Multi-sensor fusion physiotherapy massage head

Abstract

The utility model discloses a multi-sensor fusion physiotherapy massage head, and belongs to the technical field of massage physiotherapy equipment. Comprising a distance sensor arranged on the circumferential outer side of the physiotherapy massage head in a sleeving mode, and the distance sensor is used for detecting the distance between the physiotherapy massage head and the human body; a torque sensor is arranged at the end, away from the gun body, of the physiotherapy massage head and used for detecting the magnitude of force applied to the human body by the physiotherapy massage head. The camera is configured to shoot a physiotherapy area directly facing the physiotherapy massage head, and the distance sensor, the physiotherapy massage head and the camera are configured to synchronously move along with the physiotherapy massage head. The distance between the physiotherapy massage head and the human body, the magnitude of force applied to the human body by the physiotherapy massage head and the moving path can be comprehensively detected in the physiotherapy process, and the distance sensor, the torque sensor and the camera can synchronously move along with the movement of the physiotherapy massage head. Detection errors caused by movement of the physiotherapy massage head can be effectively avoided, and the detection accuracy is further guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of massage and physiotherapy equipment, and specifically relates to a multi-sensor fusion physiotherapy massage head. Background Art

[0002] Physiotherapy is a method that uses artificial or natural physical factors to act on the human body, causing beneficial reactions to achieve the purpose of preventing and treating diseases. It is an important part of rehabilitation treatment. For the vast skin physiotherapy needs in the clinical physiotherapy field, the existing physiotherapy methods usually involve some physiotherapy methods mastered by doctors to perform physiotherapy operations on the diseased parts of patients, causing human reactions, adjusting blood circulation, improving nutritional metabolism, enhancing immune function, regulating nervous system function, promoting tissue repair, thereby eliminating pathogenic factors, improving the pathological process, and achieving the purpose of treating diseases.

[0003] With the development of the times, the existing physiotherapy means have gradually changed from manual to a combination of manual and mechanical physiotherapy methods. Currently, the mainstream physiotherapy instruments require doctors to manipulate them in real time and manually adjust the real-time position. The entire process requires doctors to highly concentrate their attention, and it is impossible to monitor the minute changes in the patient's body position, as well as effectively respond to the sudden shaking and movement of the patient's body, resulting in poor rehabilitation physiotherapy effects. At the same time, in the existing physiotherapy equipment integrated with collaborative robots, the traditional eye-in-hand type recognition and perception method has visual occlusion, resulting in non-vertical angles of the probe, and thus it is impossible to perform targeted scientific physiotherapy.

[0004] After retrieval, the Chinese invention patent: An moxibustion physiotherapy robot (publication number: CN118163109A, publication date: June 11, 2024). This application discloses an moxibustion physiotherapy robot, including: a device main body, a robotic arm, an moxibustion physiotherapy head, and an ash cleaning mechanism. The moxibustion physiotherapy head includes: a physiotherapy head main body, a control board, a liquid collection box, an automatic ignition moxibustion box, and several detection sensor groups. The detection sensor groups are electrically connected to the control board. A control system is provided in the device main body, and the control system is electrically connected to the robotic arm and the control board respectively. The present invention can input the position where the patient needs heat therapy into the control system, identify and track the affected area through the detection sensor groups. Thus, when the patient moves, the detection sensor groups identify and track the patient's affected area, and thereby the robotic arm moves the moxibustion physiotherapy head in real time to ensure the relative position relationship between the moxibustion physiotherapy head and the affected area, ensuring that the moxibustion physiotherapy head can continuously and effectively perform heat therapy work on the patient's affected area. However, the disadvantage of this application is that it can only detect distance and temperature, and there will be errors in data collection as the device moves. Content of the Utility Model

[0005] 1. Technical Problems to be Solved by the Utility Model

[0006] The object of the present utility model is to solve the problem that the detection data of existing massage and physiotherapy devices is incomplete and prone to errors.

[0007] 2. Technical solution

[0008] To achieve the above object, the technical solution provided by the present utility model is as follows:

[0009] A multi-sensor fusion physiotherapy massage head of the present utility model includes a distance sensor sleeved on the circumferential outer side of the physiotherapy massage head, and the distance sensor is used to detect the distance between the physiotherapy massage head and the human body; one end of the physiotherapy massage head away from the gun body is provided with a torque sensor, and the torque sensor is used to detect the magnitude of the force exerted by the physiotherapy massage head on the human body; a camera is further included, and the camera is configured to photograph the physiotherapy area facing the physiotherapy massage head, and the distance sensor, the physiotherapy massage head and the camera are configured to move synchronously following the physiotherapy massage head.

[0010] Preferably, the distance sensor is concentrically arranged with the axis of the physiotherapy massage head, and the torque sensor is concentrically arranged with the axis of the physiotherapy massage head.

[0011] Preferably, the distance sensor is provided with a round hole for accommodating the physiotherapy massage head, and a plurality of detection units are evenly arranged along the circumference of the round hole, and the detection directions of the plurality of detection units are parallel to the length direction of the physiotherapy massage head.

[0012] Preferably, an installation base is further included. One side of the installation base is fixedly connected to the torque sensor, and an installation plate is fixedly connected to the side of the torque sensor relative to the installation base, and the installation plate is fixedly connected to the physiotherapy massage head.

[0013] Preferably, a guide cover is fixedly connected to the side of the installation base away from the torque sensor, a guide hole is provided at the center of the guide cover, and the physiotherapy massage head passes through the guide hole and is concentrically arranged with the guide cover.

[0014] Preferably, an installation flange is fixedly connected to the side of the installation base facing away from the physiotherapy massage head, the installation flange is connected to a symmetrically combined housing one and housing two, and the housing one and housing two are configured to be provided with a through hole for accommodating a robotic arm in the area of the installation flange.

[0015] Preferably, a camera is provided on the installation flange, the camera is configured to photograph the physiotherapy area facing the gun body, and the camera moves synchronously with the movement of the physiotherapy massage head.

[0016] Preferably, a support plate and a fixing plate are attached to both ends of the distance sensor. The fixing plate is fixedly connected to the mounting base. A lens covers the surface of several detection units. The support plate is provided with openings, and the number and size of the openings are adapted to the number and size of the lenses.

[0017] Preferably, a cylindrical groove is formed by inward depression on one surface of the mounting flange. Several mounting holes are provided at the bottom of the cylindrical groove. The cylindrical groove is connected to a robotic arm, and the mounting holes are used for fixedly connecting the robotic arm.

[0018] Preferably, it further includes a control board. The control board is fixedly connected to the mounting base through a support board. The control board is electrically connected to the torque sensor, the distance sensor, and the camera and controls the torque sensor, the distance sensor, and the camera to work.

[0019] 3. Beneficial effects

[0020] Adopting the technical solution provided by the present utility model, compared with the prior art, it has the following beneficial effects:

[0021] A multi-sensor fusion physical therapy massage head of the present utility model includes a distance sensor sleeved on the circumferential outer side of the physical therapy massage head. The distance sensor is used to detect the distance between the physical therapy massage head and the human body. A torque sensor is provided at one end of the physical therapy massage head away from the gun body. The torque sensor is used to detect the magnitude of the force exerted by the physical therapy massage head on the human body. It further includes a camera configured to photograph the physical therapy area facing the physical therapy massage head. The distance sensor, the physical therapy massage head, and the camera are configured to move synchronously following the physical therapy massage head. By simultaneously setting the distance sensor, the torque sensor, and the camera, it is possible to comprehensively detect the distance between the physical therapy massage head and the human body, the magnitude of the force exerted by the physical therapy massage head on the human body, and the movement path during the physical therapy process. Moreover, the distance sensor, the torque sensor, and the camera can all move synchronously as the physical therapy massage head moves, which can effectively avoid detection errors caused by the movement of the physical therapy massage head and further ensure the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a cross-sectional view of a multi-sensor fusion physical therapy massage head of the present utility model;

[0023] Figure 2 It is an exploded view I of a multi-sensor fusion physical therapy massage head of the present utility model;

[0024] Figure 3 It is a side view of a multi-sensor fusion physical therapy massage head of the present utility model;

[0025] Figure 4 It is a structural schematic diagram of the mounting flange of the present utility model;

[0026] Figure 5 Structural schematic diagram of the guiding cover of the present utility model;

[0027] Figure 6 Structural schematic diagram of the installation base of the present utility model.

[0028] Explanation of the reference numerals in the schematic diagram:

[0029] 10. Installation base; 20. Torque sensor; 30. Installation plate; 40. Physiotherapy massage head; 41. Gun body; 42. Pressing plate; 50. Guiding cover; 60. Distance sensor; 70. Lens; 80. Support plate; 90. Fixed plate; 100. Installation flange; 101. Cylindrical groove; 102. Installation hole; 110. Outer shell I; 120. Outer shell II; 130. Cover shell; 140. Control board; 150. Support plate; 160. Camera. Specific implementation manners

[0030] In order to enable those skilled in the art of the present technology to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so as to describe the embodiments of the present application here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] In the present application, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0033] Moreover, in addition to being used to indicate orientation or positional relationship, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain attachment relationship 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.

[0034] In addition, the terms "installed", "set", "provided with", "connected", "linked", "socketed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, components or parts. 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.

[0035] It should be noted that, without conflict, the embodiments and features in the embodiments of this application may be combined with each other. The following will refer to the drawings and describe this application in detail in conjunction with the embodiments.

[0036] Embodiment 1

[0037] Referring to the attached Figure 1-6, a multi-sensor fusion physical therapy massage head according to this embodiment includes a distance sensor 60 sleeved on the circumferential outer side of the physical therapy massage head 40, and the distance sensor 60 is used to detect the distance between the physical therapy massage head 40 and the human body; the distance sensor 60 is concentrically arranged with the axis of the physical therapy massage head 40, and a torque sensor 20 is provided at one end of the physical therapy massage head 40 away from the gun body 41, and the torque sensor 20 is used to detect the magnitude of the force exerted by the physical therapy massage head 40 on the human body; the torque sensor 20 is concentrically arranged with the axis of the physical therapy massage head 40; it further includes a camera 160, and the camera 160 is configured to photograph the physical therapy area facing the physical therapy massage head 40. The distance sensor 60, the physical therapy massage head 40, and the camera 160 are configured to move synchronously with the physical therapy massage head 40. The massage head of this embodiment can comprehensively detect the distance between the physical therapy massage head 40 and the human body, the magnitude of the force exerted by the physical therapy massage head 40 on the human body, and the movement path during the physical therapy process by simultaneously setting the distance sensor 60, the torque sensor 20, and the camera 160, and the distance sensor 60, the torque sensor 20, and the camera 160 can all move synchronously with the movement of the physical therapy massage head 40, which can effectively avoid the detection error caused by the movement of the physical therapy massage head 40 and further ensure the detection accuracy. And the torque sensor 20 is arranged at the end of the physical therapy massage head 40, which can accurately measure the magnitude of the force exerted by the physical therapy massage head 40 on the human body, and the detection is more accurate. Arranging the distance sensor 60, the torque sensor 20 and the physical therapy massage head 40 concentrically can further ensure that the measured data is real-time motion data and reduce errors.

[0038] The distance sensor 60 of this embodiment is provided with a round hole for accommodating the physical therapy massage head 40 and is evenly provided with a plurality of detection units along the circumference of the round hole, and the detection directions of the plurality of detection units are parallel to the length direction of the physical therapy massage head 40. A support plate 80 and a fixing plate 90 are attached to both ends of the distance sensor 60, the fixing plate 90 is fixedly connected to the mounting base 10, the surfaces of the plurality of detection units are covered with lenses 70, and the support plate 80 is provided with openings, and the number and size of the openings are adapted to the number and size of the lenses 70. By using a plurality of individual detection units to detect the distance and comparing and calibrating the detection results, the error of distance detection can be further reduced.

[0039] Specifically, it further includes a mounting base 10, one side of the mounting base 10 is fixedly connected to the torque sensor 20, a mounting plate 30 is fixedly connected to the side of the torque sensor 20 relative to the mounting base 10, and the mounting plate 30 is fixedly connected to the physical therapy massage head 40. The mounting base 10 is used as a bracket to fix the remaining components and provide support for the remaining components. The physical therapy massage head 40 is also fixedly connected with a pressing plate 42.

[0040] On one side of the mounting base 10 away from the torque sensor 20, a guiding cover 50 is fixedly connected. A guiding hole 51 is provided at the center of the guiding cover 50. The physiotherapy massage head 40 passes through the guiding hole 51 and is concentric with the guiding cover 50. An installation hole 52 is provided on one side of the guiding cover 50, and the installation hole 52 of the guiding cover is in fit connection with the installation hole 11 of the mounting base; the guiding hole 51 of the guiding cover and the gun body 41 are installed concentrically and vertically.

[0041] On the side of the mounting base 10 facing away from the physiotherapy massage head 40, a mounting flange 100 is fixedly connected. The mounting flange 100 is connected to a symmetrically combined housing one 110 and housing two 120. The housing one 110 and the housing two 120 are configured to have a through hole for accommodating a robotic arm in the area of the mounting flange 100.

[0042] A camera 160 is provided on the mounting flange 100. The camera 160 is configured to have a shooting direction facing the physiotherapy area of the gun body 41, and the camera 160 moves synchronously with the movement of the physiotherapy massage head 40.

[0043] On one surface of the mounting flange 100, a cylindrical groove 101 is recessed inward. A plurality of mounting holes 102 are provided at the bottom of the cylindrical groove 101. The cylindrical groove 101 is connected to a robotic arm, and the mounting holes 102 are used for fixedly connecting the robotic arm. A control board 140 is further included. The control board 140 is fixedly connected to the mounting base 10 through a support board 150. The control board 140 is electrically connected to the torque sensor 20, the distance sensor 60, and the camera 160 and controls the torque sensor 20, the distance sensor 60, and the camera 160 to work. A cover shell 130 also covers the outside of the control board 140. The control board 140 in this embodiment is a common control board in the prior art, so no additional description is made. The control board 130 mainly integrally controls the distance sensor 60, the torque sensor 20, and the camera 160 to satisfy the synchronous cooperation operation of the three sensors, better fit the human body surface, and achieve the purpose of improving the physiotherapy effect.

[0044] The above embodiments only represent a certain implementation manner of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention; it should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention; therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A multi-sensor fusion physical therapy massage head, characterized in that: It includes a distance sensor (60) sleeved on the circumferential outer side of the physiotherapy massage head (40), and the distance sensor (60) is used to detect the distance between the physiotherapy massage head (40) and the human body; one end of the physiotherapy massage head (40) far from the gun body (41) is provided with a torque sensor (20), and the torque sensor (20) is used to detect the magnitude of the force exerted by the physiotherapy massage head (40) on the human body; it further includes a camera (160), and the camera (160) is configured to shoot in the direction facing the physiotherapy area of the physiotherapy massage head (40), and the distance sensor (60), the physiotherapy massage head (40) and the camera (160) are configured to move synchronously following the physiotherapy massage head (40).

2. The multi-sensor fusion physical therapy massage head according to claim 1, characterized in that: The distance sensor (60) is arranged concentrically with the axis of the physiotherapy massage head (40), and the torque sensor (20) is arranged concentrically with the axis of the physiotherapy massage head (40).

3. The multi-sensor fusion physiotherapy massage head according to claim 2, characterized in that: The distance sensor (60) is provided with a round hole for accommodating the physiotherapy massage head (40), and a plurality of detection units are evenly arranged along the circumference of the round hole, and the detection directions of the plurality of detection units are parallel to the length direction of the physiotherapy massage head (40).

4. The multi-sensor fusion physical therapy massage head according to claim 3, characterized in that: It further includes a mounting base (10), one side of the mounting base (10) is fixedly connected to the torque sensor (20), a mounting plate (30) is fixedly connected to one side of the torque sensor (20) relative to the mounting base (10), and the mounting plate (30) is fixedly connected to the physiotherapy massage head (40).

5. The multi-sensor fusion physical therapy massage head according to claim 4, wherein: One side of the mounting base (10) far from the torque sensor (20) is fixedly connected to a guide cover (50), a guide hole (51) is provided at the center of the guide cover (50), and the physiotherapy massage head (40) passes through the guide hole (51) and is concentrically arranged with the guide cover (50).

6. The multi-sensor fusion physiotherapy massage head according to claim 5, characterized in that: One side of the mounting base (10) facing away from the physiotherapy massage head (40) is fixedly connected to a mounting flange (100), the mounting flange (100) is connected to a symmetrically combined housing one (110) and housing two (120), and the housing one (110) and the housing two (120) are configured to have a through hole for accommodating a robotic arm in the area of the mounting flange (100).

7. The multi-sensor fusion physical therapy massage head according to claim 6, characterized in that: The mounting flange (100) is provided with a camera (160), and the camera (160) is configured to shoot in the direction facing the physiotherapy area of the gun body (41), and the camera (160) moves synchronously as the physiotherapy massage head (40) moves.

8. The multi-sensor fusion physical therapy massage head according to claim 6, characterized in that: Both ends of the distance sensor (60) are attached to a support plate (80) and a fixing plate (90), the fixing plate (90) is fixedly connected to the mounting base (10), the surfaces of a plurality of the detection units are covered with lenses (70), and the support plate (80) is provided with openings, and the number and size of the openings are adapted to the number and size of the lenses (70).

9. The multi-sensor fusion physiotherapy massage head according to claim 7, characterized in that: One side surface of the mounting flange (100) is recessed inward to form a cylindrical groove (101), a plurality of mounting holes (102) are provided at the bottom of the cylindrical groove (101), the cylindrical groove (101) is connected to a robotic arm, and the mounting holes (102) are used for fixedly connecting the robotic arm.

10. A multi-sensor fusion physical therapy massage head according to claim 7, characterized in that: It further includes a control board (140), the control board (140) is fixedly connected to the mounting base (10) through a support board (150), and the control board (140) is electrically connected to the torque sensor (20), the distance sensor (60), and the camera (160) and controls the torque sensor (20), the distance sensor (60), and the camera (160) to work.

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