Negative pressure physiotherapy head for physiotherapy robot

Abstract

The negative pressure physiotherapy head comprises a physiotherapy head and an external host, the host comprises a negative pressure module, the physiotherapy head comprises a mechanical arm connecting plate, a physiotherapy head connecting plate, a suction head connecting barrel and a suction head, the mechanical arm connecting plate is connected with the physiotherapy head connecting plate, the suction head connecting barrel is connected with the mechanical arm connecting plate, and the suction head connecting barrel is connected with the suction head. The force sensor is connected with the force control module; the physiotherapy head connecting plate is connected with the suction head through the suction head connecting barrel, one end of the suction head is connected with the negative pressure module through an air pipe, and the physiotherapy head connecting plate and the suction head connecting barrel are provided with an air pipe connecting channel matched with the air pipe. The negative pressure physiotherapy head can be connected with a six-axis collaborative robot to form a physiotherapy robot to execute cupping operation.

Description

Technical Field

[0001] This utility model belongs to the field of medical and health care equipment technology, specifically relating to a negative pressure physiotherapy head for a physiotherapy robot. Background Technology

[0002] Cupping is a traditional Chinese medicine therapy that uses cups as tools and employs methods such as burning or suction to create negative pressure, causing the cups to adhere to the body surface and create local blood stasis. This is believed to achieve effects such as clearing the meridians, promoting blood circulation, reducing swelling and pain, and dispelling wind and cold. However, both fire-based and suction-based cupping require manual operation.

[0003] With the development of technology, six-axis collaborative robots can now replace arms to perform tasks. Therefore, there is an urgent need to provide a physiotherapy head that can work with the robotic arm of a six-axis collaborative robot to perform cupping. Utility Model Content

[0004] The purpose of this invention is to provide a negative pressure physiotherapy head for a physiotherapy robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A negative pressure physiotherapy head for a physiotherapy robot includes a physiotherapy head and an external main unit. The main unit includes a control module and a negative pressure module. The physiotherapy head includes a robotic arm connecting plate, a physiotherapy head connecting plate, a suction head connecting barrel, and a suction head. The robotic arm connecting plate is connected to the physiotherapy head connecting plate, and a force sensor is connected to the force control module. The physiotherapy head connecting plate is connected to the suction head through the suction head connecting barrel. One end of the suction head is connected to the negative pressure module through an air tube. The physiotherapy head connecting plate and the suction head connecting barrel, together with the air tube, form an air tube connection channel.

[0007] Preferably, the therapy head further includes a housing, which is fixedly disposed between the therapy head connecting plate and the suction head.

[0008] Preferably, the physiotherapy head connecting plate is provided with a first limiting part, the end of the outer shell near the physiotherapy head connecting plate is provided with a second limiting part in conjunction with the first limiting part, the suction head is provided with a mounting groove in conjunction with the outer shell, and the outer shell is pressed onto the physiotherapy head connecting plate by the suction head.

[0009] Preferably, the diameter of the end of the suction head connecting barrel near the suction head is smaller than the outer diameter of the suction head, the suction head is provided with a mounting groove to cooperate with the suction head connecting barrel, and the suction head is fixedly connected to the suction head by a thread provided in the mounting groove.

[0010] Preferably, one end of the suction head connecting barrel is provided with a flange, and the suction head connecting barrel is fixedly connected to the physiotherapy head connecting plate through the flange. The end of the suction head connecting barrel away from the flange is threadedly connected to the suction head.

[0011] Preferably, an air tube connector is provided on the back of the suction head, the air tube connector is connected to the suction head, and the air tube is located inside the suction head connecting container.

[0012] Preferably, the physiotherapy head further includes a force sensor, and the main unit further includes a force control module. The force sensor is fixedly disposed between the robotic arm connecting plate and the physiotherapy head connecting plate, and is connected to the force control module.

[0013] Preferably, the therapy head further includes a heating module and a temperature sensor disposed on the back of the suction head, and the main unit further includes a temperature control module, wherein the heating module and the temperature sensor are both connected to the temperature control module.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] In this invention, the negative pressure therapy head can be connected to a six-axis collaborative robot to form a therapy robot and perform cupping operations; in addition, it can also perform massage and heat therapy, providing users with a variety of options. Attached Figure Description

[0016] Figure 1 This is a cross-sectional structural diagram of the present invention.

[0017] Figure 2 for Figure 1 A magnified view of a portion of the image.

[0018] Figure 3 This is an exploded view of the present invention.

[0019] 1. Robotic arm connecting plate; 2. Physiotherapy head connecting plate; 3. Suction head connecting bucket; 4. Outer shell; 5. Suction head; 6. Air tube; 21. First limiting component; 41. Second limiting component; 31. Flange; 32. Groove; 7. Force sensor; 81. Heating module; 82. Temperature sensor; 9. Cable. Detailed Implementation

[0020] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] Reference Figure 1 and 3As shown, a negative pressure physiotherapy head for a physiotherapy robot includes a physiotherapy head and a main unit disposed outside the physiotherapy head. The physiotherapy head includes a robotic arm connecting plate 1, a physiotherapy head connecting plate 2, a suction head connecting barrel 3, a housing 4, and a suction head 5. The main unit includes a negative pressure module.

[0022] Reference Figure 2 In this embodiment, the robotic arm connecting plate 1 is fixedly connected to the physiotherapy head connecting plate 2. The bottom of the physiotherapy head connecting plate 2 extends downward and is provided with a first limiting member 21 in an annular shape. The top of the outer shell 4 extends towards the physiotherapy head connecting plate 2 and is provided with a second limiting member 41 in an annular shape. The outer diameter of the second limiting member 41 is the same as the inner diameter of the first limiting member 21. At this time, the second limiting member 41 can be set inside the first limiting member 21 and fit against the inner wall of the first limiting member 21 to achieve the limiting between the physiotherapy head connecting plate 2 and the outer shell 4, and prevent the two from sliding relative to each other in the horizontal direction.

[0023] The suction head connecting container 3 has a flange 31 at its top, and the flange 31 has the same inner diameter as the suction head connecting container 3, while the outer diameter of the flange 31 is larger than the outer diameter of the suction head connecting container 3. The suction head 5 is U-shaped with its opening facing downwards. An air tube connector is provided on the back of the suction head 5 for connection to an air tube 6. A circular hole communicating with the air tube connector is opened in the center of the suction head 5. The air tube connector is connected to the negative pressure module in the main unit through the air tube 6. The control module in the main unit can control the negative pressure module to evacuate the suction head 5 during each cupping session, thereby enabling the suction head 5 to adhere to the human skin.

[0024] The flange 31 is fixedly connected to the physiotherapy head connecting plate 2 via a connector. The back of the suction head 5 is fitted with a mounting groove at the bottom of the suction head connecting barrel 3. The bottom of the suction head connecting barrel 3 has an internal thread, and the suction head 5 has an external thread at the mounting groove that mates with this internal thread, thus achieving a fixed connection between the robotic arm connecting plate 1 and the suction head 5 via the suction head connecting barrel 3. The air tube connector is located in the hollow part of the suction head connecting barrel 3. The side of the suction head connecting barrel 3 is fitted with a slot 32 for the air tube 6. The physiotherapy head connecting plate is fitted with a through hole for the air tube 6. The slot 32 and the through hole are located on the same side to serve as a connection channel for the air tube 6, allowing the air tube 6 to pass through. The side of the suction head 5 is fitted with another mounting groove at the bottom of the outer shell 4. While the suction head 5 is fixedly connected to the suction head connecting barrel 3 via threads, it can press the outer shell 4 to prevent it from moving vertically, locking the outer shell 4 between the physiotherapy head connecting plate 2 and the suction head 5, thus sealing the inside of the physiotherapy head to protect its internal structure.

[0025] In this embodiment, the outer shell 4 and the suction head 5 cooperate to form a bowl-shaped adsorption structure. The bottom of the suction head 5 is rounded to form a rounded edge, which can closely adhere to the skin to form a sealed environment and can slide on the skin. It can not only perform cupping but also sliding cupping.

[0026] In this embodiment, the physiotherapy head structure has fewer components and is simple and easy to install.

[0027] In this invention, the robotic arm connecting plate 1 is connected to a six-axis collaborative robot to form a physiotherapy robot to perform cupping operations.

[0028] Furthermore, the physiotherapy head also includes a force sensor, and the main unit also includes a force control module. The robotic arm connecting plate 1 is fixedly connected to the physiotherapy head connecting plate 2 via the force sensor, and the force sensor is connected to the force control module in the main unit via a cable.

[0029] This invention can perform not only cupping but also massage. During massage, the reaction force generated by the massage head pressing on the body is fed back to the force control unit of the main unit via a force sensor, thereby allowing precise control of the pressure applied by the robotic arm.

[0030] Further improvements include a metal suction head 5, which is equipped with a heating module 81 and a temperature sensor 82. The heating module 81 is a semiconductor heating module using PTC semiconductor ceramic material. The main unit also includes a temperature control module. Both the heating module 81 and the temperature sensor 82 are located on the back of the suction head 5 and are connected to the temperature control module via a cable 9. This cable extends to the outside through the air tube 6. The heating module 81 can quickly heat the entire suction head 5 and transmit the temperature feedback to the temperature control module via the temperature sensor 82. The temperature control module can adjust the heat output of the semiconductor heating module 81 based on the feedback, thereby controlling the temperature of the suction head 5. This allows the suction head 5 to be heated during cupping or massage to achieve a thermotherapy function.

Claims

1. A negative pressure physiotherapy head for a physiotherapy robot, comprising a physiotherapy head and an external main unit, wherein the main unit includes a control module and a negative pressure module, characterized in that, The therapy head includes a robotic arm connecting plate, a therapy head connecting plate, a suction head connecting barrel, and a suction head. The robotic arm connecting plate is connected to the therapy head connecting plate. The therapy head also includes a force sensor. The main unit also includes a force control module, and the force sensor is connected to the force control module. The therapy head connecting plate is connected to the suction head through the suction head connecting barrel. One end of the suction head is connected to the negative pressure module through an air tube. The therapy head connecting plate and the suction head connecting barrel, together with the air tube, form an air tube connection channel.

2. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 1, characterized in that, The therapy head also includes a housing, which is fixedly disposed between the therapy head connecting plate and the suction head.

3. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 2, characterized in that, The physiotherapy head connecting plate is provided with a first limiting part, and the end of the outer shell near the physiotherapy head connecting plate is provided with a second limiting part in conjunction with the first limiting part. The suction head is provided with a mounting groove in conjunction with the outer shell, and the outer shell is pressed onto the physiotherapy head connecting plate by the suction head.

4. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 1, characterized in that, The diameter of the end of the suction head connecting barrel near the suction head is smaller than the outer diameter of the suction head. The suction head is fitted with a mounting groove in the suction head connecting barrel, and the suction head and the suction head are fixedly connected by threads in the mounting groove.

5. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 4, characterized in that, The suction head connecting barrel has a flange at one end, and the suction head connecting barrel is fixedly connected to the physiotherapy head connecting plate through the flange. The end of the suction head connecting barrel away from the flange is threadedly connected to the suction head.

6. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 1, characterized in that, An air tube connector is provided on the back of the suction head, which is connected to the suction head, and the air tube is located inside the suction head connection container.

7. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 1, characterized in that, The force sensor is fixedly installed between the robotic arm connecting plate and the physiotherapy head connecting plate.

8. The negative pressure physiotherapy head for a physiotherapy robot as described in claim 1, characterized in that, The therapy head also includes a heating module and a temperature sensor located on the back of the suction head, and the main unit also includes a temperature control module. The heating module and the temperature sensor are both connected to the temperature control module.

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