Self-adapting physiotherapy massage head

Abstract

The utility model discloses a kind of self-adaptive physiotherapy massage heads, belong to physiotherapy instrument technical field, including first mounting seat and second mounting seat, the end surface of first mounting seat is provided with several protrusions, the end of the protrusion is provided with massage tip, support-shaped connecting soft sleeve is provided between first mounting seat and second mounting seat, two locking plates are sleeved on the support-shaped connecting soft sleeve, two the locking plate is connected with first mounting seat and second mounting seat respectively by bolt, the end of support-shaped connecting soft sleeve is extruded by the locking plate respectively and cooperates with first mounting seat and second mounting seat to realize sealing work. Discard traditional multi-shaft rotating mechanism, adopt minimal design, simplify processing procedure, significantly reduce production cost.

Description

Technical Field

[0001] This utility model relates to an adaptive physiotherapy massage head, belonging to the field of physiotherapy equipment technology. Background Technology

[0002] In the field of modern physiotherapy, there is a growing demand for automated physiotherapy using robots or robotic arms equipped with massage heads. However, existing physiotherapy massage heads generally suffer from the following drawbacks: Complex structure and difficult processing: Existing solutions such as CN221732134U radiofrequency therapy heads use a combination of multiple components such as a two-axis rotation mechanism and springs, resulting in complicated processing procedures, difficult assembly, and high production costs.

[0003] Insufficient adaptability: Traditional massage heads rely on mechanical joints to adjust angles, which limits their flexibility and makes it difficult to closely fit the body's shoulders, waist, and other areas with large undulations. This can easily lead to blind spots or uneven pressure, affecting the therapeutic effect.

[0004] Poor sealing and protection performance: During long-term use, some massage heads may allow liquid to seep into the interior due to structural gaps, affecting the safety of electronic components. In particular, in scenarios involving heat therapy and electrotherapy, insufficient sealing may cause safety hazards.

[0005] Limited functionality: Existing technologies mostly focus on mechanical massage, lacking real-time monitoring and intelligent adjustment functions. They cannot dynamically adjust physiotherapy parameters such as temperature and current intensity based on user feedback, resulting in a need to improve the user experience. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides an adaptive physiotherapy massage head that can automatically adjust the contact state according to the undulation characteristics of different parts of the human body and the movement angle of the robotic arm, so as to achieve precise massage and physiotherapy.

[0007] The technical solution adopted by this utility model to solve its technical problem is: An adaptive physiotherapy massage head includes a first mounting base and a second mounting base. The end face of the first mounting base is provided with a plurality of protrusions, and each end of the protrusions is provided with a massage head. A support-shaped connecting sleeve is provided between the first mounting base and the second mounting base. Two locking plates are fitted onto the support-shaped connecting sleeve. The two locking plates are respectively connected to the first mounting base and the second mounting base by bolts. The locking plates respectively compress the ends of the support-shaped connecting sleeve and cooperate with the first mounting base and the second mounting base to achieve a sealing operation.

[0008] Preferably, a sensor module is provided inside the first mounting base.

[0009] Preferably, the sensor module is a temperature detection sensor to achieve temperature control during the physiotherapy process.

[0010] Preferably, the supporting connecting sleeve has a waterproof groove on the side that abuts against the first mounting base.

[0011] Preferably, the waterproof groove is designed along the direction of several bolts to effectively avoid the blocking area formed by the bolts, so that the sealed waterproof groove forms a complete annular connection ring.

[0012] Preferably, the arc-shaped structure formed by the plurality of massage heads and the first mounting end face can adapt to the deflection angle of the robotic arm and the undulation characteristics of different parts of the human body.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: Abandoning the traditional multi-axis rotating mechanism, it adopts a minimalist design, simplifies the processing steps, and significantly reduces production costs; Several protrusions and a supporting soft sleeve work together to adapt to a robotic arm angle of ±30° and a height difference of ±15mm on the human body surface, compared to traditional flat massage heads; The locking plate and the waterproof groove form a double sealing structure, which can withstand a water pressure of 10kPa after testing, preventing sweat, medicine and other substances from seeping into the interior during physiotherapy. The real-time temperature monitoring function of the sensor module, together with the overheat protection mechanism, controls the physiotherapy temperature within a safe range of 38-45℃ to avoid the risk of burns. The massage head can simultaneously perform multiple functions such as mechanical massage, heat therapy, and electrotherapy. Parameters such as current, temperature, and massage frequency can be adjusted via an external controller to meet personalized treatment needs. Sensor feedback data can be connected to a cloud system to generate user treatment records and assist in optimizing treatment plans. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a front view of the overall structure of this utility model; Figure 2 This is an exploded view of the overall structure of this utility model; Figure 3 This is a schematic diagram of the supporting connecting sleeve of this utility model; Figure 4 for Figure 1 Enlarged view of the structure at point H.

[0016] In the diagram: 1. Massage head; 2. First mounting base; 3. Supporting connecting sleeve; 4. Second mounting base; 5. Locking plate; 6. Sensor module. Detailed Implementation

[0017] 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.

[0018] Please see Figures 1-4 This utility model provides a technical solution: like Figure 1 and Figure 2 As shown, an adaptive physiotherapy massage head includes a first mounting base 2 and a second mounting base 4. The first mounting base 2 is the front-end execution component of the physiotherapy massage, with several protrusions evenly distributed on its end face. Each protrusion has a massage electrode 1 embedded at its end. The height and spacing of the protrusions are optimized to avoid arcing between adjacent massage electrodes 1 and to ensure that current or heat is evenly applied to the human body surface. A supporting connecting sleeve 3 is provided between the first mounting base 2 and the second mounting base 4. The second mounting base 4 is flexibly connected to the first mounting base 2 through the supporting connecting sleeve 3. The support-shaped connecting sleeve 3 is fixed to the main body of the robotic arm or physiotherapy equipment, providing structural support. Two locking plates 5 are fitted on the support-shaped connecting sleeve 3. The two locking plates 5 are connected to the first mounting base 2 and the second mounting base 4 respectively by bolts. The support-shaped connecting sleeve 3 is made of medical-grade silicone or rubber material, which has elastic deformation capability and good sealing performance. The two ends of the sleeve are fixed to the first mounting base 2 and the second mounting base 4 respectively by locking plates 5. The locking plates 5 squeeze the ends of the support-shaped connecting sleeve 3 and cooperate with the first mounting base 2 and the second mounting base 4 to achieve sealing.

[0019] Furthermore, the flexible nature of the support-shaped connecting sleeve 3 allows the massage head to deform with the swing of the robotic arm or the curvature of the human body, achieving adaptive fit. It should be noted that in scenarios requiring higher support strength, the support-shaped connecting sleeve 3 can use TPU thermoplastic polyurethane instead of silicone, with an elastic modulus of up to 30-50MPa, while maintaining good wear resistance.

[0020] The massage head 1 is made of conductive metal such as stainless steel, titanium alloy or thermally conductive material, and is evenly distributed around the protrusion on the end face of the first mounting base 2 to form an arc-shaped surface array. The distance between adjacent heads is ≥5mm to avoid the risk of short circuit. When used for electrotherapy, the head is divided into positive and negative poles and connected to an external power source through wires to form a current loop on the human body surface and generate a warming effect. When used for thermotherapy, a micro heating element such as a resistance wire can be embedded inside the head to regulate the temperature by controlling the current.

[0021] Furthermore, a sensor module 6 is installed inside the first mounting base 2.

[0022] Furthermore, the sensor module 6 is a temperature detection sensor to realize temperature control during the physiotherapy process, such as thermocouples and thermistors, to monitor the surface temperature of the massage head 1 or the temperature of the area in contact with the human body in real time. The sensor module 6 is connected to the external control system through a sealed wire hole. When the temperature exceeds the preset threshold, it automatically triggers power-off protection or adjusts the heating power to ensure the safety of physiotherapy.

[0023] In addition to the temperature sensor, the sensor module 6 can integrate pressure sensors, humidity sensors, etc., to achieve multi-parameter monitoring. For example, the pressure sensor can provide real-time feedback on the massage intensity to assist the robotic arm in adjusting its movement trajectory.

[0024] The massage head 1 and the end face of the first mounting base 2 together form a continuous arc surface. The radius of curvature of this surface is optimized to R10-R30mm based on the average curvature of common human body parts such as the neck and back. When the robotic arm is tilted to contact the human body at an angle θ of 0°≤θ≤45°, the arc surface can ensure that at least three massage heads 1 are in contact with the skin at the same time, avoiding excessive force on a single point. Soft sleeve deformation compensation: The elastic modulus of the support-shaped connecting soft sleeve 3 is 10-20MPa. When the robotic arm applies a contact force of 0.5-2N, the soft sleeve can produce a bending deformation of 5-15° to compensate for the angle difference between the human body surface and the movement trajectory of the robotic arm, so that the massage head 1 is always perpendicular to the skin surface.

[0025] like Figure 4 As shown, during massage, line segment a is the tangent to the endpoint of arc surface A on the first mounting base 2, line segment b is the tangent to the endpoint of arc surface B on the massage head 1, and the tangent line between line segment a and line segment b is line segment c. The area within line segment c is the area that massage contact cannot reach. The contact areas of different human body parts should be distributed outside the green line area. At this time, the contact surfaces are all arc contact.

[0026] like Figure 3As shown, a waterproof groove is provided on the side of the supporting connecting sleeve 3 that abuts against the first mounting base 2. The waterproof groove is designed along the direction of several bolts, effectively avoiding the blocking area formed by the bolts, so that the sealing waterproof groove is a complete annular connecting ring. The locking plate 5 is connected to the mounting base by bolts. When the bolt passes through the through hole at the edge of the sleeve, it squeezes the sleeve to form a sealing lip. The waterproof groove on the first mounting base 2 is designed to be a complete annular shape along the direction of the bolts, effectively preventing liquid from seeping into the internal cavity.

[0027] The arc-shaped structure formed by several massage heads 1 and the first installed end face can adapt to the deflection angle of the robotic arm and the undulation characteristics of different parts of the human body.

[0028] The workflow of this embodiment is as follows: The massage head 1 is fixed to the top of the protrusion of the first mounting base 2 through an embedded injection molding process to ensure good electrical and thermal conductivity. The head and the protrusion are sealed with insulating glue to prevent leakage. For the soft sleeve connection, one end of the support-shaped connecting soft sleeve 3 is inserted into the annular protrusion of the first mounting base 2, aligned with the waterproof groove position, the locking plate 5 is placed and the bolt is screwed in. The torque is controlled at 1.5-2 N·m so that the edge of the soft sleeve is embedded in the waterproof groove to form a seal. For the sensor integration, a temperature detection sensor, such as a DS18B20 chip, is fixed in the sensor cavity inside the first mounting base 2. The wires are led out through the reserved holes, and the holes are filled with sealant. For the overall fixation, the second mounting base 4 is connected to the flange at the end of the robotic arm with bolts. The initial angle of the massage head is adjusted to ensure that the angle between the arc surface normal and the axis of the robotic arm is 0°±5°.

[0029] The robotic arm moves the massage head closer to the target area of ​​the body. The supporting soft sleeve 3 undergoes elastic deformation under the contact force, causing the arc surface of the massage head 1 to conform to the skin. The sensor module 6 monitors the contact pressure in real time and calculates the deformation degree. When the pressure exceeds 2N, the robotic arm automatically slows down the feed speed to avoid excessive pressure. The heating power is turned on, and the temperature of the massage head 1 rises to a preset value, such as 42℃. The sensor module 6 collects temperature data every 2 seconds and adjusts the heating power through a PID algorithm to control the temperature fluctuation within ±0.5℃. A low-frequency pulse current with a frequency of 10-100Hz and a voltage of ≤36V is applied, forming a current loop through the body between the heads to stimulate muscle tissue relaxation. The sensor monitors the skin impedance in real time and automatically adjusts the current intensity to ensure comfort. After the treatment process ends, the robotic arm returns to the initial position, the power is turned off, the bolts of the locking plate 5 are loosened, and the first mounting base 2 can be quickly disassembled for cleaning and disinfection. The surface of the soft sleeve can be wiped with alcohol.

[0030] 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. An adaptive physiotherapy massage head, characterized in that, The system includes a first mounting base (2) and a second mounting base (4). The first mounting base (2) has several protrusions on its end face, which are evenly distributed on the first mounting base (2). Each protrusion has a massage head (1) at its end. A support-shaped connecting sleeve (3) is provided between the first mounting base (2) and the second mounting base (4). The support-shaped connecting sleeve (3) is made of a flexible material with elastic deformation capability. Its flexibility allows the massage head to bend and deform with the swing of the robotic arm or the curvature of the human body, achieving adaptive fit. Two locking plates (5) are fitted onto the soft sleeve (3). The two locking plates (5) are connected to the first mounting seat (2) and the second mounting seat (4) respectively by bolts. The locking plates (5) squeeze the ends of the supporting soft sleeve (3) and cooperate with the first mounting seat (2) and the second mounting seat (4) to achieve sealing. A waterproof groove is provided on the side of the supporting soft sleeve (3) that abuts against the first mounting seat (2). The waterproof groove is designed along the direction of several bolts to effectively avoid the blocking area formed by the bolts, so that the sealing waterproof groove is a complete annular connecting ring.

2. The adaptive physiotherapy massage head according to claim 1, characterized in that, The first mounting base (2) is equipped with a sensor module (6).

3. The adaptive physiotherapy massage head according to claim 2, characterized in that, The sensor module (6) is a temperature detection sensor that enables temperature control during the physiotherapy process.

4. The adaptive physiotherapy massage head according to claim 1, characterized in that, The arc-shaped structure formed by the end faces of the massage heads (1) and the first mounting base (2) can adapt to the angular state of the robotic arm and the undulating characteristics of different parts of the human body.

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