A type of lower limb physiotherapy head

Abstract

This utility model discloses a lower limb physiotherapy head, relating to the field of medical device technology. The lower limb physiotherapy head includes a fixed frame and a mounting frame, the mounting frame being fixedly connected to the fixed frame. It further includes: a rotating ring, which is an open annular ring rotatably mounted on the fixed frame; the rotating ring consists of a central arc portion and two side arc portions, each rotatably mounted at one end of the central arc portion, with the rotation axis of the side arc portions located on the central arc portion; and multiple massage balls, which are mounted on the inner arc surface of the rotating ring. This utility model can provide comprehensive massage to the user's lower limbs without requiring the user to turn over, and it does not cause leg displacement, making it convenient to use.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically a lower limb physiotherapy head. Background Technology

[0002] Physiotherapy massage is a physical therapy method that acts on specific parts of the human body to regulate the body's physiological and pathological conditions in order to achieve therapeutic purposes. With the development of automation and artificial intelligence technologies, physiotherapy massage robots have emerged.

[0003] Existing physiotherapy massage heads can perform multiple functions such as massage, magnetic vibration waves, and moxibustion. They can also learn and mimic the massage intensity, posture, and trajectory of a real person through artificial intelligence, making them powerful and easy to use.

[0004] However, there are still some problems when performing physical therapy massage on the user's lower limbs. For example, when massaging the legs, it is not easy to massage the side of the leg closest to the bed. When massaging the side of the user's leg, there will be pushing and displacement of the leg. In addition, the efficiency of a single massage head is low, and it is necessary to massage back and forth. Utility Model Content

[0005] This invention provides a lower limb physiotherapy head to solve the problems mentioned in the background art.

[0006] To achieve the goal of not pushing or squeezing the user's legs during massage, and to ensure convenient use and high massage efficiency, this utility model provides the following technical solution: a lower limb physiotherapy head, including a fixed frame and a mounting frame, the mounting frame being fixedly connected to the fixed frame, and further including: a rotating ring, the rotating ring being an annular shape with an opening, and the rotating ring being rotatably mounted on the fixed frame; the rotating ring is composed of a central arc portion and two side arc portions, the two side arc portions being rotatably mounted at both ends of the central arc portion, the rotation axis of the side arc portions being located on the central arc portion; and multiple massage balls, the multiple massage balls being mounted on the inner arc surface of the rotating ring; A first drive mechanism, mounted on a mounting frame, drives the rotation of the ring around its own axis; a ring rail, fixed on the circular surfaces on both sides of the rotating ring, and disconnected at the connection between the central arc and the side arc; two landing gears, each mounted on one side of the side arc, with an arc groove on the side of the landing gear near the rotating ring, allowing the ring rail to slide within the arc groove; and a second drive mechanism, mounted on the mounting frame, drives the landing gear to rotate, with the rotation axis of the landing gear coaxial with the rotation axis of the side arc.

[0007] As a preferred embodiment of this utility model, the rotating ring is provided with constraint frames on both sides parallel to its own axis, and the constraint frames are fixed on the fixed frame; an arc groove is opened on the side of the constraint frame near the circular surface of the rotating ring, and the ring rail slides in the arc groove.

[0008] As a preferred embodiment of this utility model, a first receiving groove is provided at one end of the middle arc portion near the side arc portion; a second receiving groove is provided at one end of the side arc portion near the middle arc portion; a rotating rod is rotatably provided in the first receiving groove, and the end of the rotating rod away from the first receiving groove is rotatably installed in the second receiving groove.

[0009] As a preferred embodiment of this utility model, the outer arc surfaces of the middle arc portion and the side arc portion are provided with grooves, and teeth are fixedly provided in the grooves; the first driving mechanism includes: a first motor, which is mounted on a mounting bracket; a first worm gear assembly, one end of the worm of the first worm gear assembly is fixedly connected to the output shaft of the first motor; a first gear, which meshes with the teeth, and the first gear is fixedly connected to the axis of the worm of the first worm gear assembly through a first rotating shaft.

[0010] As a preferred embodiment of this utility model, the second drive mechanism includes: a second motor, which is a dual-axis motor and is mounted on a mounting frame; a second worm gear assembly, one end of the worm of the second worm gear assembly being fixedly connected to the output shaft of the second motor, and two sets of the second worm gear assembly are provided, with the two sets of the second worm gear assembly symmetrically arranged about the second motor; a second gear, the axis of the second gear and the worm wheel of the second worm gear assembly being fixedly connected through a second rotating shaft; a third gear, the third gear being mounted on a fixed frame and meshing with the second gear; and a connecting rod, one end of the connecting rod being fixedly connected to the third gear, and the other end of the connecting rod being fixedly connected to the landing gear.

[0011] In a preferred embodiment of this invention, a third motor is installed inside the rotating ring, and multiple third motors are provided. A sleeve is fixedly mounted on the inner arc surface of the rotating ring corresponding to the position of the third motor. An inwardly tapered portion is provided at the end of the sleeve away from the third motor. A drive column is fixedly mounted at the output end of the third motor, and an upper pair of teeth is fixedly mounted at the bottom end of the drive column. A transmission column is provided at the end of the drive column away from the third motor. One end of the transmission column passes through the inwardly tapered portion and is fixedly connected to the massage ball. A sleeve shaft portion is fixedly mounted at the end of the transmission column near the drive column, and one end of the drive column is inserted into the sleeve shaft portion. A lower pair of teeth is fixedly mounted on the bottom surface of the inner side of the sleeve shaft portion. The lower pair of teeth mesh with the upper pair of teeth. When the drive column rotates, the upper pair of teeth can push the lower pair of teeth to change position along the axial direction of the drive column. A retaining ring is fixedly mounted at the end of the transmission column near the sleeve shaft portion. A spring is provided between the retaining ring and the inwardly tapered portion, and the spring plays a resetting role for the transmission column.

[0012] As a preferred embodiment of this utility model, a wheel groove is provided on the outer circumferential surface of the drive column near the transmission column; an installation groove is provided on the inner wall of the sleeve shaft near the top end, and a pawl is rotatably provided in the installation groove. The pawl can be engaged in the wheel groove so that the drive column drives the transmission column to rotate synchronously.

[0013] As a preferred embodiment of this utility model, a connector is fixedly provided at the top of the fixing frame, and the connector is used to connect with the robotic arm.

[0014] Compared with the prior art, this utility model provides a lower limb physiotherapy head with the following beneficial effects:

[0015] 1. This lower limb physiotherapy head features a rotating ring composed of a central arc section and side arc sections, along with a second drive mechanism and a landing gear. The second drive mechanism rotates the landing gear, causing the side arc sections to open outward or retract inward around the rotation axis. When the side arc sections are open, it is convenient for the user to place or remove their lower limbs from the rotating ring. When the side arc sections are retracted, it increases the clamping force of the rotating ring on the user's lower limbs and also adapts to changes in the diameter of the lower limbs.

[0016] 2. This lower limb physiotherapy head has grooves on the outer arc surfaces of the middle arc and the side arc, and teeth are set in the grooves. It is also equipped with a first drive mechanism, which drives the massage ball to rotate around its own axis, so that the massage ball rotates with the rotating ring to provide a comprehensive massage for the user's lower limbs. The lower limbs can be massaged without the user having to turn over, and the user's legs will not shift, making it convenient to use.

[0017] 3. This lower limb physiotherapy head is equipped with lower and upper teeth, and is driven by a third motor to make the lower and upper teeth contact and push each other, so that the transmission column produces periodic position changes in the axial direction, thereby causing the massage ball to vibrate and improve the massage effect. It is also equipped with a pawl and wheel groove. When the third motor 1 rotates in the reverse direction, it can drive the massage ball to rotate, further improving the massage effect. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a front view of the present utility model;

[0020] Figure 3 This is a side view of the present invention;

[0021] Figure 4 This is a schematic diagram showing the cooperation between the first drive mechanism and the second drive mechanism of this utility model;

[0022] Figure 5 This is an exploded view of part of the structure of this utility model;

[0023] Figure 6 This is a schematic diagram showing the cooperation between the landing gear and the second drive mechanism of this utility model;

[0024] Figure 7 This is a schematic diagram of the side arc portion of this utility model in its open state;

[0025] Figure 8 This is a schematic diagram of the connection between the middle arc portion and the side arc portion of this utility model;

[0026] Figure 9 This is an exploded view of the internal structure of the sleeve of this utility model;

[0027] Figure 10 This is a cross-sectional view of the internal structure of the sleeve of this utility model;

[0028] Figure 11 This is a top sectional view of the internal structure of the sleeve of this utility model;

[0029] Figure 12 This is a schematic diagram of the upper and lower teeth mating in this utility model.

[0030] In the diagram: 1. Fixing frame; 2. Connector; 3. Mounting frame; 4. Rotating ring; 41. Middle arc portion; 411. First receiving groove; 42. Side arc portion; 421. Second receiving groove; 43. Groove; 44. Tooth portion; 45. Rotating rod; 5. First motor; 6. First worm gear assembly; 7. First rotating shaft; 8. First gear; 9. Second motor; 10. Second worm gear assembly; 11. Second rotating shaft; 12. Second gear; 13. ... 14. Connecting rod; 15. Landing gear; 16. Restraint frame; 17. Massage ball; 18. Third motor; 19. Sleeve; 191. Inward section; 20. Drive column; 201. Upper gear; 202. Wheel groove; 21. Transmission column; 211. Sleeve shaft; 212. Mounting groove; 213. Lower gear; 214. Retaining ring; 215. Shaft connection; 22. Pawl; 23. Spring; 24. Ring rail; 25. Arc groove; 26. Spring. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Please see Figure 1 - Figure 5 This utility model discloses a lower limb physiotherapy head, including a fixing frame 1 and a mounting frame 3. The fixing frame 1 is a hollow frame structure, and the mounting frame 3 is fixedly installed inside the fixing frame 1. It also includes a rotating ring 4, which is an annular ring with an opening. The diameter of the inner arc of the rotating ring 4 is larger than the diameter of the user's lower limb so that the rotating ring 4 can cover the user's lower limb. The rotating ring 4 is rotatably installed on the fixing frame 1. Specifically, the rotating ring 4 can move together with the fixing frame 1, and the rotating ring 4 itself can still rotate.

[0033] Furthermore, the rotating ring 4 is composed of a central arc portion 41 and two side arc portions 42. The two side arc portions 42 are respectively rotatably mounted at both ends of the central arc portion 41. The rotation axis of the side arc portions 42 is located on the central arc portion 41, so that the side arc portions 42 can open outward or close inward around the rotation axis. When the side arc portions 42 are open, it is convenient for the user to put their lower limbs into or take them out of the rotating ring 4. When the side arc portions 42 are closed, it can increase the clamping force of the rotating ring 4 on the user's lower limbs, and also make it easy to adapt to changes in the diameter of the lower limbs. Preferably, the arc occupied by the central arc portion 41 is 45° to 65°, and the arc occupied by the opening is 15° to 30°.

[0034] In addition, there are multiple massage balls 17, which are installed on the inner arc surface of the rotating ring 4. The massage balls 17 are in contact with the user's lower limbs. The massage head 17 can be a magnetic therapy head or a microwave therapy head to perform massage therapy.

[0035] In addition, a first driving mechanism is provided, which is mounted on the mounting bracket 3. The first driving mechanism is used to drive the rotating ring 4 to rotate around its own axis, so that the massage ball 17 rotates with the rotating ring 4 to provide a comprehensive massage to the user's lower limbs. The user can turn over to massage the lower side of the lower limbs. When the rotating ring 4 rotates around its own axis, the axis of the middle arc portion 41 and the axis of the side arc portion 42 are coaxial.

[0036] In addition, a ring rail 24 is provided, which is fixed on the circular surfaces on both sides of the rotating ring 4. The ring rail 24 is broken at the connection between the middle arc portion 41 and the side arc portion 42. Landing gears 15 are also provided on both sides of the rotating ring 4. There are two landing gears 15, and the two landing gears 15 are respectively installed on one side of the side arc portion 42. The side of the landing gear 15 near the rotating ring 4 has an arc groove 25. Preferably, the landing gear 15 is arc-shaped to make the structure more compact and leave more space on the inner side of the rotating ring 4. The ring rail 24 fits into the arc groove 25 so that the ring rail 24 can slide within the arc groove 25. A second drive mechanism is also provided on the mounting bracket 3, and the second drive mechanism is used to drive the landing gear 15 to rotate, so that the landing gear 15 drives the side arc portion 42 to open outward or retract inward. The rotation axis of the landing gear 15 is coaxial with the rotation axis of the side arc portion 42 so that the landing gear 15 and the side arc portion 42 can move smoothly when rotating, so as to avoid the landing gear 15 and the side arc portion 42 from jamming each other.

[0037] In this embodiment, the rotation angle of the rotating ring 4 is limited. When the connection between the middle arc portion 41 and the side arc portion 42 disengages from the end of the landing gear 15 facing the opening, the side arc portion 42 will lose its support and rotate freely. Therefore, the landing gear 15 needs to be set to a certain length. Preferably, the arc length of the landing gear 15 occupies an angle of 45° to 65°. At the same time, mechanical hard limit or software limit can be used to control the rotation angle of the rotating ring 4.

[0038] Combination Figure 5 In order to install the rotating ring 4 onto the fixed frame 1, constraint frames 16 are provided on both sides of the rotating ring 4 parallel to its own axis. The constraint frames 16 are fixed to the fixed frame 1. An arc groove 25 is provided on the side of the constraint frame 16 near the circular surface of the rotating ring 4. When the rotating ring 4 rotates, the ring rail 24 on the rotating ring 4 can slide in the arc groove 25, so that the rotating ring 4 can move together with the fixed frame 1, and the rotating ring 4 itself can still rotate.

[0039] Combination Figure 8A first receiving groove 411 is provided at one end of the middle arc portion 41 near the side arc portion 42. Preferably, the first receiving groove 411 penetrates the inner arc surface and the outer arc surface of the side arc portion 42. A second receiving groove 421 is provided at one end of the side arc portion 42 near the middle arc portion 41. A rotating rod 45 is rotatably provided in the first receiving groove 411. The end of the rotating rod 45 away from the first receiving groove 411 is rotatably installed in the second receiving groove 421. The contact part between the middle arc portion 41 and the side arc portion 42 is set to be arc-shaped, and the center of the arc is coaxial with the rotation axis of the rotating rod 45 in the first receiving groove 411, so that the side arc portion 42 can rotate smoothly.

[0040] Combination Figure 3 - Figure 5 In order to facilitate the driving of the rotating ring 4, a groove 43 is provided on the outer arc surface of the middle arc portion 41 and the side arc portion 42. A tooth 44 is fixed in the groove 43. The reason for setting the tooth 44 in the groove 43 is to avoid interference between the inner arc surface of the side arc portion 42 and the tooth 44 when the side arc portion 42 rotates.

[0041] The first drive structure includes a first motor 5, which is mounted on a mounting bracket 3. A first worm gear assembly 6 is also fixedly connected to one side of the output shaft of the first motor 5. One end of the worm of the first worm gear assembly 6 is fixedly connected to the center of the output shaft of the first motor 5. A first rotating shaft 7 is fixedly provided at the center of the worm shaft of the first worm gear assembly 6. A first gear 8 is also fixedly provided at one end of the first rotating shaft 7, and the first gear 8 meshes with the teeth 44. Thus, the first motor 5 can drive the first gear 8 to rotate, thereby driving the rotating ring 4 to rotate.

[0042] In this embodiment, optionally, two first gears 8 can be provided (e.g., Figure 4 As shown), the two first gears 8 are located on both sides of the middle arc 41 and rotate in the same direction to apply the same driving force to the rotating ring 4, thereby making the force on the rotating ring 4 more stable. Correspondingly, the first motor 5 can be a dual-shaft motor. Another set of first worm gear assembly 6 and first rotating shaft 7 are installed in sequence at the other output end of the first motor 5. The other first rotating shaft 7 is fixed to the shaft of the additional first gear 8. In order to make the rotation direction of the two first gears 8 the same, the worms of the two sets of first worm gear assembly 6 have the same rotation direction.

[0043] Combination Figure 4 - Figure 6To facilitate the rotation of the side arc portion 42, the second drive mechanism includes a second motor 9, which is a dual-axis motor with two output ends. The second motor 9 is mounted on the mounting bracket 3. The output shaft of the second motor 9 is fixedly connected to a second worm gear assembly 10, that is, one end of the worm in the second worm gear assembly 10 is fixedly connected to the output shaft. There are two sets of second worm gear assemblies 10, and the two sets of second worm gear assemblies 10 are symmetrically arranged about the second motor 9. The worms in the two sets of second worm gear assemblies 10 rotate in opposite directions to facilitate driving the two side arc portions 42 to rotate in opposite directions.

[0044] In addition, the second drive mechanism also includes a second gear 12. The second gear 12 is fixedly connected to the axis of the worm wheel of the second worm gear assembly 10 through a second rotating shaft 11. A third gear 13 is also rotatably mounted on the fixed frame 1, and the third gear 13 meshes with the second gear 12. A connecting rod 14 is fixedly connected to one side of the third gear 13. The end of the connecting rod 14 away from the third gear 13 is fixedly connected to the landing gear 15. Thus, the third gear 13 can be driven to rotate by the second motor 9. The connecting rod 14 and the third gear 13 rotate together, so that one end of the connecting rod 14 drives the landing gear 15 to rotate, which in turn causes the landing gear 15 to drive the side arc portion 42 to rotate. Since the rotation direction of the worm in the two sets of second worm gear assemblies 10 is opposite, the two sets of landing gear 15 rotate in opposite directions, thereby causing the two side arc portions 42 to open or close.

[0045] Combination Figure 8 - Figure 12 In order to enable the massage head to vibrate and massage when in contact with the user, a mounting hole is provided on the inner wall of the rotating ring 4. A third motor 18 is installed in the mounting hole. There are multiple third motors 18, and the number of third motors 18 corresponds to the number of massage balls 17. A sleeve 19 is fixed on the inner arc surface of the rotating ring 4 at the position corresponding to the third motor 18. The end of the sleeve 19 away from the third motor 18 is provided with an inward portion 191. The inward portion 191 can be regarded as the diameter reduction end of the inner wall of the sleeve 19 on the side away from the third motor 18.

[0046] Additionally, a drive column 20 is fixedly mounted at the output end of the third motor 18, and an upper gear 201 is fixedly mounted at the bottom end of the drive column 20. The third motor 18 can drive the drive column 20 to rotate, thereby causing the upper gear 201 to rotate. A transmission column 21 is provided at the end of the drive column 20 away from the third motor 18. One end of the transmission column 21 passes through the inner portion 191 and is fixedly connected to the massage ball 17. Optionally, a shaft connection portion 215 can be fixedly mounted at the end of the transmission column 21 away from the drive column 20. The axis of the shaft connection portion 215 is perpendicular to the axis of the transmission column 21. A massage ball 17 is rotatably mounted on each side of the shaft connection portion 215, thereby making the distribution of the massage balls 17 more dense to improve the physiotherapy effect. A sleeve shaft portion 211 is fixedly mounted at the end of the transmission column 21 near the drive column 20. One end of the drive column 20 is inserted into the sleeve shaft portion 211. A lower tooth 213 is fixedly provided on the bottom surface of the side. The lower tooth 213 meshes with the upper tooth 201. The contact surfaces of the lower tooth 213 and the upper tooth 201 are both arc-shaped. When the upper tooth 201 rotates and pushes the lower tooth 213, it can only make the lower tooth 213 move axially without rotating. This effect can be achieved by adjusting the contact angle between the lower tooth 213 and the upper tooth 201, or by increasing the rotational resistance of the transmission column 21 and reducing its axial movement resistance. A retaining ring 214 is fixedly provided at one end of the transmission column 21 near the sleeve shaft 211. A spring 26 is provided between the retaining ring 214 and the inner part 191. The spring 26 plays a resetting role for the transmission column 21, so that when the drive column 20 rotates, it can drive the transmission column 21 to produce periodic position changes along the axial direction of the drive column 20, thereby making the massage ball 17 vibrate.

[0047] Combination Figure 10 and Figure 11 In order to adjust the angle of the massage ball 17, a wheel groove 202 is provided on the outer peripheral surface of the drive column 20 near the transmission column 21. The height of the wheel groove 202 is at least equal to the distance the transmission column 21 moves axially. A mounting groove 212 is provided on the inner wall of the sleeve shaft 211 near the top. A pawl 22 is rotatably provided in the mounting groove 212. The pawl 22 can be engaged in the wheel groove 202. A spring piece 23 is provided between the pawl 22 and the mounting groove 212. The spring piece 23 always applies a force toward the drive column 20 to the pawl 22. Thus, when the drive column 20 rotates in one direction, it can drive the transmission column 21 to produce an axial position change, so that the massage ball 17 can vibrate. When the drive column 20 rotates in another direction, the pawl 22 is engaged in the wheel groove 202, so that the drive column 20 drives the transmission column 21 to rotate synchronously, thereby facilitating the adjustment of the angle of the massage ball 17.

[0048] In this embodiment, the rotation and vibration of the massage ball 17 can be used in conjunction with the rotation and movement of the rotating ring 4, thereby increasing the massage methods for the lower limbs and improving the physiotherapy effect.

[0049] Combination Figure 1 In order to facilitate use with the robotic arm, a connector 2 is fixed at the top of the fixed frame 1. The connector 2 is used to connect with the robotic arm, so that the rotating ring 4 can be moved along the user's lower limbs by the movement of the robotic arm.

[0050] The working principle and usage process of this utility model are as follows: When in use, the lower limb physiotherapy head is first installed on the robotic arm through the connector 2. The robotic arm moves the lower limb physiotherapy head above the user's lower limb. Then, the landing gear 15 is rotated through the second drive mechanism. The landing gear 15 drives the two side arcs 42 to open. The robotic arm moves downward to align the user's lower limb with the rotating ring 4. Then, the landing gear 15 is rotated through the second drive mechanism to close the two side arcs 42.

[0051] During physiotherapy, the first drive mechanism drives the first gear 8 to rotate. The first gear 8, through meshing with the teeth 44, drives the rotating ring 4 to rotate. At this time, the massage ball 17 located inside the rotating ring 4 can rotate around the user's lower limbs, or the lower limb physiotherapy head can be moved along the user's lower limbs by the mechanical arm to massage different parts. During the rotation or movement of the rotating ring 4, the third motor 18 can drive the drive column 20 to rotate in one direction, thereby periodically changing the axial position of the transmission column 21 through the contact of the lower teeth 213 and the upper teeth 201, so that the massage ball 17 vibrates. Alternatively, the third motor 18 can drive the drive column 20 to rotate in another direction, and with the cooperation of the pawl 22 and the wheel groove 202, the transmission column 21 and the drive column 20 rotate synchronously, thereby causing the massage ball 17 to rotate, thus increasing the massage range.

[0052] In summary, this lower limb physiotherapy head, by setting a rotating ring 4 composed of a central arc portion 41 and a side arc portion 42, and by setting a second drive mechanism and a landing gear 15, allows the second drive mechanism to drive the landing gear 15 to rotate, thereby causing the side arc portion 42 to open outward or retract inward around the rotation axis. When the side arc portion 42 is open, it facilitates the user to place or remove their lower limb from the rotating ring 4. When the side arc portion 42 is retracted, it increases the clamping force of the rotating ring 4 on the user's lower limb, and also facilitates adaptation to changes in the diameter of the lower limb. Grooves 43 are formed on the outer arc surfaces of the central arc portion 41 and the side arc portion 42, and teeth 44 are provided within the grooves 43. A first... The drive mechanism drives the rotating ring 4 to rotate around its own axis through the first drive mechanism, thereby causing the massage ball 17 to rotate with the rotating ring 4 to provide a comprehensive massage to the user's lower limbs. The lower limbs can be massaged without the user having to turn over, making it convenient to use. By setting the lower teeth 213 and the upper teeth 201, and driving the lower teeth 213 and the upper teeth 201 to contact and push each other through the third motor 18, the transmission column 21 will produce a periodic position change in the axial direction, thereby causing the massage ball 17 to vibrate and improve the massage effect. The pawl 22 and the wheel groove 202 are set so that when the third motor 18 rotates in the opposite direction, it can drive the massage ball 17 to rotate, further improving the massage effect.

[0053] It should be noted that, in this document, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lower limb physiotherapy head, comprising a fixation frame (1) and a mounting frame (3), wherein the mounting frame (3) is fixedly connected to the fixation frame (1), characterized in that, Also includes: Rotating ring (4), the rotating ring (4) is an annular ring with an opening, and the rotating ring (4) is rotatably mounted on the fixed frame (1); The rotating ring (4) is composed of a middle arc portion (41) and a side arc portion (42). There are two side arc portions (42), and the two side arc portions (42) are respectively rotatably installed at both ends of the middle arc portion (41). The rotation axis of the side arc portion (42) is located on the middle arc portion (41). Massage ball (17), wherein multiple massage balls (17) are provided, and multiple massage balls (17) are installed on the inner arc surface of the rotating ring (4); The first drive mechanism is mounted on the mounting bracket (3) and is used to drive the rotating ring (4) to rotate around its own axis. The ring rail (24) is fixed on the circular surfaces on both sides of the rotating ring (4), and the ring rail (24) is broken at the connection between the middle arc (41) and the side arc (42); Landing gear (15), two landing gears (15) are provided, and the two landing gears (15) are respectively installed on one side of the side arc (42). The landing gear (15) has an arc groove (25) on the side near the rotating ring (4), and the ring rail (24) can slide in the arc groove (25). The second drive mechanism is mounted on the mounting bracket (3) and is used to drive the landing gear (15) to rotate. The rotation axis of the landing gear (15) is coaxial with the rotation axis of the side arc portion (42).

2. The lower limb physiotherapy head according to claim 1, characterized in that: The rotating ring (4) has constraint frames (16) on both sides parallel to its own axis, and the constraint frames (16) are fixed on the fixed frame (1); The constraint frame (16) has an arc groove (25) on one side near the circular surface of the rotating ring (4), and the ring rail (24) slides in the arc groove (25).

3. The lower limb physiotherapy head according to claim 1, characterized in that: The middle arc portion (41) has a first receiving groove (411) at one end near the side arc portion (42). The side arc portion (42) has a second receiving groove (421) at one end near the middle arc portion (41). A rotating rod (45) is rotatably provided in the first receiving groove (411), and the end of the rotating rod (45) away from the first receiving groove (411) is rotatably installed in the second receiving groove (421).

4. The lower limb physiotherapy head according to claim 1, characterized in that: The outer arc surfaces of the middle arc portion (41) and the side arc portion (42) are provided with grooves (43), and teeth (44) are fixed in the grooves (43). The first driving mechanism includes: The first motor (5) is mounted on the mounting bracket (3); The first worm gear assembly (6) has one end of the worm fixedly connected to the output shaft of the first motor (5); The first gear (8) meshes with the tooth (44), and the first gear (8) is fixedly connected to the axis of the worm wheel of the first worm gear assembly (6) through the first rotating shaft (7).

5. A lower limb physiotherapy head according to claim 1, characterized in that, The second drive mechanism includes: The second motor (9) is a dual-shaft motor and is mounted on the mounting bracket (3); The second worm gear assembly (10) has one end of the worm fixed to the output shaft of the second motor (9). The second worm gear assembly (10) has two sets, and the two sets of the second worm gear assembly (10) are symmetrically arranged about the second motor (9). The second gear (12) is fixedly connected to the axis of the worm wheel of the second worm gear assembly (10) via the second rotating shaft (11); The third gear (13) is mounted on the fixed frame (1) and meshes with the second gear (12); A connecting rod (14) is fixed at one end to a third gear (13) and at the other end to a landing gear (15).

6. A lower limb physiotherapy head according to claim 1, characterized in that: The rotating ring (4) is equipped with a third motor (18), and there are multiple third motors (18). A sleeve (19) is fixed on the inner arc surface of the rotating ring (4) corresponding to the position of the third motor (18). The sleeve (19) is provided with an inward portion (191) at the end away from the third motor (18). The output end of the third motor (18) is fixedly provided with a drive column (20), and the bottom end of the drive column (20) is fixedly provided with an upper pair of teeth (201). The drive column (20) is provided with a transmission column (21) at the end away from the third motor (18). One end of the transmission column (21) passes through the inner part (191) and is fixedly connected to the massage ball (17). The end of the transmission column (21) near the drive column (20) is fixedly provided with a sleeve shaft part (211). One end of the drive column (20) is inserted into the sleeve shaft part (211). The bottom surface of the inner side of the sleeve shaft (211) is fixed with a lower pair of teeth (213). The lower pair of teeth (213) meshes with the upper pair of teeth (201). When the drive column (20) rotates, the upper pair of teeth (201) can push the lower pair of teeth (213) to change position along the axial direction of the drive column (20). A retaining ring (214) is fixed at one end of the transmission column (21) near the sleeve shaft (211). A spring (26) is provided between the retaining ring (214) and the inner part (191). The spring (26) plays a resetting role on the transmission column (21).

7. A lower limb physiotherapy head according to claim 6, characterized in that: The drive column (20) has a wheel groove (202) on its outer peripheral surface near the transmission column (21); The inner wall of the sleeve shaft (211) near the top end is provided with an installation groove (212). A pawl (22) is rotatably provided in the installation groove (212). The pawl (22) can be engaged in the wheel groove (202) so that the drive column (20) drives the transmission column (21) to rotate synchronously.

8. A lower limb physiotherapy head according to claim 6, characterized in that: The top of the fixed frame (1) is fixed with a connector (2), which is used to connect with the robotic arm.

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