Flexible massage end and physiotherapy robot with same

Abstract

The utility model discloses a flexible massage end which comprises a first frame body and a second frame body which are oppositely arranged. The flexible connecting piece is located between the first frame body and the second frame body, and the two ends of the flexible connecting piece are detachably connected with the first frame body and the second frame body correspondingly; the amber massage head is detachably connected to the end, away from the flexible connecting piece, of the second frame body. The utility model further discloses a physical therapy robot with the flexible massage end. The physical therapy robot comprises a robot body. One end of the six-axis mechanical arm is movably connected with the machine body; the end, away from the flexible connecting piece, of the first frame body is fixed to the other end of the six-axis mechanical arm. According to the flexible massage end and the physical therapy robot with the flexible massage end, the massage touch feeling is improved, and the comfort level and the physical therapy effect of the massage robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical care, and more particularly to a flexible massage end head and a physiotherapy robot having the same. Background Art

[0002] With the rapid development of modern science and technology, massage robots, as an automated device integrating mechanical, electronic and information technology, are gradually entering people's lives. These robots simulate the techniques of professional masseurs and provide people with relaxation and fatigue relief services through specific movements and forces, which greatly facilitates people's daily lives. However, with the continuous expansion of the massage robot market and the increasing diversification of consumer demand, existing massage robots still have certain limitations in some aspects. In particular, the design of the massage head and the selection of materials are particularly problematic.

[0003] The massage heads of massage robots currently on the market are generally hard. These hard massage heads often produce a relatively stiff touch when in contact with human skin, which not only reduces the comfort of the massage, but may also cause certain damage to the user's skin. This discomfort will be more obvious, especially for users who need to use the massage robot for a long time or frequently. In addition, from the perspective of physical therapy, hard massage heads are also difficult to achieve ideal physical therapy effects. Human muscles and skin are very sensitive to the perception and reaction of the outside world. Too hard massage heads may hinder the human body's perception of the massage intensity, thereby affecting the physical therapy effect of the massage.

[0004] Therefore, how to provide a flexible massage head and a therapeutic robot having the same that can improve the massage touch, enhance the comfort and therapeutic effect of the massage robot is an urgent problem that needs to be solved by technicians in this field. Utility Model Content

[0005] In view of this, the utility model provides a flexible massage end head and a physical therapy robot having the same, which improves the massage touch and enhances the comfort and physical therapy effect of the massage robot.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A flexible massage end head, comprising:

[0008] A first frame and a second frame, the first frame and the second frame are arranged opposite to each other;

[0009] A flexible connector, the flexible connector is located between the first frame and the second frame and its two ends are detachably connected to the first frame and the second frame respectively;

[0010] The amber massage head is detachably connected to an end of the second frame away from the flexible connector.

[0011] Through the above technical scheme, the utility model provides a flexible massage end head. When the amber massage head moves to massage the human body, the flexible connecting part can undergo elastic deformation, so that the amber massage head can adapt to the ups and downs of the human body surface and move up and down, compensate for the movement error of the robot, and ensure that the amber massage head is always in contact with the human body; and the flexible connecting part can absorb and disperse the impact force during the massage process, making the massage process softer, reducing direct pressure and discomfort on human skin, improving the massage touch, and improving the comfort and therapeutic effect of the massage robot, thereby significantly improving the user's massage experience; through the setting of the amber massage head, the massage touch can be made more gentle, further improving the massage comfort.

[0012] Furthermore, the Shore hardness of the flexible connector is 40-70 degrees, and the elastic modulus is 1.5-2 MPa.

[0013] Furthermore, the flexible connector is made of flexible materials such as rubber and silicone and has a certain hardness support.

[0014] Furthermore, two ends of the flexible connector are connected to the first frame and the second frame respectively through screw 1 and screw 2.

[0015] A pressure ring 1 is arranged at a connection end between the flexible connecting member and the first frame, and the pressure ring 1 is located between the screw 1 and the connection end 1 to play a supporting role.

[0016] A second pressure ring is provided at the second connection end between the flexible connector and the second frame. The second pressure ring is located between the second screw and the second connection end and plays a supporting role.

[0017] Preferably, the amber massage head comprises an amber connecting column and a plurality of amber particles, one end of the amber connecting column is clamped to an end of the second frame away from the flexible connecting piece; the plurality of amber particles are arranged at intervals and integrally formed at the free end of the amber connecting column.

[0018] Preferably, it also includes a step ring, the second frame is an annular frame, and the amber connecting column includes a limiting section and a movable section that are integrally connected; the step ring includes a first connecting ring, a second connecting ring, and a third connecting ring that are coaxial and fixed in sequence along the axial direction, and a step surface is formed between the inner wall surfaces of the second connecting ring and the third connecting ring, and the first connecting ring is threadedly connected to the outer wall surface of one end of the annular frame away from the flexible connector; the inner wall surface of the second connecting ring is in limiting contact with the outer wall surface of the limiting section, and the end of the limiting section connected to the movable section is in limiting contact with the step surface; the movable section passes through the third connecting ring and slides against its inner wall surface; and a plurality of amber particles are integrally formed and arranged at the end of the movable section. The amber massage head can be clamped by the arrangement of this structure, and it is convenient to replace when the amber massage head is severely worn or damaged.

[0019] Among them, the first connecting ring, the second connecting ring and the third connecting ring are integrally formed.

[0020] Preferably, a flexible gasket is further included. An annular groove is formed on one end face of the second frame corresponding to the amber connecting column. The flexible gasket is placed in the annular groove and its two annular surfaces respectively contact the bottom of the annular groove and the end face of the amber connecting column. The flexible gasket serves as a buffer layer between the amber massage head and the second frame. On the one hand, it can reduce the wear between the amber massage head and the second frame, and on the other hand, it can further improve the massage comfort.

[0021] Preferably, an electric heating plate is further included. A mounting groove is provided in the second frame. The electric heating plate is bonded to the groove wall corresponding to the mounting groove and close to the amber massage head to heat the amber massage head. The electric heating plate can be powered on and heated synchronously after the massage action is turned on, so that the amber particles maintain a constant temperature, and the human body feels warm during massage, further improving the massage comfort.

[0022] Preferably, a far-infrared heater is also included, and a through hole is opened on the end surface of the amber connecting column corresponding to the amber particle, and the through hole is connected to the installation groove, and the far-infrared heater is bonded in the installation groove and the far-infrared emitted by it is scattered to the human body through the through hole. Through the arrangement of this structure, the far-infrared can penetrate the deep layer of the skin and enter the human body, which can promote blood circulation and further improve the physical therapy effect.

[0023] Preferably, a thermostat is further included, and the thermostat is respectively connected to the far-infrared heater and the electric heating plate. The heating temperature of the far-infrared heater and the electric heating plate can be controlled in real time by the thermostat. When the temperature rises to a predetermined upper temperature limit, the circuit is powered off and heating stops. When the temperature drops to the lower temperature limit, the circuit is connected and heating starts.

[0024] Preferably, it also includes a light-emitting board, which is clamped between the second frame and the amber connecting column. The light-emitting board can be connected to the circuit and energized to emit fluorescence. Through the arrangement of this structure, the fluorescence can pass through the amber massage head, and the interior of the amber massage head will be filled with fluorescence during massage, which plays a role in aesthetics.

[0025] The utility model also discloses a physical therapy robot, comprising the above-mentioned flexible massage end head, and further comprising:

[0026] Body;

[0027] A six-axis robotic arm, one end of which is movably connected to the machine body;

[0028] One end of the first frame away from the flexible connecting piece is fixed to the other end of the six-axis mechanical arm.

[0029] Furthermore, the massage machine also includes an operating screen, which is installed above the machine body for operation. The massage program can be set through the operating screen.

[0030] Through the above technical scheme, the utility model provides a physiotherapy robot. Through the selected massage program, the six-axis mechanical arm drives the flexible massage end to walk the corresponding path so that the massage end moves on the surface of the human body for massage, thereby improving the automation and intelligence of the massage.

[0031] Through the above technical solutions, it can be known that compared with the prior art, the utility model discloses a flexible massage head. Compared with the prior art, when the amber massage head of the utility model moves and massages the human body, the flexible connector can undergo elastic deformation, so that the amber massage head can adapt to the ups and downs of the human body surface, compensate for the robot motion error, and ensure that the amber massage head is always in contact with the human body; and the flexible connector can absorb and disperse the impact force during the massage process, making the massage process softer, reducing direct pressure and discomfort on the human skin, improving the massage touch, and improving the comfort and physiotherapy effect of the massage robot, thereby significantly improving the user's massage experience; the setting of the amber massage head can make the massage touch more gentle, further improving the massage comfort. The utility model also discloses a physiotherapy robot. Through the selected massage program, the six-axis robotic arm drives the flexible massage head to walk the corresponding path so that the massage head moves on the surface of the human body for massage, which improves the automation and intelligence of the massage. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0033] Figure 1 This is a schematic structural diagram of a flexible massage end head according to Embodiment 1 of the present utility model.

[0034] Figure 2 for Figure 1 Front cross-sectional view of .

[0035] Figure 3 for Figure 1 Bottom view of .

[0036] Figure 4 This is a structural schematic diagram of a physiotherapy robot according to Embodiment 2 of the present utility model.

[0037] Among them, 1 is the first frame; 2 is the second frame; 2-1 is the installation groove; 3 is the flexible connector; 4 is the amber massage head; 4-1 is the amber connecting column; 4-1-1 is the through hole; 4-2 is the amber particle; 5 is the step ring; 5-1 is the first connecting ring; 5-2 is the second connecting ring; 5-3 is the third connecting ring; 5-4 is the step surface; 6 is the flexible gasket; 7 is the electric heating plate; 8 is the far-infrared heater; 9 is the light-emitting plate; 10 is the body; 11 is the six-axis robot arm. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the utility model are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0039] Embodiment 1

[0040] See attached Figure 1-3 The first embodiment of the utility model discloses a flexible massage end head, comprising:

[0041] The first frame 1 and the second frame 2 are arranged opposite to each other;

[0042] A flexible connector 3, the flexible connector 3 is located between the first frame 1 and the second frame 2 and its two ends are detachably connected to the first frame 1 and the second frame 2 respectively;

[0043] The amber massage head 4 is detachably connected to an end of the second frame 2 away from the flexible connector 3 .

[0044] The Shore hardness of the flexible connecting member 3 is 40-70 degrees, and the elastic modulus is 1.5-2 MPa.

[0045] Furthermore, the flexible connector 3 is made of a flexible material such as rubber or silicone and has a certain hardness support.

[0046] Furthermore, two ends of the flexible connector 3 are connected to the first frame 1 and the second frame 2 via screw 1 and screw 2, respectively.

[0047] A pressure ring 1 is provided at the connection end between the flexible connector 3 and the first frame 1. The pressure ring 1 is located between the screw 1 and the connection end 1 to play a supporting role.

[0048] A second pressure ring is provided at the second connection end between the flexible connector 3 and the second frame body 2. The second pressure ring is located between the second screw and the second connection end and plays a supporting role.

[0049] In order to further optimize the above technical solution, the amber massage head 4 includes an amber connecting column 4-1 and a plurality of amber particles 4-2. One end of the amber connecting column 4-1 is clamped to an end of the second frame 2 away from the flexible connecting member 3; the plurality of amber particles 4-2 are arranged at intervals and integrally formed at the free end of the amber connecting column 4-1.

[0050] In order to further optimize the above technical solution, it also includes a step ring 5, the second frame 2 is an annular frame, and the amber connecting column 4-1 includes a limiting section and a movable section that are integrally connected; the step ring 5 includes a first connecting ring 5-1, a second connecting ring 5-2 and a third connecting ring 5-3 that are coaxial and fixed in sequence along the axial direction, and a step surface 5-4 is formed between the inner wall surfaces of the second connecting ring 5-2 and the third connecting ring 5-3, and the first connecting ring 5-1 is threadedly connected to the outer wall surface of the annular frame away from the flexible connector 3; the inner wall surface of the second connecting ring 5-2 is in limiting contact with the outer wall surface of the limiting section, and the end of the limiting section connected to the movable section is in limiting contact with the step surface 5-4; the movable section passes through the third connecting ring 5-3 and is slidably contacted with its inner wall surface; a plurality of amber particles 4-2 are integrally formed and arranged at the end of the movable section.

[0051] In order to further optimize the above technical solution, it also includes a flexible gasket 6. An annular groove is opened on one end face of the second frame 2 corresponding to the amber connecting column 4-1. The flexible gasket 6 is placed in the annular groove and its two annular surfaces respectively correspond to the bottom of the annular groove and the end face of the amber connecting column 4-1.

[0052] In order to further optimize the above technical solution, an electric heating plate 7 is also included. A mounting groove 2-1 is opened in the second frame 2. The electric heating plate 7 is adhered to the groove wall corresponding to the mounting groove 2-1 close to the amber massage head 4 to heat the amber massage head 4.

[0053] In order to further optimize the above technical solution, a far-infrared heater 8 is also included. A through hole 4-1-1 is provided on the end face of the amber connecting column 4-1 corresponding to the amber particle 4-2, and the through hole 4-1-1 is connected to the installation groove 2-1. The far-infrared heater 8 is bonded to the installation groove 2-1 and the far-infrared rays it emits are dispersed to the human body through the through hole 4-1-1.

[0054] Furthermore, it also includes a temperature controller, which is respectively connected to the far-infrared heater 8 and the electric heating plate 7 by signals.

[0055] In order to further optimize the above technical solution, a light-emitting panel 9 is also included, and the light-emitting panel 9 is clamped between the second frame 2 and the amber connecting column 4-1.

[0056] Embodiment 2

[0057] See attached Figure 4The second embodiment of the present utility model discloses a physical therapy robot, including the flexible massage end head disclosed in the first embodiment, and further comprising:

[0058] Body 10;

[0059] A six-axis robotic arm 11, one end of which is movably connected to the machine body 10;

[0060] One end of the first frame 1 away from the flexible connector 3 is fixed to the other end of the six-axis robot arm 11 .

[0061] In order to further optimize the above technical solution, an operation screen is also included, which is installed above the machine body 10. The massage program can be set through the operation screen.

[0062] According to the flexible massage head designed in the first embodiment of the present invention, when the amber massage head moves and massages the human body, the flexible connector can undergo elastic deformation, so that the amber massage head can adapt to the ups and downs of the human body surface, compensate for the robot's motion error, and ensure that the amber massage head is always in contact with the human body; and the flexible connector can absorb and disperse the impact force during the massage process, making the massage process softer, reducing direct pressure and discomfort on the human skin, improving the massage touch, and improving the comfort and physiotherapy effect of the massage robot, thereby significantly improving the user's massage experience; the setting of the amber massage head can make the massage touch more gentle, further improving the massage comfort. According to a physiotherapy robot designed in the second embodiment of the present invention, through the selected massage program, the six-axis robotic arm drives the flexible massage head to walk the corresponding path so that the massage head moves on the surface of the human body for massage, thereby improving the automation and intelligence of the massage.

[0063] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0064] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible massage head, characterized in that: include: A first frame (1) and a second frame (2), wherein the first frame (1) and the second frame (2) are arranged opposite to each other; A flexible connecting member (3), the flexible connecting member (3) being located between the first frame (1) and the second frame (2) and having two ends thereof being detachably connected to the first frame (1) and the second frame (2) respectively; An amber massage head (4), wherein the amber massage head (4) is detachably connected to an end of the second frame (2) away from the flexible connection member (3).

2. A flexible massage head according to claim 1, characterized in that: The Shore hardness of the flexible connecting member (3) is 40-70 degrees, and its elastic modulus is 1.5-2 MPa.

3. A flexible massage head according to claim 1, characterized in that: The amber massage head (4) comprises an amber connecting column (4-1) and a plurality of amber particles (4-2); one end of the amber connecting column (4-1) is clamped to an end of the second frame (2) away from the flexible connecting member (3); and the plurality of amber particles (4-2) are arranged at intervals and integrally formed at the free end of the amber connecting column (4-1).

4. A flexible massage head according to claim 3, characterized in that: It also includes a step ring (5), the second frame (2) is an annular frame, the amber connecting column (4-1) includes a limiting section and a movable section that are integrally connected; the step ring (5) includes a first connecting ring (5-1), a second connecting ring (5-2) and a third connecting ring (5-3) that are coaxial and fixed in sequence along the axial direction, and a step surface (5-4) is formed between the inner wall surfaces of the second connecting ring (5-2) and the third connecting ring (5-3), the first connecting ring (5-1) is threadedly connected to the outer wall surface of one end of the annular frame away from the flexible connecting member (3); the inner wall surface of the second connecting ring (5-2) is in limiting contact with the outer wall surface of the limiting section, and the end of the limiting section connected to the movable section is in limiting contact with the step surface (5-4); the movable section passes through the third connecting ring (5-3) and is in sliding contact with its inner wall surface; a plurality of amber particles (4-2) are integrally formed and arranged at the end of the movable section.

5. The flexible massage head according to claim 3, characterized in that: It also includes a flexible gasket (6); an annular groove is formed on one end face of the second frame (2) corresponding to the amber connecting column (4-1); the flexible gasket (6) is placed in the annular groove and its two annular surfaces respectively correspond to the bottom of the annular groove and the end face of the amber connecting column (4-1).

6. A flexible massage head according to claim 3, characterized in that: It also includes an electric heating plate (7); a mounting groove (2-1) is provided in the second frame (2); the electric heating plate (7) is adhered to the groove wall of the mounting groove (2-1) corresponding to the groove wall close to the amber massage head (4) to heat the amber massage head (4).

7. A flexible massage head according to claim 6, characterized in that: It also includes a far-infrared heater (8); a through hole (4-1-1) is provided on the end surface of the amber connecting column (4-1) corresponding to the amber particle (4-2); the through hole (4-1-1) is connected to the mounting groove (2-1); the far-infrared heater (8) is bonded into the mounting groove (2-1) and the far-infrared rays emitted by the far-infrared heater are dispersed to the human body through the through hole (4-1-1).

8. A flexible massage head according to claim 7, characterized in that: It also includes a temperature controller, which is respectively connected to the far-infrared heater (8) and the electric heating plate (7) by signals.

9. The flexible massage head according to claim 3, characterized in that: It also comprises a light-emitting panel (9), wherein the light-emitting panel (9) is clamped between the second frame (2) and the amber connecting column (4-1).

10. A physical therapy robot, comprising the flexible massage head according to any one of claims 1 to 9, characterized in that: Also includes: Body (10); A six-axis mechanical arm (11), one end of which is movably connected to the machine body (10); One end of the first frame (1) away from the flexible connecting member (3) is fixed to the other end of the six-axis robot arm (11).

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