Mechanical arm structure of physiotherapy massage robot

Abstract

The utility model relates to the technical field of physiotherapy massage equipment, and discloses a mechanical arm structure of a physiotherapy massage robot, the mechanical arm structure comprises a mechanical arm body and a massage head, the mechanical arm body is provided with a plurality of movable joints, the mechanical arm structure further comprises a quick replacement mechanism, and the quick replacement mechanism is arranged at the tail end of the mechanical arm body and comprises a connecting disc, a clamping jaw and an electromagnetic chuck; according to the massage head rapid replacement device, through the arrangement of a rapid replacement mechanism composed of the connecting disc, the clamping jaws, the electromagnetic suction cups, the limiting assemblies, the intermittent rotating mechanism, the rack, the stepping motor and the like, rapid and automatic replacement of the massage head is achieved, shutdown and manual disassembly and assembly are not needed, and the massage head rapid replacement device is simple in structure, convenient to use and high in practicability. The operation is simple and convenient, the consumed time is short, the massage efficiency is effectively improved, the abrasion of the connecting part of the mechanical arm and the massage head caused by frequent manual disassembly is avoided, and the service life of the equipment is prolonged.

Description

Technical Field

[0001] This application relates to the field of physiotherapy and massage equipment technology, and in particular to the mechanical arm structure of a physiotherapy and massage robot. Background Technology

[0002] As people's demands for health and quality of life increase, physiotherapy massage robots are becoming increasingly popular in the market. The mechanical arm structure of the physiotherapy massage robot is a key component for realizing the massage function, and its end massage head directly contacts the human body to perform the massage operation.

[0003] However, existing robotic arm structures for physiotherapy massage robots have a significant drawback: difficulty in quickly changing massage heads. In practical use, when different types of massage heads are needed to adapt to different massage needs (such as acupressure massage, muscle relaxation massage, etc.), the machine often needs to be stopped and manually disassembled and installed. This method is not only cumbersome and time-consuming, reducing massage efficiency, but frequent manual disassembly can also cause wear and tear on the connection points between the robotic arm and the massage head, affecting the lifespan of the device and the massage effect. Therefore, a robotic arm structure for a physiotherapy massage robot is proposed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm structure for a physiotherapy massage robot to solve the problems mentioned in the background art.

[0005] The mechanical arm structure of the physiotherapy massage robot provided in this application adopts the following technical solution:

[0006] A robotic arm structure for a physiotherapy massage robot includes a robotic arm body and a massage head. The robotic arm body has multiple movable joints and also includes a quick-change mechanism. The quick-change mechanism is located at the end of the robotic arm body and includes a connecting plate, a claw, and an electromagnetic chuck.

[0007] Multiple claws are evenly and uniformly fixedly connected to the outer circumference of the connecting plate in a circular array. The claws are engaged with multiple massage heads through a limiting component. The electromagnetic chuck is embedded in the end of the robotic arm body.

[0008] A fixed frame is welded to the outer wall of the robotic arm body near the end, and a frame is rotatably connected to the outer wall of the fixed frame. The frame is connected to the connecting plate through an intermittent rotation mechanism.

[0009] A stepper motor is fixedly installed on the bottom outer wall of the fixed frame, and the end of the output shaft of the stepper motor passes through the fixed frame and is fixedly connected to the frame.

[0010] Preferably, the limiting component includes multiple movable grooves formed inside the claw, a movable plate is slidably connected to the inner wall of the movable groove, a locking block is fixedly connected to the outer wall of the movable plate, and multiple limiting holes are formed on the outer wall of the massage head. The ends of the multiple locking blocks away from the movable plate pass through the movable grooves and are adapted to and locked into the limiting holes.

[0011] Preferably, a spring is also installed inside the movable groove, with one end of the spring fixedly connected to the inner wall of the movable groove and the other end fixedly connected to the outer wall of the movable plate.

[0012] Preferably, the intermittent rotation mechanism includes a connecting shaft fixedly connected to the outer wall of the frame, a grooved wheel rotatably connected to the end of the connecting shaft, a connecting disc fixedly connected to the grooved wheel, and a plurality of concave locking arcs and radial grooves formed on the outer wall of the grooved wheel.

[0013] Preferably, a servo motor is fixedly installed on the inner wall of the frame, and the output shaft of the servo motor passes through the frame and is fixedly connected to an active dial. The outer wall of the active dial is provided with a cylindrical pin that cooperates with a radial groove and a convex locking arc that cooperates with a concave locking arc.

[0014] In summary, this application includes the following beneficial technical effects:

[0015] By incorporating a quick-change mechanism consisting of a connecting plate, grippers, electromagnetic chuck, limit components, intermittent rotation mechanism, frame, and stepper motor, the massage head can be changed quickly and automatically without stopping the machine or requiring manual disassembly and installation. This not only simplifies operation and reduces time consumption, effectively improving massage efficiency, but also avoids wear and tear on the connection between the robotic arm and the massage head caused by frequent manual disassembly, extending the equipment's lifespan and ensuring a stable and excellent massage effect. Furthermore, the arc-shaped design at the bottom of the gripper and the coordinated operation of all components make the installation, separation, and repositioning of the massage head smoother and more efficient, better adapting to different massage needs. Attached Figure Description

[0016] Figure 1 This is an overall schematic diagram of an embodiment of the application;

[0017] Figure 2 This is a three-dimensional schematic diagram of an embodiment of the application;

[0018] Figure 3 This is a partial structural cross-sectional view of an embodiment of the application;

[0019] Figure 4 for Figure 3 Enlarged schematic diagram of the structure at point A in the middle;

[0020] Figure 5 for Figure 3 Enlarged schematic diagram of the structure at point B.

[0021] Explanation of reference numerals in the attached drawings: 1. Robotic arm body; 2. Fixing frame; 3. Stepper motor; 4. Frame; 5. Connecting shaft; 6. Grooved wheel; 7. Concave locking anti-arc; 8. Active dial; 9. Convex locking anti-arc; 10. Servo motor; 11. Connecting plate; 12. Claw; 13. Massage head; 14. Electromagnetic chuck; 15. Movable groove; 16. Spring; 17. Movable plate; 18. Locking block; 19. Limiting hole. Detailed Implementation

[0022] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0023] This application discloses a robotic arm structure for a physiotherapy massage robot. (Refer to...) Figures 1-5 A mechanical arm structure for a physiotherapy massage robot includes a mechanical arm body 1, a massage head 13, and a quick-change mechanism installed at the end of the mechanical arm body 1.

[0024] The robotic arm body 1 has multiple flexible joints, which give the robotic arm body 1 multi-degree-of-freedom movement capabilities, enabling it to perform various complex actions in space to meet the precise requirements for the position and angle of the massage head 13 in different physiotherapy and massage scenarios. A fixed frame 2 is firmly welded to the outer wall of the robotic arm body 1 near the end, which provides a reliable support foundation for the installation and stable operation of subsequent components.

[0025] The connecting plate 11 is the core connecting component of the entire quick-change mechanism. Multiple claws 12 are evenly fixedly connected to the outer circumference of the connecting plate 11 in an equally spaced circular array. The claws 12 engage with the massage head 13 through the internal limiting components, thereby achieving initial fixation of the massage head 13. The electromagnetic chuck 14 is embedded in the end of the robotic arm body 1, and further enhances the fixing effect of the massage head 13 through the action of electromagnetic force, ensuring that the massage head 13 will not loosen or fall off during the massage process.

[0026] The limiting component specifically includes multiple movable slots 15 formed inside the claw 12. The inner wall of the movable slot 15 forms a sliding connection structure with the movable plate 17, allowing the movable plate 17 to slide freely in a specific direction within the movable slot 15. A locking block 18 is fixedly connected to the outer wall of the movable plate 17, and multiple limiting holes 19 are correspondingly formed on the outer wall of the massage head 13. When the claw 12 and the massage head 13 are assembled, the locking block 18, under the action of the spring 16, can automatically pop out and accurately lock into the limiting hole 19, thereby effectively limiting the movement of the massage head 13. To ensure that the locking block 18 can achieve the function of automatic pop-out and retraction, a locking block 18 is installed inside the movable slot 15. Equipped with a spring 16, one end of the spring 16 is firmly fixed to the inner wall of the movable groove 15, and the other end is connected to the outer wall of the movable plate 17. Under normal conditions, the spring 16 is in a compressed state, applying an outward pushing force to the movable plate 17, so that the locking block 18 can be smoothly locked into the limiting hole 19. When it is necessary to remove the massage head 13, the movable plate 17 is forced to overcome the elastic force of the spring 16 by applying external force, and the locking block 18 is retracted into the movable groove 15, thereby releasing the fixation of the massage head 13. In particular, the bottom end of the locking block 18 is designed with an arc-shaped structure. This design makes the locking block 18 more smoothly disengaged from the limiting hole 19, reducing frictional resistance and wear.

[0027] The intermittent rotation mechanism mainly consists of a connecting shaft 5 fixedly connected to the outer wall of the frame 4, a grooved wheel 6 rotatably connected to the end of the connecting shaft 5, a connecting plate 11 fixedly connected to the grooved wheel 6, a servo motor 10 installed on the inner wall of the frame 4, and an active dial 8 connected to the output shaft of the servo motor 10. The outer wall of the grooved wheel 6 is provided with multiple concave locking arcs 7 and radial grooves. The outer wall of the active dial 8 is provided with cylindrical pins that cooperate with the radial grooves and convex locking arcs 9 that cooperate with the concave locking arcs 7. When the servo motor 10 starts working, it drives the active dial 8 to rotate. The cylindrical pin on the active dial 8 will insert into the radial groove of the grooved wheel 6, thereby pushing the grooved wheel 6 to rotate a certain angle. When the cylindrical pin leaves the radial groove, the convex locking arc 9 on the active dial 8 will tightly cooperate with the concave locking arc 7 on the grooved wheel 6, keeping the grooved wheel 6 stationary, thereby realizing the intermittent rotation function of the connecting plate 11.

[0028] The outer wall of the fixed frame 2 is rotatably connected to the frame 4. The frame 4 is connected to the connecting plate 11 through an intermittent rotation mechanism, which can drive the connecting plate 11 to rotate. A stepper motor 3 is fixedly installed on the bottom outer wall of the fixed frame 2. The output shaft of the stepper motor 3 passes through the fixed frame 2 and is fixedly connected to the frame 4. The stepper motor 3 can precisely control the rotation angle and position of the frame 4, thereby realizing the precise position adjustment of the connecting plate 11 and the massage head 13, ensuring that the massage head 13 can accurately correspond to the electromagnetic chuck 14 at the end of the robotic arm body 1.

[0029] The implementation principle of the robotic arm structure of the physiotherapy massage robot in this application embodiment is as follows: Before actual use, multiple massage heads 13 are pre-attached to the claws 12 by limiting components. Specifically, the limiting holes 19 on the massage heads 13 are aligned with the locking blocks 18 on the claws 12. Under the elastic force of the spring 16, the locking blocks 18 automatically pop out and lock into the limiting holes 19, thus completing the fixation of the massage heads 13 on the claws 12.

[0030] When one of the massage heads 13 needs to be installed, the stepper motor 3 is started, driving the frame 4 to rotate. The frame 4 drives the connecting plate 11 and multiple claws 12 to rotate together through an intermittent rotation mechanism, so that the multiple massage heads 13 gradually approach the end of the robotic arm body 1. During the rotation, the intermittent rotation mechanism is precisely controlled by the servo motor 10, so that one of the massage heads 13 can be accurately aligned with the electromagnetic chuck 14 at the end of the robotic arm body 1. After alignment, the electromagnetic chuck 14 is activated, generating a strong electromagnetic suction. The massage head 13 is firmly attached to the end of the robotic arm body 1 by the force, thus completing the installation of the massage head 13. Then, the stepper motor 3 drives the frame 4 to rotate in the opposite direction for a certain range. Since the massage head 13 has been fixed to the end of the robotic arm body 1 by the electromagnetic chuck 14, and the bottom end of the locking block 18 has an arc-shaped structure, the locking block 18 can easily disengage from the limiting hole 19 during the reverse rotation of the frame 4, thereby allowing the massage head 13 to smoothly disengage from the locking claw 12, thus completing the separation operation of the locking claw 12 from the installed massage head 13.

[0031] When it is necessary to replace the massage head 13, the stepper motor 3 is restarted to drive the frame 4 to rotate, so that the claw 12 approaches the massage head 13 fixed at the end of the robotic arm body 1. The claw 12 re-engages with the massage head 13 through the limiting component, that is, the locking block 18 is locked into the limiting hole 19 again under the action of the spring 16. Then, the electromagnetic chuck 14 is de-energized to release the fixation of the massage head 13. At this time, the intermittent rotation mechanism is driven by the servo motor 10 to make the connecting plate 11 rotate, so that the next massage head 13 is aligned with the electromagnetic chuck 14. When the new massage head 13 is aligned with the electromagnetic chuck 14, the electromagnetic chuck 14 is energized again to fix the new massage head 13 at the end of the robotic arm body 1, thus completing the replacement operation of the massage head 13.

[0032] After the replacement is completed, the stepper motor 3 drives the frame 4 to reset the multiple claws 12. During the reset process, due to the arc-shaped bottom design of the locking block 18, the limiting component can smoothly disengage from the newly installed massage head 13, ensuring that the claws 12 will not obstruct the normal operation of the massage head 13 installed at the end of the robotic arm body 1 after reset.

[0033] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic arm structure for a physiotherapy massage robot, comprising a robotic arm body (1) and a massage head (13), wherein the robotic arm body (1) has multiple movable joints, characterized in that: It also includes a quick-change mechanism, which is located at the end of the robotic arm body (1) and includes a connecting plate (11), a chuck (12) and an electromagnetic chuck (14). Multiple claws (12) are evenly and uniformly fixedly connected to the outer circumference of the connecting plate (11) in a circular array with equal spacing. The claws (12) are engaged with multiple massage heads (13) through limiting components. The electromagnetic chuck (14) is embedded and installed at the end of the robotic arm body (1). The robotic arm body (1) has a fixed frame (2) welded to the outer wall near the end. The outer wall of the fixed frame (2) is rotatably connected to a frame (4). The frame (4) is connected to the connecting plate (11) through an intermittent rotation mechanism. A stepper motor (3) is fixedly installed on the bottom outer wall of the fixed frame (2). The output shaft end of the stepper motor (3) passes through the fixed frame (2) and is fixedly connected to the frame (4).

2. The robotic arm structure of a physiotherapy massage robot according to claim 1, characterized in that: The limiting component includes multiple movable slots (15) opened inside the claw (12). A movable plate (17) is slidably connected to the inner wall of the movable slot (15). A locking block (18) is fixedly connected to the outer wall of the movable plate (17). Multiple limiting holes (19) are opened on the outer wall of the massage head (13). One end of the multiple locking blocks (18) away from the movable plate (17) passes through the movable slot (15) and is adapted to and locked with the limiting hole (19).

3. The robotic arm structure of a physiotherapy massage robot according to claim 2, characterized in that: A spring (16) is also installed inside the movable groove (15). One end of the spring (16) is fixedly connected to the inner wall of the movable groove (15), and the other end is fixedly connected to the outer wall of the movable plate (17).

4. The robotic arm structure of a physiotherapy massage robot according to claim 1, characterized in that: The intermittent rotation mechanism includes a connecting shaft (5) fixedly connected to the outer wall of the frame (4), and a grooved wheel (6) is rotatably connected to the end of the connecting shaft (5). The connecting disc (11) is fixedly connected to the grooved wheel (6), and the outer wall of the grooved wheel (6) is provided with multiple concave locking arcs (7) and radial grooves.

5. The robotic arm structure of a physiotherapy massage robot according to claim 4, characterized in that: A servo motor (10) is fixedly installed on the inner wall of the frame (4). The output shaft of the servo motor (10) passes through the frame (4) and is fixedly connected to an active dial (8). The outer wall of the active dial (8) is provided with a cylindrical pin that cooperates with the radial groove and a convex locking arc (9) that cooperates with the concave locking arc (7).

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