Chassis type physiotherapy robot

Abstract

The utility model discloses a chassis type physiotherapy robot, including the body of installation mechanical arm and display screen still include the walking mechanism of detachable installation at the bottom of body, the top of walking mechanism all distributes with a plurality of connecting columns, and the bottom fixed connection of body has the connecting bottom plate, is equipped with a plurality of with the connecting hole of connecting column one -to -one correspondence on the connecting bottom plate, and connecting column inserts into the corresponding connecting hole from below to form the plug -in cooperation with the body. The utility model discloses the walking mechanism between the lower part of physiotherapy robot and the body of upper part adopts the mode of plug -in cooperation to realize detachable connection, can quickly dismouting the body of upper part of physiotherapy robot to the body of upper part of physiotherapy robot can be replaced fastly to the quick replacement of different types of body, and the walking mechanism has the universality, not only can be applicable to a variety of different types of physiotherapy robot, when the body of physiotherapy robot appears the fault also can quickly replace the body.

Description

Technical Field

[0001] This utility model relates to the field of massage equipment technology, and in particular to a chassis-type physiotherapy robot. Background Technology

[0002] Physiotherapy massage is a method that uses different massage techniques applied to specific parts of the body to quickly relieve muscle fatigue and regulate bodily functions. Traditional physiotherapy massage is performed manually by professional massage therapists, which presents problems such as high labor intensity for therapists and significant individual differences in massage skill levels. However, with the rapid development of robots in various industries, physiotherapy robots have been widely used in massage therapy in recent years. Physiotherapy robots use robotic arms to drive the movement of massage heads to simulate physiotherapy massage movements, and different therapeutic functions can be achieved by changing different massage heads.

[0003] Therapeutic robots typically have wheels on their underside for movement and locking to stabilize the robot in its working position during massage. To ensure effective movement and balance, multiple wheels are usually installed on the underside, each requiring an independent brake pedal. Moving the robot necessitates operating each wheel's brake pedal, making braking and movement cumbersome. Furthermore, in existing therapeutic robots, the body and wheel assembly are generally a single, integrated structure, preventing replacement of the body. If a problem arises, only the entire robot can be repaired. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a chassis-type physiotherapy robot that is easy to disassemble and assemble.

[0005] To solve the aforementioned technical problems, the technical solution adopted by this utility model is: a chassis-type physiotherapy robot, including a body with a robotic arm and a display screen, and a walking mechanism detachably installed at the bottom of the body; the top of the walking mechanism is evenly distributed with multiple connecting columns, and the bottom of the body is fixedly connected to a connecting base plate, which has multiple connecting holes corresponding to the connecting columns. The connecting columns are inserted into the corresponding connecting holes from bottom to top to form a plug-in fit with the body. In this utility model, the walking mechanism at the bottom of the physiotherapy robot and the upper body are connected by a plug-in fit to achieve a detachable connection, which allows for quick disassembly and assembly of the upper body of the physiotherapy robot, thereby enabling quick replacement of different types of bodies. The walking mechanism is versatile and can be used not only for various types of physiotherapy robots, but also for quick replacement of the body when it malfunctions. Furthermore, the connecting base plate installed at the bottom of the body ensures that the body can be placed stably during replacement.

[0006] As an improvement to the above solution: the walking mechanism includes a drive wheel, a brake pedal, a locking plate, a brake cable, a connecting rod, pressure blocks, and a rack; two drive wheels are rotatably mounted on both sides of the walking mechanism, and brake gears are concentrically fixed on the opposite surfaces of the drive wheels; the locking plate is rotatably connected to the walking mechanism, the brake pedal is fixedly connected to one end of the locking plate, and the other end of the locking plate is connected to the connecting rod through the brake cable; the connecting rod is rotatably mounted on the walking mechanism, and two pressure blocks are fixedly mounted at both ends of the connecting rod; two racks are rotatably mounted above the brake gears of the two drive wheels, and the pressure blocks abut against the racks from above; the pressure blocks can press down on the racks when the connecting rod rotates, causing the racks to rotate and mesh with the brake gears. This invention improves the walking mechanism of a physiotherapy robot. By pressing a brake pedal, a locking plate rotates, which in turn drives a connecting rod via a brake cable. The pressure blocks at both ends of the connecting rod rotate with the rod, pressing down on the lower pressure block. This causes the pressure block to mesh with the brake gear mounted on the drive wheel, thus preventing the two drive wheels from rotating and locking them to brake the walking mechanism. This invention allows for braking of both drive wheels with a single operation, making it convenient to use. The braking structure is also simple and easy to implement.

[0007] As an improvement to the above solution: the locking plate is rotatably connected to the bottom of the traveling mechanism via a pivot. The locking plate also has two slots, arranged sequentially along the rotation direction of the locking plate. The bottom of the traveling mechanism also has a retractable locking pin, which can be inserted into the slots to form a limiting fit that prevents the locking plate from rotating. This invention achieves the switching between locking and releasing operations of the drive wheel by using a locking plate with two slots and a locking pin. After locking the drive wheel by pressing the brake pedal, the drive wheel can be released by raising the brake pedal, thus allowing for rapid switching between braking and movement of the traveling mechanism.

[0008] As an improvement to the above solution: the slot is an arc-shaped slot, one end of the locking pin is a spherical end adapted to the arc-shaped slot, and a sleeve that fits the locking pin with a clearance fit is vertically fixed at the bottom of the traveling mechanism. A spring is sleeved on the outside of the sleeve; a baffle that forms a limiting fit with the sleeve is also fixed to the spherical end of the locking pin, and the baffle is inserted into the spring. This utility model optimizes the structural shape of the slot and the locking pin, uses an arc-shaped slot and the spherical end of the locking pin to achieve a limiting fit, and uses the limiting fit of the spring and the sleeve to control the extension and retraction of the locking pin. This makes it easier for the locking pin to form a limiting fit with the slot under the elastic force of the spring, and also facilitates the movement of the locking pin between the two slots.

[0009] As an improvement to the above solution: the end of the brake cable not connected to the locking plate is connected to the middle of the connecting rod via a first connecting plate, and the first connecting plate is connected to a first tension spring fixed on the walking mechanism. This invention achieves the transmission between the brake cable and the connecting rod by setting a first connecting plate. The brake cable pulls the first connecting plate to move, causing the connecting rod to rotate, and the tension spring pulls the first connecting plate back to its original position.

[0010] As an improvement to the above solution, a second tension spring is also included, which is fixedly connected to the traveling mechanism via a second connecting plate. The second tension spring is positioned above the rack, with one end of the second tension spring not connected to the second connecting plate fixedly connected to one end of the rack. The other end of the rack is rotatably connected to the traveling mechanism via a rotating shaft, and a pressure block abuts against the portion of the rack near the second tension spring. This invention achieves the installation of the second tension spring on the traveling mechanism by setting a second connecting plate, and utilizes the elastic force of the second tension spring to pull the rack back to its original position.

[0011] As an improvement to the above solution: a driven wheel, which is a swivel wheel, is also provided at the bottom of the walking mechanism; the driving wheel and the driven wheel are respectively located near both ends of the walking mechanism, the robotic arm is located above the driving wheel, and the display screen is located above the brake pedal. This invention improves the walking mechanism's smoother walking ability by adding a driven wheel that works in conjunction with the driving wheel. Furthermore, by optimizing the placement of components such as the driving wheel, driven wheel, robotic arm, and display screen, the weight of the heavier robotic arm is more evenly distributed, enabling the physiotherapy robot to maintain a stable balance during operation.

[0012] As an improvement to the above solution, it also includes two handles fixed to the top of the body, with the two handles located on either side of the display screen. This invention, by adding handles, facilitates pushing and braking the physiotherapy robot, and by limiting the position of the handles, makes the movement of the physiotherapy robot more balanced and stable, and less prone to tipping over.

[0013] As an improvement to the above solution, multiple detachable balance cups are also fixedly installed at the bottom of the walking mechanism. By adding detachable balance cups, this invention allows for selective installation and removal of the balance cups as needed when using the physiotherapy robot, thus improving the robot's adaptability.

[0014] As an improvement to the above solution, a power interface and a power switch are also provided on the walking mechanism.

[0015] The beneficial effects of this utility model are as follows: This utility model sets the upper body and lower walking mechanism of the physiotherapy robot as a separate structure, and achieves plug-in cooperation through connecting columns on the walking mechanism and connecting base plates with connecting holes at the bottom of the body. When the body needs to be repaired or replaced, it can be quickly disassembled and reassembled, making the walking mechanism of this utility model highly versatile and adaptable to various types of bodies. This utility model improves the walking mechanism of the physiotherapy robot, allowing control of two drive wheels with a single brake pedal. The drive wheels can be locked or released by stepping on or raising the brake pedal, making operation of the walking mechanism more convenient. Furthermore, this utility model optimizes the installation positions of various components on the physiotherapy robot, which not only facilitates pushing and braking operations but also effectively improves the gravity distribution of the physiotherapy robot, enhancing the overall balance and stability during physiotherapy massage. Attached Figure Description

[0016] Figure 1 This is a side view of a chassis-type physiotherapy robot. Figure 2 This is a front view of a chassis-type physiotherapy robot. Figure 3 A 3D view of a chassis-type physiotherapy robot; Figure 4 A schematic diagram of the connection structure between the fuselage and the running gear; Figure 5 This is a schematic diagram of the walking mechanism; Figure 6 This is a schematic diagram of the locking plate. Figure 7 This is a side view of the traveling mechanism when the drive wheel is not locked. Figure 8 This is a side view of the traveling mechanism when the drive wheel is locked.

[0017] The components in the diagram are labeled as follows: 100-body, 110-robotic arm, 120-display screen, 130-handle, 200-walking mechanism, 210-drive wheel, 211-brake gear, 220-brake pedal, 230-locking plate, 231-slot, 232-locking pin, 233-spring, 240-brake cable, 241-first connecting plate, 242-first tension spring, 250-connecting rod, 260-pressure block, 261-second connecting plate, 262-second tension spring, 270-rack, 280-driven wheel, 290-balance feet, 310-power interface, 320-power switch, 410-connecting column, 420-connecting base plate. Detailed Implementation

[0018] To facilitate understanding of this utility model, the following description, in conjunction with the accompanying drawings, will provide further details.

[0019] In the description of this utility model, it should be noted that the terms "front", "rear", "left", "right", "up", "down", "inner", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0020] like Figures 1 to 3 As shown, the chassis-type physiotherapy robot disclosed in this utility model is a split structure consisting of an upper body 100 and a lower walking mechanism 200. The walking mechanism 200 enables the movement of the entire physiotherapy robot. A robotic arm 110 and a display screen 120 are mounted on the body 100, and the walking mechanism 200 is installed at the bottom of the body 100. This utility model uses two drive wheels 210 to drive the walking mechanism 200, and a brake pedal 220 controls both drive wheels 210 simultaneously. By pressing the brake pedal 220, both drive wheels 210 can be braked simultaneously, thus stopping the walking mechanism 200.

[0021] Specifically, such as Figure 5 and Figure 7As shown, the walking mechanism 200 used in this utility model includes a drive wheel 210, a brake pedal 220, a locking plate 230, a brake cable 240, a connecting rod 250, a pressure block 260, and a rack 270. The walking mechanism 200 also includes a chassis and a housing mechanism, both of which are conventional structures and will not be described in detail here. In this utility model, two drive wheels 210 are mounted on both sides of the walking mechanism 200 via a rotating shaft; the brake pedal 220 is mounted on the walking mechanism 200 at a position opposite to the drive wheels 210, and is fixedly connected to one end of the locking plate 230. The locking plate 230 is rotatably mounted on the bottom of the walking mechanism 200 via a rotating shaft, and the other end of the locking plate 230 is connected to one end of the brake cable 240. The other end of the brake cable 240 extends between the two drive wheels 210 and forms a transmission connection with the connecting rod 250; the connecting rod 250 is rotatably mounted inside the walking mechanism 200 via a support base, and is fixedly mounted at both ends. A pressure block 260 is provided, which can rotate together with the connecting rod 250; a rack 270 is provided below each of the two pressure blocks 260, the bottom surface of the rack 270 is a toothed surface, and the rack 270 is rotatably mounted in the traveling mechanism 200 through a rotating shaft; the pressure block 260 abuts against the top of the rack 270, and the pressure block 260 can squeeze the rack 270 when it rotates with the connecting rod 250, causing the rack 270 to rotate; a brake gear 211 is installed on the opposite surface of each of the two driving wheels 210, the brake gear 211 is concentrically arranged with the corresponding driving wheel 210, and the brake gear 211 is located directly below the rack 270.

[0022] like Figure 5 and Figure 8 As shown, when braking the traveling mechanism 200 is required, the brake pedal 220 can be pressed. Since the locking plate 230, which is fixedly connected to the brake pedal 220, is mounted on the bottom of the traveling mechanism 200 via a pivot, pressing the brake pedal 220 causes one end of the brake pedal 220 connected to the locking plate 230 to tilt upwards, causing the locking plate 230 to rotate. The rotation of the locking plate 230 pulls the brake cable 240 connected to it outwards, thereby causing the connecting rod 250 to rotate. The rotation of the connecting rod 250, through the pressure blocks 260 at both ends, presses down the rack 270 below, causing the rack 270 to rotate downwards. Then, the rack 270 contacts and meshes with the brake gear 211 below, preventing the brake gear 211 from rotating. Ultimately, this achieves locking of the drive wheel 210 and braking of the traveling mechanism 200. Conversely, as... Figure 5 and Figure 7As shown, when the walking mechanism 200 needs to move, the brake pedal 220 can be lifted, causing the brake pedal 220 to drive the locking plate 230 to rotate back to its original position. The locking plate 230 pushes the brake cable 240 inward, thereby driving the connecting rod 250 to rotate back to its original position. The pressure blocks 260 at both ends of the connecting rod 250 disengage from the rack 270, and the rack 270 is no longer subjected to the downward pressure of the pressure blocks 260. At this time, pushing the physiotherapy robot will cause the rack 270 to rotate and separate from the brake gear 211, releasing the lock on the drive wheel 210, and the walking mechanism 200 can move normally.

[0023] Furthermore, in order to keep the walking mechanism 200 in a braking state after the brake pedal 220 is pressed, this utility model improves the structure of the locking plate 230. For example... Figure 6 As shown, two slots 231 are provided on the locking plate 230. The locking plate 230 is mounted on the bottom of the walking mechanism 200 via a pivot. The two slots 231 on the locking plate 230 are arranged sequentially along the rotation direction of the locking plate 230. Simultaneously, a locking pin 232 is also provided at the bottom of the walking mechanism 200. The locking pin 232 can move up and down vertically. When the brake pedal 220 is pressed, the bottom end of the locking pin 232 can engage with one of the slots 231 to form a limiting fit, locking the locking plate 230 and preventing it from rotating, thus maintaining the braking state of the walking mechanism 200. When it is necessary to move the physiotherapy robot, the locking plate 230 is rotated back to its original position by raising the brake pedal 220. The retractable locking pin 232 disengages from the previous slot 231 and engages with the next slot 231 to form a limiting fit. At this time, the drive wheel 210 can rotate, and the walking mechanism 200 can continue to move.

[0024] To facilitate the switching of the locking pin 232 between the two slots 231, this invention sets the slots 231 as arc-shaped slots and sets the end of the locking pin 232 as a spherical end, so that the end of the locking pin 232 can form a better fit with the arc-shaped slot, and also makes it easier for the locking pin 232 to slide into or out of the slot 231. Figure 7 and Figure 8As shown, this utility model achieves the extension and retraction of the locking pin 232 by setting a spring 233; a sleeve is vertically installed at the bottom of the walking mechanism 200, one end of the locking pin 232 is inserted into the sleeve and forms a clearance fit with the sleeve, and the spherical end of the locking pin 232 extends downward to the outside of the sleeve, so that the locking pin 232 can slide inside the sleeve; at the same time, the spring 233 is sleeved on the outside of the sleeve, and a baffle is fixed at the spherical end of the locking pin 232. The size of the baffle is larger than the size of the sleeve, so that the baffle can abut against the bottom of the sleeve to form a limiting fit, and the baffle is inserted into the spring 233. The elasticity of the spring 233 drives the locking pin 232 to slide inside the sleeve to achieve the extension and retraction of the locking pin 232.

[0025] like Figure 5 As shown, to achieve the transmission connection between the brake cable 240 and the connecting rod 250, a first connecting plate 241 is fixedly installed in the middle of the connecting rod 250. One end of the first connecting plate 241 is fixedly connected to the connecting rod 250, and the other end is connected to the brake cable 240. The movement of the brake cable 240 drives the first connecting plate 241 to move, thereby causing the connecting rod 250, which is fixedly connected to the first connecting plate 241, to rotate. Furthermore, a first tension spring 242 is provided to assist the first connecting plate 241 in resetting. The two ends of the first tension spring 242 are respectively connected to the first connecting plate 241 and a fixed plate fixed within the traveling mechanism 200. The tension of the first tension spring 242 can drive the first connecting plate 241 and the connecting rod 250 to quickly rotate and reset. Similarly, as... Figure 5 As shown, this utility model also includes a second connecting plate 261 and a second tension spring 262 to assist the rack 270 in resetting. A second connecting plate 261 is fixed to each side of the walking mechanism 200, and a second tension spring 262 is vertically connected between the second connecting plate 261 and the rack 270. The second tension spring 262 is located above the rack 270, with one end of the second tension spring 262 not connected to the second connecting plate 261 fixedly connected to one end of the rack 270. The other end of the rack 270 is rotatably connected to the walking mechanism 200 via a pivot. The pressure block 260 abuts against the portion of the rack 270 near the second tension spring 262. The tension of the second tension spring 262 enables the end of the rack 270 not rotatably connected to the walking mechanism 200 to quickly reset.

[0026] like Figure 1As shown, this invention also installs driven wheels 280 at the bottom of the walking mechanism 200. The driven wheels 280 are omnidirectional wheels. The driving wheels 210 and driven wheels 280 are positioned close to both ends of the walking mechanism 200, with the robotic arm 110 positioned above the driving wheels 210 and the display screen 120 positioned above the brake pedal 220. By using driven wheels 280 to assist the walking mechanism 200, the movement of the physiotherapy robot becomes smoother, and a more balanced support effect is formed at the bottom of the walking mechanism 200, making the movement of the physiotherapy robot more stable. Furthermore, by optimizing the placement of components such as the driving wheels 210, driven wheels 280, robotic arm 110, and display screen 120, this invention more reasonably distributes the weight of the heavier robotic arm, enabling the physiotherapy robot to maintain a stable balance and preventing tipping during movement and stationary positions. To facilitate pushing the physiotherapy robot, as... Figures 1 to 3 As shown, this utility model also has handles 130 installed on the body 100. Two handles 130 are provided and are respectively installed on both sides of the display screen 120, so that the physiotherapy robot is more balanced and stable when it is pushed to move, and is less likely to tip over.

[0027] like Figure 1 As shown, this utility model has multiple balance cups 290 installed at the bottom of the walking mechanism 200. The balance cups 290 are used to support the entire physiotherapy robot. The balance cups 290 are detachable, allowing users to selectively use them according to their actual needs, providing users with more diverse options. Figure 2 As shown, a power interface 310 and a power switch 320 are also provided on the walking mechanism 200 to provide power to the physiotherapy robot.

[0028] like Figure 4 As shown, this utility model achieves the connection between the body 100 and the walking mechanism 200 through a plug-in connection. Multiple connecting posts 410 are evenly distributed on the top of the walking mechanism 200. The connecting posts 410 can be installed and fixed on the chassis of the walking mechanism 200, with their tops extending upwards above the walking mechanism 200. A connecting base plate 420 is fixedly installed on the bottom of the body 100. The connecting base plate 420 has connecting holes corresponding to the connecting posts 410, and the connecting posts 410 are fixed to the connecting base plate 420 by screws passing through the connecting holes. Furthermore, the aforementioned second connecting plate 261 can be installed via a crossbeam fixedly connected between two connecting posts 410, allowing the second connecting plate 261 to be suspended in the air.

Claims

1. A chassis-type physiotherapy robot, comprising a body (100) equipped with a robotic arm (110) and a display screen (120), characterized in that: It also includes a walking mechanism (200) that can be detachably installed at the bottom of the body (100); the top of the walking mechanism (200) is provided with a plurality of connecting posts (410), and the bottom of the body (100) is fixedly connected with a connecting base plate (420). The connecting base plate (420) is provided with a plurality of connecting holes corresponding one-to-one with the connecting posts (410). The connecting posts (410) are inserted into the corresponding connecting holes from bottom to top to form a plug-in fit with the body (100).

2. The chassis-type physiotherapy robot as described in claim 1, characterized in that: The walking mechanism (200) includes a drive wheel (210), a brake pedal (220), a locking plate (230), a brake cable (240), a connecting rod (250), a pressure block (260), and a rack (270); two drive wheels (210) are rotatably mounted on both sides of the walking mechanism (200), and brake gears (211) are concentrically fixed on opposite surfaces of the drive wheels (210); the locking plate (230) is rotatably connected to the walking mechanism (200), and the brake pedal (220) is fixedly connected to one end of the locking plate (230), while the other end of the locking plate (230) is fixedly connected to the other end of the locking plate (230). One end is connected to the connecting rod (250) via a brake cable (240). The connecting rod (250) is rotatably mounted on the traveling mechanism (200), and two pressure blocks (260) are fixedly mounted at both ends of the connecting rod (250). Two racks (270) are rotatably mounted above the brake gears (211) of the two drive wheels (210). The pressure blocks (260) abut against the racks (270) from above. The pressure blocks (260) can press down on the racks (270) when the connecting rod (250) rotates, so that the racks (270) rotate and mesh with the brake gears (211).

3. The chassis-type physiotherapy robot as described in claim 1, characterized in that: The locking plate (230) is rotatably connected to the bottom of the walking mechanism (200) via a rotating shaft. The locking plate (230) is also provided with two slots (231). The slots (231) are arranged sequentially along the rotation direction of the locking plate (230). The bottom of the walking mechanism (200) is also provided with a retractable locking pin (232). The locking pin (232) can be embedded in the slot (231) to form a limiting fit that prevents the locking plate (230) from rotating.

4. The chassis-type physiotherapy robot as described in claim 3, characterized in that: The slot (231) is an arc-shaped slot, and one end of the locking pin (232) is a spherical end that matches the arc-shaped slot. The bottom of the walking mechanism (200) is vertically fixed with a sleeve that is in clearance fit with the locking pin (232). A spring (233) is sleeved on the outside of the sleeve. The spherical end of the locking pin (232) is also fixed with a baffle that forms a limiting fit with the sleeve. The baffle is inserted into the spring (233).

5. The chassis-type physiotherapy robot as described in claim 1, characterized in that: The end of the brake line (240) that is not connected to the locking plate (230) is connected to the middle of the connecting rod (250) through the first connecting plate (241), and the first connecting plate (241) is connected to the first tension spring (242) fixed on the walking mechanism (200).

6. The chassis-type physiotherapy robot as described in claim 1, characterized in that: It also includes a second tension spring (262) fixedly connected to the walking mechanism (200) via a second connecting plate (261); the second tension spring (262) is disposed above the rack (270), one end of the second tension spring (262) not connected to the second connecting plate (261) is fixedly connected to one end of the rack (270), the other end of the rack (270) is rotatably connected to the walking mechanism (200) via a rotating shaft, and the pressure block (260) abuts against the part of the rack (270) near the second tension spring (262).

7. The chassis-type physiotherapy robot as described in claim 1, characterized in that: The bottom of the walking mechanism (200) is also provided with a driven wheel (280), which is a universal wheel; the driving wheel (210) and the driven wheel (280) are respectively located near the two ends of the walking mechanism (200), the robotic arm (110) is located above the driving wheel (210), and the display screen (120) is located above the brake pedal (220).

8. The chassis-type physiotherapy robot as described in claim 7, characterized in that: It also includes two handles (130) fixed to the top of the body (100), with the two handles (130) located on both sides of the display screen (120).

9. The chassis-type physiotherapy robot as described in claim 1, characterized in that: The bottom of the walking mechanism (200) is also fixedly provided with multiple detachable balance cups (290).

10. The chassis-type physiotherapy robot as described in claim 1, characterized in that: It also includes a power interface (310) and a power switch (320) provided on the walking mechanism (200).

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