Physiotherapy robot and tail end quick-change mechanism thereof

Abstract

The utility model discloses a physiotherapy robot and a tail end quick-change mechanism thereof. The quick-change mechanism comprises a switching fastener and a mounting fastener; the installation fastener is installed on the adapter fastener in a sliding mode in the first direction, an elastic buckling part is arranged on the installation fastener, a matched buckling part is arranged on the adapter fastener, and the elastic buckling part is elastically reset to be buckled to the matched buckling part so as to limit sliding of the installation fastener in the first direction; wherein one of the adapter fastener and the mounting fastener is arranged on the physical therapy robot mechanical arm, the other one of the adapter fastener and the mounting fastener is arranged on the physical therapy robot actuator, and the physical therapy robot actuator is provided with a quick-plug electrical interface. After the mounting fastener slides to a corresponding position, the elastic buckling part is buckled to the matching buckling part in an aligned manner, so that mutual fixation of the mounting fastener and the switching fastener is completed, and the physiotherapy robot actuator is mounted on the physiotherapy robot mechanical arm; the quick-plug electrical interface can realize quick switching of power supply, control signals and feedback signals among different physical therapy robot actuators.

Description

[0001] The utility model relates to the technical field of medical devices, in particular to a physiotherapy robot and its end-effector quick-change mechanism. Background Art

[0002] With the progress of medical technology, physiotherapy robots have become an important tool in the field of rehabilitation medicine. However, the treatment needs of different patients vary, requiring the physiotherapy robot to be able to flexibly replace different end-effectors (such as millimeter waves, shock waves, radio frequencies, etc.). Traditional replacement methods are often complex and time-consuming, affecting the smoothness of the treatment process and patient satisfaction. Summary of the Utility Model

[0003] The main purpose of the utility model is to provide a physiotherapy robot and its end-effector quick-change mechanism, aiming to solve the problem that the end-effector of the physiotherapy robot is inconvenient to replace.

[0004] To achieve the above object, the utility model provides an end-effector quick-change mechanism for a physiotherapy robot, including:

[0005] An adapter fastener; and,

[0006] A mounting fastener slidably mounted on the adapter fastener in a first direction, an elastic snap portion is formed on the mounting fastener, a mating snap portion is formed on the adapter fastener, and the elastic snap portion elastically resets to snap onto the mating snap portion;

[0007] Wherein, among the adapter fastener and the mounting fastener, one of them is disposed on the robotic arm of the physiotherapy robot, and the other is disposed on the end-effector of the physiotherapy robot, and the end-effector of the physiotherapy robot is provided with a quick-insert electrical interface.

[0008] In one embodiment, guide blocks are disposed on the opposite end faces of the adapter fastener and the mounting fastener, and a sliding fit structure is formed between the two guide blocks. The sliding fit structure includes a sliding rib and a chute that are cooperatively arranged, both the chute and the sliding rib extend along the first direction, and the sliding rib is mounted in the chute.

[0009] In one embodiment, limit blocks are disposed on the opposite end faces of the adapter fastener and the mounting fastener, and the two limit blocks are in mutual contact to limit the moving stroke of the adapter fastener and the mounting fastener in the first direction.

[0010] In one embodiment, the elastic snap portion includes two elastic arms provided on the mounting fastener. Both of the two elastic arms extend along the first direction, and the two elastic arms are spaced apart. A snap structure is provided on the elastic arm. The two elastic arms approach each other so that the snap structure disengages from the mating snap portion, and elastically reset so that the snap structure snaps onto the mating snap portion.

[0011] In one embodiment, two spaced-apart mating protrusions protrude from the adapter fastener.

[0012] Snap protrusions protrude from the side wall surfaces of the two opposite sides of the two elastic arms, and the two snap protrusions are respectively snapped and abutted onto the two mating protrusions.

[0013] In one embodiment, the free end of the elastic arm extends beyond the edge of the adapter fastener.

[0014] In one embodiment, the mounting fastener includes two spaced-apart mounting plates and a connecting plate connecting the two mounting plates.

[0015] The elastic arm is provided on the connecting plate and is between the two mounting plates.

[0016] In one embodiment, a limiting plate is further provided on the mounting fastener, and the limiting plate is between the two elastic arms.

[0017] The present utility model further provides a quick-change physiotherapy robot, including:

[0018] A physiotherapy robot body, including a physiotherapy robot manipulator;

[0019] A physiotherapy robot actuator; and,

[0020] A physiotherapy robot end quick-change mechanism, which is the physiotherapy robot end quick-change mechanism according to any one of the above.

[0021] In one embodiment, a quick-insert electrical connection port is provided on the physiotherapy robot actuator for electrically connecting with the physiotherapy robot body.

[0022] The utility model provides a quick-change mechanism at the end of a physiotherapy robot. Among them, the installation fastener is slidably installed on the adapter fastener. An elastic buckle part is arranged on the installation fastener, and a mating buckle part is formed on the adapter fastener. The elastic buckle part can be deformed under pressure, so that the buckle connection with the mating buckle part is released. At this time, the installation fastener can slide along the first direction. After the external force is withdrawn, the elastic buckle part can reset by its own elasticity. After the installation fastener slides to the position where the elastic buckle part corresponds to the mating buckle part, the elastic buckle part is buckled to the mating buckle part in position, completing the mutual fixation of the installation fastener and the adapter fastener, and further enabling the installation of the physiotherapy robot actuator on the physiotherapy robot manipulator. By pressing the elastic buckle part and the automatic reset of the elastic buckle part, the quick installation and automatic buckle cooperation of the installation fastener and the adapter fastener are realized. The structure is simple and reliable, the installation method is fast, and it is convenient to quickly disassemble and assemble the physiotherapy robot actuator. Brief Description of the Drawings

[0023] Figure 1 is an assembled three-dimensional structural schematic diagram of the quick-change mechanism at the end of the physiotherapy robot provided by the embodiment of the utility model;

[0024] Figure 2 is Figure 1 a three-dimensional structural schematic diagram of another angle of the end quick-change mechanism in

[0025] Figure 3 is Figure 1 a three-dimensional structural schematic diagram of the installation fastener in

[0026] Figure 4 is a three-dimensional structural schematic diagram of the quick-change type physiotherapy robot provided by the embodiment of the utility model;

[0027] Figure 5 is Figure 4 an enlarged structural schematic diagram of part A in

[0028] Explanation of the Reference Numerals in the Drawings:

[0029] 1. Adapter fastener; 11. Mating protrusion; 2. Installation fastener; 21. Elastic arm; 211. Buckle protrusion; 22. Installation plate; 23. Connecting plate; 24. Limiting plate; 3. Guide block; 4. Limiting block; 5. Physiotherapy robot manipulator; 6. Physiotherapy robot actuator; 61. Quick-insert electrical connection port.

[0030] The realization of the purpose, functional features and advantages of the utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0034] Please refer to Figure 1 , the present invention provides a quick-change mechanism at the end of a physiotherapy robot, including a transfer fastener 1 and a mounting fastener 2; the mounting fastener 2 is slidably mounted on the transfer fastener 1 along a first direction, an elastic buckle portion is formed on the mounting fastener 2, a mating buckle portion is formed on the transfer fastener 1, and the elastic buckle portion elastically resets to buckle onto the mating buckle portion to limit the sliding of the mounting fastener 2 in the first direction; wherein, among the transfer fastener 1 and the mounting fastener 2, one of them is provided on the robotic arm of the physiotherapy robot, and the other is provided on the actuator of the physiotherapy robot.

[0035] The present utility model provides a quick-change mechanism at the end of a physiotherapy robot. Among them, the mounting fastener 2 is slidably mounted on the adapter fastener 1. The mounting fastener 2 is provided with an elastic snap portion, and the adapter fastener 1 is formed with a mating snap portion. The elastic snap portion can be deformed under pressure, so that the snap connection with the mating snap portion is released. At this time, the mounting fastener 2 can slide along the first direction to facilitate sliding out from the adapter fastener 1. After the external force is withdrawn, the elastic snap portion can be elastically reset by itself. After the mounting fastener 2 slides to the position where the elastic snap portion corresponds to the mating snap portion, the elastic snap portion is snap-fitted to the mating snap portion to complete the mutual fixation of the mounting fastener 2 and the adapter fastener 1, thereby fixing the actuator of the physiotherapy robot to the robotic arm of the physiotherapy robot. By pressing the elastic snap portion and the automatic reset of the elastic snap portion, the quick installation and automatic snap-fit of the mounting fastener 2 and the adapter fastener 1 are realized. The structure is simple and reliable, the installation method is fast, and it is convenient to quickly disassemble and assemble the actuator of the physiotherapy robot.

[0036] It should be noted that the mounting fastener 2 has various implementation manners of being slidably mounted on the adapter fastener 1, as long as the sliding connection between the mounting fastener 2 and the adapter fastener 1 can be realized. For example, a sliding rod is provided on the mounting fastener 2, and a sliding hole is provided on the adapter fastener 1, and the sliding connection is realized by sliding the sliding rod into the sliding hole.

[0037] Specifically, guide blocks 3 are provided on the opposite end faces of the adapter fastener 1 and the mounting fastener 2. A sliding fit structure is formed between the two guide blocks 3. The sliding fit structure includes sliding ribs and a sliding groove that are cooperatively arranged. The sliding groove and the sliding ribs both extend along the first direction, and the sliding ribs are installed in the sliding groove. In this embodiment, guide blocks 3 are provided on the adapter fastener 1 and the mounting fastener 2, and a sliding fit structure is provided on the guide blocks 3, so that the adapter fastener 1 and the mounting fastener 2 can be slidably connected through the sliding groove and the sliding ribs, and the separation between the adapter fastener 1 and the mounting fastener 2 is avoided. The structure is simple and reliable.

[0038] On the other hand, please refer to Figure 2 , limit blocks 4 are provided on the opposite end faces of the adapter fastener 1 and the mounting fastener 2. The two limit blocks 4 are used to abut against each other to limit the movement stroke of the adapter fastener 1 and the mounting fastener 2 in the first direction. In this embodiment, by providing the limit blocks 4, the excessive movement of the mounting fastener 2 is avoided, so that the snap fit between the elastic snap portion and the mating snap portion cannot be realized.

[0039] It should be noted that in this embodiment, when the elastic buckle portion and the mating buckle portion are buckled together, the two limiting blocks 4 abut against each other to ensure the correct alignment of the adapter fastener 1 and the mounting fastener 2.

[0040] It should be noted that the elastic buckle portion has various implementation manners, as long as the elastic deformation of the buckle can be achieved. For example, the buckle is provided on the mounting fastener through an elastic member. After the mounting fastener slides in place, the elastic member drives the buckle to be buckled to the mating buckle portion.

[0041] Specifically, please refer to Figure 3 , the elastic buckle portion includes two elastic arms 21 provided on the mounting fastener 2. The two elastic arms 21 both extend along the first direction and are spaced apart. A buckle structure is provided on the elastic arm 21. The two elastic arms 21 approach each other to disengage the buckle structure from the mating buckle portion and elastically reset to buckle the buckle structure to the mating buckle portion. In this embodiment, the elastic arms 21 are provided, and a buckle structure is provided on the elastic arms 21. Through the elastic deformation of the elastic arms 21, the compressive displacement and the reset buckling of the buckle structure are realized.

[0042] It should be noted that there are various implementation manners for the snap connection between the buckle structure and the mating buckle portion, as long as the snap can be achieved. For example, magnetic attraction cooperation or the cooperation of a slot and a convex is adopted.

[0043] Specifically, in this embodiment, the mating buckle portion includes two mating protrusions 11 arranged at intervals; on the side wall surfaces of the two opposite sides of the two elastic arms 21, buckle protrusions 211 are convexly provided, and the two buckle protrusions 211 are respectively buckled and abutted to the two mating protrusions 11. In this embodiment, the two elastic arms 21 are respectively buckled to the two mating protrusions 11, and the buckle is realized by the mutual abutment between the buckle protrusions 211 and the mating protrusions 11, and the structure is simple and reliable.

[0044] It should be noted that the two elastic arms 21 are located between the two mating protrusions 11, the buckle protrusions 211 are provided on the outer side walls of the elastic arms 21 facing away from each other, and the two mating protrusions 11 are provided on the outer sides of the elastic arms 21.

[0045] In addition, the free ends of the elastic arms 21 extend beyond the edge of the adapter fastener 1 and are convexly provided on the side wall of the adapter fastener 1. In this embodiment, the free ends of the elastic arms 21 protrude from the side wall of the adapter fastener 1, so that the user can directly press the free ends of the elastic arms 21 to press the elastic arms 21 to generate deformation.

[0046] In order to facilitate the installation of the two elastic arms 21, the mounting fastener 2 includes two mounting plates 22 arranged at intervals, and a connecting plate 23 connecting the two mounting plates 22; the elastic arm 21 is arranged on the connecting plate 23 and is located between the two mounting plates 22. The mounting fastener 2 forms a U-shaped structure through the mounting plates 22 and the connecting plate 23, and the two elastic arms 21 are arranged between the U-shaped structure to be semi-enclosed and protected by the mounting plates 22 and the connecting plate 23, so as to prevent the elastic arms 21 from being damaged by external force impact.

[0047] Similarly, the mounting fastener 2 further includes a limit plate 24, and the limit plate 24 is located between the two elastic arms 21. In this embodiment, the limit plate 24 prevents the elastic arms 21 from excessively moving when they are close to each other, thereby preventing them from being damaged.

[0048] In this embodiment, the limiting plate 24 and the limiting block 4 are integrally arranged.

[0049] See also Figure 4 The utility model also provides a physiotherapy robot, including the above-mentioned physiotherapy robot terminal quick-change mechanism, that is, it has all the technical features of the above-mentioned physiotherapy robot terminal quick-change mechanism, and therefore, it also has the technical effects brought by all the above-mentioned technical features, which will not be described one by one here.

[0050] The physiotherapy robot also includes a physiotherapy robot body and a physiotherapy robot actuator 6; the physiotherapy robot body includes a physiotherapy robot mechanical arm 5.

[0051] In this embodiment, the adapter fastener and the installation fastener are separately arranged on the physiotherapy robot mechanical arm 5 and the physiotherapy robot actuator 6, so that the physiotherapy robot actuator 6 can be quickly installed on the physiotherapy robot mechanical arm 5.

[0052] On the other hand, see Figure 5 The physiotherapy robot actuator 6 is also provided with a quick-plug electrical connection port 61 for electrically connecting to the physiotherapy robot. By designing the quick-plug electrical connection port 61 matching the quick-change interface module, the physiotherapy robot can be easily connected to facilitate the quick adaptation, installation and removal of the physiotherapy robot actuator 6.

[0053] It should be noted that the quick-connect electrical connector 61 has various implementation manners. In this application, the quick-connect electrical connector 61 is an aviation socket, and the aviation socket has 16 wiring terminals. When in use, it is convenient to quickly connect it with a mating connector on the physiotherapy robot, thereby improving the expandability of the device. At the same time, it will also make the device easier to conduct electrical connection and use after replacing the end effector. The quick-connect electrical connector 61 is a quick-change electrical interface, which can realize the quick switching of power supply, control signals, and feedback signals between different physiotherapy robot actuators.

[0054] In this embodiment, the physiotherapy robot actuator 6 is a shock wave generator.

[0055] Furthermore, the buckle structure includes the buckle protrusion;

[0056] The adapter housing has an adapter surface, and two mating protrusions arranged at intervals are provided on the adapter surface. The mounting fastener is slidably mounted along the elastic arm to the adapter surface in the length direction, so that the buckle protrusion is buckled to the mating protrusion, restricting the movement of the mounting fastener in the length direction of the elastic arm.

[0057] Even further, a sliding mounting structure is provided between the adapter surface and the opposite end surface of the mounting fastener. The sliding mounting structure includes a mutually cooperating chute and a sliding rib. The chute and the sliding rib extend along the elastic arm in the length direction. The sliding rib is slidably mounted into the chute. Among the chute and the sliding rib, one of them is provided on the mounting fastener, and the other is provided on the adapter surface.

[0058] Specifically, among the opposite side wall surfaces of the chute and the sliding rib, a limiting groove is provided on one of them, and a limiting protrusion is provided on the other, for restricting the sliding rib from disengaging from the chute.

[0059] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An end-effector quick-change mechanism for a physiotherapy robot, characterized in that, Comprising: Adapter fastener; And Mounting fastener, slidably mounted in a first direction onto the adapter fastener, the mounting fastener being provided with an elastic snap portion, the adapter fastener being provided with a mating snap portion, the elastic snap portion elastically resetting to snap onto the mating snap portion to restrict sliding of the mounting fastener in the first direction; Wherein, one of the adapter fastener and the mounting fastener is provided on the manipulator arm of the physiotherapy robot, and the other is provided on the actuator of the physiotherapy robot, the actuator of the physiotherapy robot being provided with a quick-connect electrical interface.

2. The end-effector quick-change mechanism of the physiotherapy robot according to claim 1, characterized in that Guide blocks are provided on the opposite end faces of the adapter fastener and the mounting fastener, and a sliding fit structure is formed between the side wall surfaces of the two guide blocks. The sliding fit structure includes sliding ribs and a sliding groove that are cooperatively arranged, the sliding groove and the sliding ribs both extending along the first direction, and the sliding ribs being mounted in the sliding groove.

3. The end-effector quick-change mechanism of the physiotherapy robot according to claim 1, characterized in that, Limit blocks are provided on the opposite end faces of the adapter fastener and the mounting fastener, and the side wall surfaces of the two limit blocks are used to abut against each other to restrict the movement stroke of the adapter fastener and the mounting fastener in the first direction.

4. The end-effector quick-change mechanism of the physiotherapy robot according to claim 1, characterized in that, The elastic snap portion includes two elastic arms, both of the elastic arms extending along the first direction, and the two elastic arms being spaced apart. A snap structure is provided on the elastic arms, and the two elastic arms approach each other to disengage the snap structure from the mating snap portion and elastically reset to snap the snap structure onto the mating snap portion.

5. The end-effector quick-change mechanism of the physiotherapy robot according to claim 4, characterized in that, The mating snap portion includes two mating protrusions arranged at intervals; Snap protrusions are convexly provided on the side wall surfaces of the two mutually facing sides of the elastic arms, and the two snap protrusions respectively snap and abut against the two mating protrusions.

6. The end-effector quick-change mechanism of the physiotherapy robot according to claim 4, characterized in that, The free end of the elastic arm extends beyond the edge of the adapter fastener and is convexly provided on the side wall of the adapter fastener.

7. The end-effector quick-change mechanism of the physiotherapy robot according to claim 4, characterized in that, The mounting fastener includes two mounting plates arranged at intervals and a connecting plate connecting the two mounting plates; The elastic arm is provided on the connecting plate and is located between the two mounting plates.

8. The end-effector quick-change mechanism of the physiotherapy robot according to claim 4, characterized in that, A limit plate is further included on the mounting fastener, and the limit plate is located between the two elastic arms.

9. A physiotherapy robot, characterized in that, Comprising: Physiotherapy robot body, including a manipulator arm of the physiotherapy robot; Physiotherapy robot actuator; And Physiotherapy robot end-effector quick-change mechanism, being the physiotherapy robot end-effector quick-change mechanism according to any one of claims 1 to 8.

10. The physiotherapy robot according to claim 9, wherein, The actuator of the physiotherapy robot is provided with a quick-connect electrical connection port for electrically connecting with the physiotherapy robot body.

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