipulator. Background Art

[0002] When the existing physiotherapy manipulators are performing massage or shock wave therapy, the human body contact force detection mostly only detects the size of the upward one-dimensional force, and cannot sense the tilt state of the force, that is, it cannot sense and detect the force posture of the end of the manipulator contacting the human body, and cannot provide more complete physiotherapy services accordingly. If a multi-dimensional force sensor solution is used, the cost will be very high. When the existing massage therapy manipulators come into contact with the human body, if an abnormal state occurs, such as pressing down on the human body all the time, it will cause harm to the human body, or if the human body is pressed and stopped, it will be difficult for the human body to move away, posing a safety risk. At the same time, the physiotherapy equipment of the physiotherapy robot, such as the shock wave physiotherapy instrument and the life meridian instrument, are generally installed by fastening the mounting frame with screws, which are difficult to quickly disassemble and replace, and inconvenient to maintain.

[0003] Therefore, a new type of hollow load-carrying integrated platform at the end of a physiotherapy manipulator is needed. This platform can quickly disassemble and replace the intermediate physiotherapy equipment, can detect the inclination state of the force at a low cost, and has a pure mechanical protection function that can automatically pop open when the force in contact with the human body is greater than the set value. Utility Model Content

[0004] 1. Technical problems to be solved by the utility model

[0005] The utility model aims to solve the problems that the existing massage therapy machines have single functions, lack of safety guarantee mechanisms and are difficult to effectively detect contact forces.

[0006] 2. Technical solution

[0007] In order to achieve the above-mentioned purpose, the technical solution provided by the utility model is:

[0008] The utility model discloses a novel hollow loading integrated platform at the end of a physiotherapy manipulator, comprising:

[0009] An over-force spring-out protection component, the over-force spring-out protection component comprises an over-force spring-out sleeve and a mounting base that are movably connected, and the inner and outer sliding contact surfaces of the over-force spring-out sleeve and the mounting base are provided with a safety component that provides a pre-contact force for overload protection;

[0010] A mounting bracket, wherein the mounting bracket is provided with an interface for connecting to a corresponding controllable operation platform;

[0011] A force sensing assembly, the force sensing assembly comprising a force sensor, the force sensor being disposed between a mounting base and a mounting bracket;

[0012] A quick-release assembly for connecting a physical therapy device; the quick-release assembly, an over-force elastic release protection assembly and a hollow area of ​​a mounting bracket are interconnected and clamp and fix the physical therapy device.

[0013] Preferably, the force sensing components are provided with three or more, the lower ends of the force sensing components are installed on the mounting bracket evenly distributed along the circumference, the upper ends of the force sensors are finally connected to the physical therapy device through the intermediate components, and when the force at the contact point between the physical therapy device and the human body is tilted in direction, the different force values ​​of each sensor force sensor can be used to calculate the force tilt angle.

[0014] Preferably, the measuring direction of the force sensor is consistent with the relative slight movement direction of the mounting base and the mounting bracket, and the relative slight movement of the mounting base and the mounting bracket causes the force sensor to press against and measure the mounting bracket.

[0015] Preferably, the force sensing assembly includes a force sensor and a movable connecting piece mounted on the outside of the force sensor, the two ends of the movable connecting piece are respectively connected to the mounting base and the mounting bracket, the movable direction of the movable connecting piece is consistent with the measuring direction of the force sensor and the relative slight movement direction of the mounting base and the mounting bracket, and the relative slight movement of the mounting base and the mounting bracket drives the force sensor in the movable connecting piece and the mounting bracket to pull and compress and measure.

[0016] Preferably, the movable connecting part includes a sensor guide sleeve and a sensor guide shaft arranged in the sensor guide sleeve, the sensor guide shaft includes a cylindrical connecting part 1 and a cylindrical connecting part 2 which are connected to each other, the cylindrical connecting part 1 is provided with an internal threaded hole at one end away from the cylindrical connecting part 2, and the top external threaded shaft of the force sensor is matched and connected with the internal threaded hole.

[0017] Preferably, the sensor guide sleeve comprises a guide sleeve body, a middle section of the guide sleeve body is hollow with a cylindrical hole, and the middle section of the guide sleeve body extends outward to form a connecting protrusion, and the connecting protrusion is hollow and communicated with the cylindrical hole.

[0018] Preferably, the movable connecting part also includes a connecting block, which is recessed inward to form a cavity for accommodating the sensor guide sleeve, and the bottom of the connecting block cavity includes a accommodating groove and a mounting hole four, the accommodating groove is matched with the connecting protrusion, and the mounting hole four is matched with the cylindrical hole, and mounting holes three are provided on the protrusions at both ends of the connecting block cavity, and the mounting hole three is matched with the mounting interface three on the mounting base, and the mounting hole two of the sensor guide sleeve is matched with the mounting hole seven on the mounting bracket.

[0019] Preferably, the mounting bracket comprises a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 being provided with a hollow load-carrying through hole 1, the hollow load-carrying through hole 1 being matched with the through hole of the force-release sleeve, the bracket plate 1 being further provided with a mounting hole 5, a mounting hole 6, an insulating ring sleeve mounting hole and a ranging component mounting hole, a wire groove being provided at the connection between the bracket plate 1 and the bracket plate 2, an inner positioning ring being provided on the side of the bracket plate 1 away from the bracket plate 2, the inner positioning ring being provided on the circumferential outer side of the hollow load-carrying through hole 1, and the outer positioning ring being provided on the arc-shaped edge of the bracket plate 1.

[0020] Preferably, the over-force release sleeve includes a protruding end, and the mounting base includes an embedded end and a cavity for accommodating the protruding end;

[0021] The protruding end is embedded in the embedded end so that the over-force release sleeve is connected to the mounting base;

[0022] The safety component is arranged on the outer peripheral side wall of the embedding end.

[0023] Preferably, a preload spring is provided on the outer side of the embedded end, and the preload spring is configured to be in a compressed state when installed.

[0024] Preferably, the circumferential outer side wall of the raised end is recessed inward to form an annular ring groove, and a corresponding area where the embedded end contacts the ring groove of the raised end is provided with a plurality of connecting holes, and the safety components are arranged in the connecting holes one by one.

[0025] Preferably, an installation thread is provided on the outside of the safety component, and an installation operation hole is provided on the tail of one end of the safety component. The safety component also includes a round ball and a load spring that contact each other. The load spring is arranged in the connecting hole and is threadedly connected to the connecting hole through the installation thread. The load spring is configured to be in a compressed state when installed so that the load spring applies an elastic force to the round ball.

[0026] Preferably, the size of the ball is adapted to the size of the connecting hole and the size of the cross-section of the annular groove so that the ball can move in the connecting hole and the annular groove, and the number of the safety components or the elastic coefficient of the load spring is adapted to the required overload protection threshold value.

[0027] Preferably, it also includes a quick-release assembly for connecting a physiotherapy device, the quick-release assembly includes a clamping ring body provided with a mounting through hole, the clamping ring body is provided with a screw and a screw handle, the clamping ring body is provided with a disconnected gap groove, the screw passes through the gap groove and the screw is rotated to adjust the spacing of the gap groove.

[0028] Preferably, it also includes a distance measuring component arranged on a side of the mounting bracket away from the over-force elastic release protection component, and an insulating ring sleeve is arranged between the mounting bracket and the distance measuring component.

[0029] 3. Beneficial effects

[0030] Compared with the prior art, the technical solution provided by the utility model has the following beneficial effects:

[0031] A new type of hollow loading integrated platform at the end of a physiotherapy manipulator includes an over-force elastic release protection component, which includes an over-force release sleeve and a mounting base that are movably connected, and the inner and outer sliding contact surfaces of the over-force release sleeve and the mounting base are provided with a safety component that provides a pre-contact force for overload protection; a mounting bracket, and the mounting bracket is provided with an interface for connecting to a corresponding controllable operating platform; a force sensing component, and the force sensing component includes a force sensor, and the force sensor is arranged between the mounting base and the mounting bracket. By setting the force sensing component, the size of the contact force generated can be accurately detected, and the over-force elastic release protection component can make the over-force release sleeve and the mounting base disengage when the contact force is too large, completing the overload protection, and greatly improving the overall safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of a new type of hollow loading integrated platform at the end of a physiotherapy manipulator of the utility model;

[0033] Figure 2 It is a schematic cross-sectional structure diagram of Example 1;

[0034] Figure 3 It is a structural schematic diagram of the quick-release assembly of Example 1;

[0035] Figure 4 It is a structural schematic diagram of the quick-release assembly of Example 1 connected and installed with the over-force release sleeve;

[0036] Figure 5 This is a schematic diagram of the structure of the over-force release protection component of Example 1;

[0037] Figure 6 is a cross-sectional view of the over-force release protection component of Example 1;

[0038] Figure 7 It is a schematic diagram of the structure of the over-force release sleeve of Example 1;

[0039] Figure 8 It is a structural schematic diagram of the mounting base of Example 1;

[0040] Fig. 9 It is a partial connection schematic diagram of Example 1;

[0041] Fig.10 It is a structural schematic diagram and a cross-sectional diagram of the force sensing assembly of Example 1;

[0042] Fig.11 It is a structural schematic diagram of the sensor guide sleeve of Example 1;

[0043] Fig.12 It is a structural schematic diagram of the sensor guide shaft of Example 1;

[0044] Fig.13 is a schematic diagram of the connection block structure of Example 1;

[0045] Fig.14 It is a structural schematic diagram of the mounting bracket of Example 1;

[0046] Fig.15 It is a schematic structural diagram of the insulating ring sleeve of Example 1;

[0047] Fig.16 It is a structural schematic diagram of the distance measurement component of Example 1;

[0048] Fig.17 This is a schematic diagram of the structure of the safety component of Example 1.

[0049] Explanation of the symbols in the schematic diagram:

[0050] 1000. Physiotherapy equipment;

[0051] 2000, over-force release protection component; 2100, over-force release sleeve; 2110, sleeve connecting plate; 2111, through hole; 2112, installation interface one; 2120, raised end; 2121, guide groove; 2122, circular groove; 2130, fixing plate; 2131, installation interface two; 2200, installation base; 2210, base connecting plate; 2211, installation interface three; 2230, embedded end; 2232, inner side of embedded end; 2233, connecting hole; 2234, guide key; 2240, cavity; 2300, safety component; 2310, round ball; 2320, load spring; 2330, installation operation hole; 2340, installation thread; 2400, preload spring;

[0052] 3000, quick release assembly; 3100, clamping ring body; 3110, clearance groove; 3120, threaded hole; 3130, panel; 3140, mounting hole 1; 3200, rotating part; 3210, screw; 3220, screw handle; 3300, mounting through hole;

[0053] 4000, force sensing assembly; 4100, force sensor; 4200, sensor guide sleeve; 4210, mounting hole 2; 4220, cylindrical hole; 4240, connecting protrusion; 4250, guide sleeve body; 4300, sensor guide shaft; 4310, internal threaded hole; 4320, cylindrical connecting piece 1; 4330, cylindrical connecting piece 2; 4400, connecting block; 4410, mounting hole 3; 4420, mounting hole 4; 4430, receiving groove; 4500, self-locking nut;

[0054] 5000, mounting bracket; 5100, mounting hole five; 5200, mounting hole six; 5300, mounting hole seven; 5400, hollow load through hole one; 5500, insulating ring sleeve mounting hole; 5600, wire groove; 5700, outer positioning ring; 5800, inner positioning ring; 5900, distance measuring component mounting hole;

[0055] 6000, insulating ring; 6100, outlet groove; 6200, mounting nut groove; 6300, hollow load through hole 2; 6500, sensor wiring through hole; 6600, screw mounting hole 1; 6700, screw mounting hole 2; 6900, hollow wiring loop; 6910, limit column; 6110, positioning boss;

[0056] 7000, ranging component; 7100, positioning ring groove; 7200, positioning groove; 7300, wiring cavity; 7400, ranging module mounting hole; 7500, screw mounting hole three; 7600, screw mounting hole four; 7700, hollow load through hole three. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0060] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0061] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0062] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0063] Example 1

[0064] Refer to the attached Figure 1-17 The present embodiment is a novel hollow loading integrated platform for the end of a physiotherapy manipulator, a novel hollow loading integrated platform for the end of a physiotherapy manipulator, comprising

[0065] An over-force release protection component 2000, the over-force release protection component 2000 comprises an over-force release sleeve 2100 and a mounting base 2200 that are movably connected, and the inner and outer sliding contact surfaces of the over-force release sleeve 2100 and the mounting base 2200 are provided with a safety component 2300 that provides a pre-contact force for overload protection;

[0066] The mounting bracket 5000 is provided with an interface for connecting to a corresponding controllable operating platform; a quick-release assembly 3000 for connecting to the physiotherapy device 1000, wherein the quick-release assembly 3000, the over-force elastic release protection assembly 2000 and the hollow area of ​​the mounting bracket 5000 are interconnected and clamp and fix the physiotherapy device 1000.

[0067] The force sensing assembly 4000 includes a force sensor 4100, and the force sensor 4100 is disposed between the mounting base 2200 and the mounting bracket 5000. The platform of this embodiment can accurately detect the magnitude of the contact force generated by arranging the force sensing assembly 4000, and the over-force release protection assembly 2000 can make the over-force release sleeve 2100 and the mounting base 2200 disengage when the contact force is too large, thereby completing the overload protection and greatly improving the overall safety.

[0068] The force sensing components 4000 are provided with three or more, and the lower ends of the force sensing components 4000 are evenly distributed and installed along the circumference on the mounting bracket, and the upper ends of the force sensors are finally connected to the physical therapy device 1000 through the intermediate components. When the force at the contact point between the physical therapy device 1000 and the human body is tilted in direction, the different force values ​​of each sensor force sensor 4100 can be used to calculate the force tilt angle. When the force at the contact point between the end of the physical therapy device 1000 and the human body is in an inclined state, the axial tensile pressure generated on each force sensing component 4000 is different, so that the approximate force tilt direction can be determined by the different magnitudes of the forces detected by multiple groups of force sensing components 4000, and the posture of the manipulator can be adjusted so that the forces detected on each group of force sensors tend to be the same, so that the posture of the end force can be measured and controlled, and the combined force can determine the magnitude of the contact force to better provide physical therapy services to the human body.

[0069] Moreover, the present application can realize accurate measurement of the direction of the contact surface by adopting a simple force sensor 4100, thus greatly saving costs.

[0070] The force sensing components 4000 are evenly distributed along the force bearing area of ​​the contact surface. When force inclination occurs in any direction, it can be accurately detected by the corresponding force sensing component 4000, thereby improving the comprehensiveness of the detection.

[0071] The measuring direction of the force sensor 4100 is consistent with the relative small movement direction of the mounting base 2200 and the mounting bracket 5000. The relative small movement of the mounting base 2200 and the mounting bracket 5000 causes the force sensor 4100 and the mounting bracket 5000 to pull and press and measure.

[0072] The force sensing assembly 4000 includes a force sensor 4100 and a movable connecting piece mounted on the outside of the force sensor 4100, wherein two ends of the movable connecting piece are respectively connected to the mounting base 2200 and the mounting bracket 5000, and the movable direction of the movable connecting piece is consistent with the measuring direction of the force sensor 4100 and the relative slight movement direction of the mounting base 2200 and the mounting bracket 5000. The relative slight movement of the mounting base 2200 and the mounting bracket 5000 drives the force sensor 4100 and the mounting bracket 5000 in the movable connecting piece to be pulled, pressed and measured.

[0073] The movable connecting part includes a sensor guide sleeve 4200 and a sensor guide shaft 4300 arranged in the sensor guide sleeve 4200, and the sensor guide shaft 4300 includes a cylindrical connecting part 1 4320 and a cylindrical connecting part 2 4330 connected to each other. The cylindrical connecting part 1 4320 is provided with an internal threaded hole 4310 at one end away from the cylindrical connecting part 2 4330, and the top external threaded shaft of the force sensor 4100 is matched and connected with the internal threaded hole 4310.

[0074] The sensor guide sleeve 4200 includes a guide sleeve body 4250 , a cylindrical hole 4220 is formed in the middle of the guide sleeve body 4250 , and a connecting protrusion 4240 is formed extending outward from the middle of the guide sleeve body 4250 . The connecting protrusion 4240 is hollow and communicates with the cylindrical hole 4220 .

[0075] The movable connecting part also includes a connecting block 4400, which is recessed inward to form a cavity for accommodating the sensor guide sleeve 4200. The bottom of the cavity of the connecting block 4400 includes a receiving groove 4430 and a mounting hole four 4420. The receiving groove 4430 is arranged in cooperation with the connecting protrusion 4240, and the mounting hole four 4420 is arranged in cooperation with the cylindrical hole 4220. Mounting holes three 4410 are provided on the protrusions at both ends of the cavity of the connecting block 4400. The mounting holes three 4410 are arranged in cooperation with the mounting interface three 2211 on the mounting base 2200. The mounting hole two 4210 of the sensor guide sleeve 4200 is correspondingly connected with the mounting hole seven 5300 on the mounting bracket 5000.

[0076] The mounting bracket 5000 includes a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 is provided with a hollow load-carrying through hole 1 5400, and the hollow load-carrying through hole 1 5400 is arranged in coordination with the through hole 2111 on the escape sleeve 2100, the bracket plate 1 is also provided with a mounting hole 5100, a mounting hole 6 5200, an insulating ring sleeve mounting hole 5500 and a ranging component mounting hole 5900, a wire groove 5600 is provided at the connection between the bracket plate 1 and the bracket plate 2, and an inner positioning ring 5800 and an outer positioning ring 5700 are provided on the side of the bracket plate 1 away from the bracket plate 2, the inner positioning ring 5800 is arranged on the circumferential outer side of the hollow load-carrying through hole 1 5400, and the outer positioning ring 5700 is arranged on the arc-shaped edge of the bracket plate 1.

[0077] The over-force release sleeve 2100 includes a protruding end 2120, and the mounting base 2200 includes an embedded end 2230 and a cavity 2240 for accommodating the protruding end 2120;

[0078] The protruding end 2120 is embedded in the embedding end 2230 so that the over-force release sleeve 2100 is connected to the mounting base 2200;

[0079] The safety component 2300 is disposed on the outer peripheral side wall of the embedding end 2230 .

[0080] A preload spring 2400 is disposed on the outer side of the embedding end 2230 , and the preload spring 2400 is configured to be in a compressed state when installed.

[0081] When the protruding end 2120 is embedded in the embedded end 2230, the preload spring 2400 is configured to be in a compressed energy storage state. When the embedded end 2230 is subjected to excessive pressure, the safety component 2300 will be overloaded and thus shrink. At this time, the preload spring 2400 pops up, thereby driving the over-force release sleeve 2100 to separate from the mounting base 2200, completing overload protection and greatly improving overall safety.

[0082] The outer circumferential wall of the protruding end 2120 is inwardly recessed to form an annular annular groove 2122. The corresponding area where the embedded end 2230 contacts the annular groove 2122 of the protruding end 2120 is provided with a plurality of connecting holes 2233. The safety components 2300 are arranged in the connecting holes 2233 in a one-to-one correspondence. The outer side of the safety component 2300 is provided with a mounting thread 2340. The end of the safety component 2300 away from the mounting thread 2340 is provided with a mounting operation hole 2330. The safety component 2300 further includes a ball 2310 and a load spring 2320 that contact each other. The load spring 2320 is arranged in the connecting hole 2233 and is threadedly connected to the connecting hole 2233 through the mounting thread 2340. When the load spring 2320 is installed, it is configured to be in a compressed state so that the load spring 2320 applies elastic force to the ball 2310. When working normally, the load spring 2320 applies elastic force to the ball 2310 so that the ball 2310 extends outward and conflicts with the annular groove 2122 without being limited. When the protruding end 2120 is subjected to too large a load, the ball 2310 receives the thrust of the annular groove 2122 and moves inward, compressing the spring so that the annular groove 2122 and the ball 2310 are offset, thereby allowing the protruding end 2120 and the embedded end 2230 to move freely. At this time, since the preload spring 2400 is in a compressed energy storage state, the preload spring 2400 will bounce up and release, thereby driving the protruding end 2120 and the embedded end 2230 to separate and complete the overload protection work.

[0083] The size of the ball 2310 is matched with the size of the connecting hole 2233 and the size of the cross section of the annular groove 2122 so that the ball 2310 can move in the connecting hole 2233 and the annular groove 2122 to ensure that the safety component 2300 can work normally and avoid the inability to complete the overload protection work due to the ball 2310 getting stuck.

[0084] The number of the safety components 2300 or the elastic coefficient of the load spring 2320 is adapted to the required overload protection threshold size. The number of safety components 2300 can be freely matched or load springs 2320 with different elastic coefficients can be selected according to different types of overload protection threshold sizes, thereby improving the applicability of the threshold protection device and achieving a more user-friendly and safe use experience.

[0085] The inner side surface 2232 of the embedded end of the embedded end 2230 is provided with a guide key 2234, and the protruding end 2120 is provided with a guide groove 2121. The guide key 2234 and the guide groove 2121 are adapted to each other in position and size so that the guide key 2234 is embedded in the guide groove 2121. The guide key 2234 cooperates with the guide groove 2121, which not only makes it convenient for the protruding end 2120 to be installed and embedded in the embedded end 2230, but also effectively ensures that the protruding end 2120 does not deviate in the embedded end 2230, thereby avoiding different forces received by several safety components 2300 due to the non-deflection of the protruding end 2120, thereby reducing safety hazards. In addition, when performing overload protection work, the protruding end 2120 can be vertically lifted up by the preload spring 2400 to prevent the overload protection work from being completed due to the deflection.

[0086] The over-force release sleeve 2100 further includes a sleeve connecting plate 2110 and a fixing plate 2130 . The sleeve connecting plate 2110 is hollow and has a through hole 2111 . The through hole 2111 is connected to the hollow area of ​​the protruding end 2120 .

[0087] The sleeve connection plate 2110 is provided with a first installation interface 2112, and the fixing plate 2130 is provided with a second installation interface 2131. The installation base 2200 further includes a base connection plate 2210, and the base connection plate 2210 is provided with a plurality of third installation interfaces 2211. The first installation interface 2112, the second installation interface 2131, and the third installation interface 2211 are all used for connection and installation with other functional components.

[0088] The device further comprises a distance measuring component 7000 disposed on a side of the mounting bracket 5000 away from the over-force elastic release protection component 2000, and an insulating ring sleeve 6000 is disposed between the mounting bracket 5000 and the distance measuring component 7000.

[0089] When the protruding end 2120 of this embodiment is embedded in the embedding end 2230 , there is a certain gap between the contact surfaces of the protruding end 2120 and the embedding end 2230 so that the protruding end 2120 can move relative to the embedding end 2230 .

[0090] The quick release assembly 3000 is also included, which is connected to the over-force elastic release protection assembly 2000. The quick release assembly 3000 is used to connect the physical therapy device 1000. The quick release assembly 3000 includes a clamping ring body 3100 provided with a mounting through hole 3300. The clamping ring body 3100 is provided with a rotating member 3200. The rotating member 3200 includes a screw rod 3210 and a screw rod handle 3220 that are fixedly connected to each other. The clamping ring body 3100 is provided with a disconnected gap groove 3110. The screw rod 32 10 passes through the gap groove 3110 and is set in the threaded hole 3120 of the clamping ring body 3100, and the screw rod 3210 is rotated to adjust the spacing of the gap groove 3110. The clamping ring body 3100 is also provided with a panel 3130 in the circumference, and the panel 3130 is provided with a mounting hole 1 3140. The panel 3130 is fixed by cooperating with the mounting interface 2131 on the fixing plate 2130 through the mounting hole 1 3140, so that the clamping ring body is fixedly connected to the over-force elastic release protection component 2000. The clamping ring body 3100 adjusts the spacing of the gap groove 3110 by rotating the screw handle 3220 to adjust the aperture of the mounting through hole 3300, so as to better perform clamping and installation.

[0091] This embodiment further includes a distance measuring component 7000 disposed on a side of the mounting bracket 5000 away from the over-force release protection component 2000, and an insulating ring sleeve 6000 is disposed between the mounting bracket 5000 and the distance measuring component 7000. The distance measuring component 7000 is provided with a positioning groove 7200 and a positioning ring groove 7100. The positioning ring groove 7100 is arranged in cooperation with the outer positioning ring 5700, and the positioning groove 7200 is arranged in cooperation with the inner positioning ring 5800. The distance measuring component 7000 is also provided with a distance measuring module mounting hole 7400 connected with the distance measuring module. The distance measuring component 7000 is also provided with a screw mounting hole three 7500, a screw mounting hole four 7600, a wiring cavity 7300 and a hollow load through hole three 7700. The hollow load through hole three 7700 and the hollow load through hole one 5400 are arranged in cooperation with the hollow load through hole two 6300 on the insulating ring sleeve 6000. The screw mounting hole four 7600 is arranged in cooperation with the distance measuring component mounting hole 5900 and is fixedly connected by a screw.

[0092] The insulating ring sleeve 6000 is provided with an outlet groove 6100 corresponding to the wire groove 5600. When the insulating ring sleeve 6000 is clamped and fixed between the mounting bracket 5000 and the distance measuring component 7000, the wire groove 5600 is matched with the outlet groove 6100. The insulating ring sleeve 6000 also includes a plurality of mounting nut grooves 6200. Nuts are provided in the mounting nut grooves 6200 corresponding to the screw mounting holes three 7500. The screws are connected with the nuts in the mounting nut grooves 6200 through the screw mounting holes three 7500, so that the insulating ring sleeve 6000 is fixedly connected to the distance measuring component 7000. The insulating ring 6000 is also provided with a sensor wiring through hole 6500, a screw mounting hole 1 6600 and a screw mounting hole 2 6700. The sensor wiring through hole 6500 cooperates with the mounting hole 6 5200 to accommodate the connection line of the force sensor 4100. The screw mounting hole 1 6600 cooperates with the screw mounting hole 4 7600 and the distance measuring component mounting hole 5900 and is fixedly connected by screws. The screw mounting hole 2 6700 is used to connect the insulating ring 6000 to the insulating ring mounting hole 5500. One side of the insulating ring sleeve 6000 is recessed inward to form a circular hollow wiring loop 6900, and the hollow wiring loop 6900 is connected to the wire outlet groove 6100 for wiring. A plurality of limit columns 6910 are provided in the middle of the hollow wiring loop 6900 for limiting the line in the hollow wiring loop 6900, and a positioning boss 6110 is formed on the side of the insulating ring sleeve 6000 that contacts the distance measuring component 7000 and protrudes outward circumferentially from the hollow load through hole 2 6300.

[0093] In this embodiment, the hollow areas of the over-force elastic release protection component 2000, the quick-release component 3000, the mounting bracket 5000, the insulating ring sleeve 6000 and the distance measuring component 7000 are penetrated for inserting and installing the physiotherapy device 1000.

[0094] The above-described embodiments only express a certain implementation method of the utility model, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the patent of the utility model shall be based on the attached claims.

Claims

1. A new type of hollow loading integrated platform at the end of a physiotherapy manipulator, characterized by: The invention comprises an over-force elastic release protection component (2000), wherein the over-force elastic release protection component (2000) comprises an over-force release sliding sleeve (2100) and a mounting base (2200) that are movably connected, and inner and outer sliding contact surfaces of the over-force release sliding sleeve (2100) and the mounting base (2200) are provided with a safety component (2300) that provides a pre-contact force for overload protection; A mounting bracket (5000), wherein the mounting bracket (5000) is provided with an interface for connecting to a corresponding controllable operation platform; A force sensing assembly (4000), the force sensing assembly (4000) comprising a force sensor (4100), the force sensor (4100) being arranged between a mounting base (2200) and a mounting bracket (5000); A quick-release assembly (3000) for connecting a physical therapy device (1000); the quick-release assembly (3000), an over-force elastic release protection assembly (2000), and hollow areas of a mounting bracket (5000) are interconnected and clamp and fix the physical therapy device (1000).

2. According to claim 1, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized by: The force sensing components (4000) are provided with three or more, the lower ends of the force sensing components (4000) are evenly distributed and installed along the circumference on the mounting bracket, and the upper ends of the force sensors (4100) are finally connected to the physiotherapy device (1000) through an intermediate component. When the force at the contact point between the physiotherapy device (1000) and the human body is tilted in direction, the different force values ​​of each force sensor (4100) can be used to calculate the force tilt angle.

3. According to claim 1, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized by: The measurement direction of the force sensor (4100) is consistent with the relative micro-movement direction of the mounting base (2200) and the mounting bracket (5000). The relative micro-movement of the mounting base (2200) and the mounting bracket (5000) causes the force sensor (4100) and the mounting bracket (5000) to pull, compress and measure.

4. According to claim 1, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized in that: The force sensing assembly (4000) comprises a force sensor (4100) and a movable connecting piece mounted on the outside of the force sensor (4100), wherein two ends of the movable connecting piece are respectively connected to a mounting base (2200) and a mounting bracket (5000), and the movable direction of the movable connecting piece is consistent with the measuring direction of the force sensor (4100) and the relative slight movement direction of the mounting base (2200) and the mounting bracket (5000). The relative slight movement of the mounting base (2200) and the mounting bracket (5000) drives the force sensor (4100) and the mounting bracket (5000) in the movable connecting piece to be stretched and compressed and measured.

5. According to claim 4, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized in that: The movable connecting part includes a sensor guide sleeve (4200) and a sensor guide shaft (4300) arranged in the sensor guide sleeve (4200), and the sensor guide shaft (4300) includes a cylindrical connecting part 1 (4320) and a cylindrical connecting part 2 (4330) connected to each other, and an internal threaded hole (4310) is provided at one end of the cylindrical connecting part 1 (4320) away from the cylindrical connecting part 2 (4330), and the top external threaded shaft of the force sensor (4100) is matched and connected with the internal threaded hole (4310).

6. According to claim 5, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized in that: The sensor guide sleeve (4200) includes a guide sleeve body (4250), the middle section of which is hollow and provided with a cylindrical hole (4220), and the middle section of which extends outward to form a connecting protrusion (4240), and the connecting protrusion (4240) is hollow and connected to the cylindrical hole (4220).

7. According to claim 6, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized in that: The movable connecting member also includes a connecting block (4400), and the connecting block (4400) is recessed inward to form a cavity for accommodating the sensor guide sleeve (4200). The bottom of the cavity of the connecting block (4400) includes a receiving groove (4430) and a mounting hole four (4420). The receiving groove (4430) is arranged in cooperation with the connecting protrusion (4240), and the mounting hole four (4420) is arranged in cooperation with the cylindrical hole (4220). The protrusions at both ends of the cavity of the connecting block (4400) are provided with mounting holes three (4410), and the mounting holes three (4410) are arranged in cooperation with the mounting interface three (2211) on the mounting base (2200). The mounting hole two (4210) of the sensor guide sleeve (4200) is correspondingly connected with the mounting hole seven (5300) on the mounting bracket (5000).

8. According to claim 5, the novel hollow loading integrated platform at the end of the physiotherapy manipulator is characterized by: The mounting bracket (5000) comprises a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 being provided with a hollow cargo through hole 1 (5400), the hollow cargo through hole 1 (5400) being arranged in cooperation with the through hole (2111) on the escape sleeve (2100), the bracket plate 1 being further provided with a mounting hole 5 (5100), a mounting hole 6 (5200), an insulating ring sleeve mounting hole (5500) and a distance measuring component mounting hole (5900), a wire groove (5600) being provided at the connection between the bracket plate 1 and the bracket plate 2, the side of the bracket plate 1 away from the bracket plate 2 being provided with an inner positioning ring (5800) and an outer positioning ring (5700), the inner positioning ring (5800) being arranged on the circumferential outer side of the hollow cargo through hole 1 (5400), and the outer positioning ring (5700) being arranged on the arc-shaped edge of the bracket plate 1.

9. According to claim 1, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized by: The over-force release sleeve (2100) includes a protruding end (2120), and the mounting base (2200) includes an embedded end (2230) and a cavity (2240) for accommodating the protruding end (2120); The protruding end (2120) is embedded in the embedded end (2230) so that the over-force release sleeve (2100) is connected to the mounting base (2200); The safety component (2300) is arranged on the outer peripheral side wall of the embedded end (2230).

10. According to claim 9, a novel hollow loading integrated platform at the end of a physiotherapy manipulator is characterized in that: A preload spring (2400) is provided on the outside of the embedded end (2230), and the preload spring (2400) is configured to be in a compressed state when installed.

11. According to claim 9, the novel hollow loading integrated platform at the end of the physiotherapy manipulator is characterized by: The circumferential outer wall of the protruding end (2120) is recessed inward to form an annular ring groove (122), and a corresponding area where the embedded end (2230) contacts the annular groove (122) of the protruding end (2120) is provided with a plurality of connecting holes (2333), and the safety components (2300) are arranged in the connecting holes (2333) one by one.

12. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 11 is characterized in that: The outer side of the safety component (2300) is provided with a mounting thread (2340), and the tail of one end of the safety component (2300) is provided with a mounting operation hole (2330). The safety component (2300) also includes a round ball (2310) and a load spring (2320) that contact each other. The load spring (2320) is arranged in the connecting hole (2333) and is threadedly connected to the connecting hole (2333) through the mounting thread (2340). When the load spring (2320) is installed, it is configured to be in a compressed state so that the load spring (2320) applies an elastic force to the round ball (2310).

13. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 12 is characterized by: The size of the ball (2310) is adapted to the size of the connecting hole (2333) and the size of the cross-section of the annular groove (122) so that the ball (2310) can move in the connecting hole (2333) and the annular groove (122), and the number of the safety components (2300) or the elastic coefficient of the load spring (2320) is adapted to the required overload protection threshold value.

14. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 12 is characterized by: The quick-release assembly (3000) comprises a clamping ring body (3100) provided with a mounting through hole (3300), the clamping ring body (3100) being provided with a screw rod (3210) and a screw rod handle (3220), the clamping ring body (3100) being provided with a disconnected gap groove (3110), the screw rod (3210) passing through the gap groove (3110) and the screw rod (3210) being rotated to adjust the spacing of the gap groove (3110).

15. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 12 is characterized in that: It also includes a distance measuring component (7000) arranged on a side of the mounting bracket (5000) away from the over-force elastic release protection component (2000), and an insulating ring sleeve (6000) is arranged between the mounting bracket (5000) and the distance measuring component (7000).

Images