A tapping device

Abstract

The application relates to the technical field of medical auxiliary devices, in particular to a percussion device which comprises a rack, a buffer, a transmission member and a mechanical arm. The buffer is arranged on the rack and comprises a first elastic member, one end of the first elastic member being arranged on the rack; the transmission member is connected with the first elastic member; the mechanical arm has a base end and a percussion end, the base end is in transmission connection with the transmission member, and the transmission member is used for adjusting the height of the mechanical arm. In the application, during percussion, the percussion end is subjected to a reaction force from the percussion part of a patient, the reaction force is transmitted to the first elastic member through the mechanical arm and the transmission member. The first elastic member absorbs the reaction force through the stretching and contracting characteristics of the first elastic member, thereby buffering the impact force borne by the patient's body, avoiding excessively harsh percussion actions, making the patient feel more comfortable during percussion treatment, and reducing the uncomfortable feeling caused by excessively large percussion force or stiff actions.

Description

Technical Field

[0001] This application relates to the field of medical assistive device technology, and more specifically, to a percussion device. Background Technology

[0002] With the continuous advancement of medical technology, percussion devices, as an auxiliary therapeutic instrument, are widely used in clinical nursing, playing a particularly important role in helping patients expectorate phlegm and promote blood circulation. Existing percussion devices typically employ mechanical or electric drive, simulating manual percussion movements to rhythmically tap the patient's back. However, current percussion devices often exhibit a relatively stiff percussion motion, affecting patient comfort and treatment effectiveness. Utility Model Content

[0003] The purpose of this application is to provide a tapping device that improves tapping comfort.

[0004] To achieve the above objectives, this utility model provides a tapping device, comprising:

[0005] frame;

[0006] A buffer element is disposed on the frame, and the buffer element includes a first elastic element, one end of which is disposed on the frame;

[0007] A transmission component, wherein the transmission component is connected to the first elastic component;

[0008] A robotic arm has a base end and a striking end. The base end is connected to a transmission component. The robotic arm reciprocates to strike the patient's striking area with the striking end. The patient's striking area exerts a reaction force on the striking end. The robotic arm receives the reaction force and exerts a force on a first elastic element through the transmission component. The first elastic element absorbs the reaction force exerted by the patient's striking area on the robotic arm and the transmission component.

[0009] In an optional embodiment, the transmission component is a transmission rack, which is vertically arranged, and one end of the transmission rack is connected to the first elastic element;

[0010] A drive motor is provided on the base end, and the output end of the drive motor is connected to a drive gear. The drive gear meshes with the transmission rack. The drive motor drives the drive gear to rotate, causing the robotic arm to move back and forth along the transmission rack, thereby adjusting the height of the robotic arm.

[0011] In an optional embodiment, the frame is provided with a guide, one end of the base end is connected to the guide, and the guide keeps the base end on a height-adjustable movement path.

[0012] In an optional implementation, the buffer further includes:

[0013] The second elastic element is disposed on the frame and opposite to the first elastic element. One end of the transmission element is connected to the first elastic element, and the other end of the transmission element is connected to the second elastic element.

[0014] In an optional implementation, the buffer further includes:

[0015] A first limiting seat is mounted on the frame and the first elastic element is mounted in the first limiting seat. One end of the transmission element is slidably engaged with the first limiting seat.

[0016] The second limiting seat is mounted on the frame and the second elastic member is mounted in the second limiting seat. The other end of the transmission member is slidably engaged with the second limiting seat.

[0017] In an optional implementation, the robotic arm includes:

[0018] A first telescopic rod, one end of which is mounted on the transmission component, and the base end is located on the first telescopic rod;

[0019] The second telescopic rod has one end hinged to the other end of the first telescopic rod;

[0020] A percussion element is installed on the other end of the second telescopic rod, and the percussion end is disposed on the percussion element. The second telescopic rod reciprocates on the first telescopic rod, thereby driving the percussion element to percuss the patient's percussion area.

[0021] A telescopic drive component, one end of which is hinged to the first telescopic rod and the other end of which is hinged to the second telescopic rod, wherein the telescopic drive component extends and retracts to cause the second telescopic rod to rotate on the first telescopic rod.

[0022] In an optional embodiment, a hinge seat is detachably provided on the second telescopic rod, and the other end of the telescopic drive member is hinged to the hinge seat. Adjusting the position of the hinge seat on the second telescopic rod adjusts the rotation amplitude of the second telescopic rod.

[0023] In an optional embodiment, the first telescopic rod includes a first end and a second end, the first end being connected to the transmission component, the base end being located on the first end, the first end and the second end being in sliding telescopic cooperation, and the second end being rotatable on the first end, and the first end and the second end being locked together by a locking screw.

[0024] In an optional embodiment, a counterweight is slidably mounted on the second telescopic rod. The counterweight is provided with a locking screw. Tightening the locking screw locks the counterweight to the second telescopic rod, and loosening the locking screw adjusts the position of the counterweight on the second telescopic rod, thereby adjusting the striking force of the robotic arm.

[0025] In an optional embodiment, the frame is a box structure, and the box structure is provided with an adjustment port;

[0026] The buffer, the transmission, and the base end are located within the housing structure, with the base end extending out of the housing structure from the adjustment port.

[0027] A closed curtain is provided at the adjustment port.

[0028] In this application, during the percussion process, the patient's percussion site applies a reaction force to the percussion tip. This reaction force is transmitted to the first elastic element via a robotic arm and a transmission component. The first elastic element absorbs the reaction force through its own elasticity, thereby buffering the impact force on the patient's body, preventing the percussion action from being too stiff, making the patient feel more comfortable when receiving back percussion therapy, and reducing discomfort caused by excessive percussion force or stiff movements.

[0029] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A schematic diagram of the structure of one embodiment of a tapping device provided in this application;

[0032] Figure 2 This is a schematic diagram of the structure of another embodiment of a tapping device provided in this application.

[0033] icon:

[0034] 100 - Frame; 110 - Guide component; 120 - Adjustment port; 130 - Enclosed curtain; 140 - Guide wheel;

[0035] 200 - Buffer element; 210 - First elastic element; 220 - Second elastic element; 230 - First limiting seat; 240 - Second limiting seat;

[0036] 300 - Transmission component; 310 - Transmission rack;

[0037] 400 - Robotic arm; 410 - First telescopic rod; 412 - First end; 414 - Second end; 420 - Second telescopic rod; 430 - Striking component; 440 - Telescopic drive component; 450 - Hinge seat; 452 - Arc rod; 454 - Striking bowl;

[0038] 460 - Counterweight; 470 - Foundation end; 480 - Striking end; 490 - Drive motor; 495 - Drive gear;

[0039] 500 - Locking screw. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element 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 application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] Embodiments of this application provide a striking device, including a frame 100, a buffer 200, a transmission component 300, and a robotic arm 400.

[0044] like Figure 1 As shown, the buffer 200 is disposed on the frame 100. The buffer 200 includes a first elastic member 210, which is capable of telescoping and rebounding. One end of the first elastic member 210 is disposed on the frame 100.

[0045] For example, one end of the first elastic member 210 is fixedly mounted on the frame 100, and the fixing method is, for example, adhesive, snap-fit, welding or bolt connection.

[0046] For example, the first elastic element 210 includes, but is not limited to: helical spring, wave spring, butterfly spring, ring spring, leaf spring, steel leaf spring, rubber spring, air spring, etc.

[0047] like Figure 1 As shown, the transmission component 300 is connected to the first elastic component 210.

[0048] like Figure 1 As shown, the robotic arm 400 has a base end 470 and a striking end 480. The base end 470 is connected to the transmission component 300 for transmission. The transmission component 300 is used to adjust the height of the robotic arm 400. The robotic arm 400 swings back and forth so that the striking end 480 strikes the patient's striking area, such as the patient's back or chest.

[0049] When the percussion end 480 percusses the patient, the patient's percussion site exerts a reaction force on the percussion end 480. The robotic arm 400 receives the reaction force and exerts a force on the first elastic element 210 through the transmission component 300. The first elastic element 210 absorbs the reaction force exerted by the patient's percussion site on the robotic arm 400 and the transmission component 300.

[0050] like Figure 1 As shown, the first elastic element 210 shortens in length after absorbing the reaction force of the patient's tapping site, but in other embodiments, the first elastic element 210 is extended to absorb the reaction force of the patient's tapping site.

[0051] In this application, during the percussion process, the patient's percussion site applies a reaction force to the percussion end 480. This reaction force is transmitted to the first elastic element 210 via the robotic arm 400 and the transmission component 300. The first elastic element 210 absorbs the reaction force through its own elasticity, thereby buffering the impact force on the patient's body, preventing the percussion action from being too stiff, making the patient feel more comfortable when receiving back percussion therapy, and reducing discomfort caused by excessive percussion force or stiff movements.

[0052] In this application, when the robotic arm 400 swings back and forth to tap the patient's tapping area, it generates inertial force. Part of this inertial force is transmitted to the first elastic element 210 through the transmission component 300. The first elastic element 210 can absorb part of the inertial force of the robotic arm 400, further buffering the impact force generated by the entire device during movement, making the tapping action more stable and gentle, and further improving the patient's comfort.

[0053] In this application, because the first elastic element 210 can effectively buffer the reaction force of the patient's percussion site and the inertial force of the robotic arm 400, these impact forces will not act directly and completely on the robotic arm 400, transmission component 300, and frame 100, etc. This helps to reduce wear and stress concentration between components, reduce the risk of component damage due to long-term exposure to large impact forces, extend the service life of the percussion device, and reduce maintenance and replacement costs.

[0054] like Figure 1 As shown, in one embodiment, the transmission member 300 is a transmission rack 310, which is vertically arranged, and one end of the transmission rack 310 is connected to the first elastic member 210.

[0055] A drive motor 490 is provided on the base end 470. The output end of the drive motor 490 is connected to the drive gear 495. The drive gear 495 meshes with the transmission rack 310. The drive motor 490 drives the drive gear 495 to rotate, causing the robotic arm 400 to move back and forth along the transmission rack 310, thereby adjusting the height of the robotic arm 400.

[0056] For example, the drive motor 490 includes, but is not limited to: DC motor, AC motor, brushless DC motor, stepper motor, servo motor or switched reluctance motor, etc.

[0057] For example, the drive motor 490 rotates forward, driving the drive gear 495 to rotate forward. While the drive gear 495 rotates forward, it meshes with the transmission rack 310. The transmission rack 310 applies a reaction force to the drive gear 495, causing the drive gear 495 and the drive motor 490 to move downward, thereby causing the height of the robotic arm 400 to decrease.

[0058] For example, the drive motor 490 reverses and drives the drive gear 495 to reverse. While the drive gear 495 reverses, it meshes with the transmission rack 310. The transmission rack 310 applies a reaction force to the drive gear 495, causing the drive gear 495 and the drive motor 490 to move upward, thereby raising the height of the robotic arm 400.

[0059] Patients of different heights and body types have different body structures, and the areas requiring tapping vary in spatial location. This mechanical structure, by adjusting the height of the robotic arm 400, can precisely position the tapping end 480 of the robotic arm 400 to the corresponding tapping area for different patients. Whether the patient is tall or small, they can receive accurate tapping treatment, thereby improving the precision of tapping and enhancing the treatment effect.

[0060] Since the percussion areas on the back and chest are not at the same horizontal level, the robotic arm 400 can be flexibly adjusted to perform percussion operations at different heights. This allows for comprehensive coverage of all areas requiring percussion, meeting diverse treatment needs and improving overall treatment effectiveness. During actual treatment, the patient's posture or body condition may change, or the percussion position may need to be dynamically adjusted based on the treatment effect. This structure allows for real-time adjustment of the robotic arm 400's height during percussion, enabling simultaneous percussion and position adjustment to ensure that the percussion always targets the most effective areas, further enhancing the targetedness and effectiveness of the treatment.

[0061] Due to significant differences in height and body shape among patients, traditional fixed-height percussion devices are often insufficient to meet the needs of all patients. This mechanical structure allows the percussion device to adapt to patients of different ages and physical conditions. Whether children, adults, or the elderly, patients can receive appropriate percussion therapy by adjusting the height of the robotic arm by 400 degrees, greatly improving the device's versatility and practicality. In different treatment scenarios, such as hospital wards, rehabilitation centers, and home care, patients' body positions and postures may vary. This mechanical structure allows for flexible adjustment of the robotic arm height by 400 degrees according to specific scenarios, enabling the percussion device to adapt to various complex treatment environments and meet the usage needs of different situations.

[0062] like Figure 1 As shown, in one embodiment, a guide 110 is provided on the frame 100, and one end of the base end 470 is connected to the guide 110. The guide 110 keeps the base end 470 on a height-adjustable movement path.

[0063] For example, the guide member 110 is provided with a guide groove, which is arranged along the height adjustment path of the robotic arm 400, and at least two guide members 110 are arranged at intervals; the base end 470 of the robotic arm 400 passes through the guide groove, and the inner wall of the guide groove guides the path of the base end 470, so that the base end 470 can move up and down.

[0064] like Figure 1 As shown, guide members 110 are respectively fitted at both ends of the foundation end 470. During the up and down movement of the foundation end 470, the guide members 110 limit the movement of the foundation end 470 so that the two ends of the foundation end 470 remain at the same height.

[0065] like Figure 2 As shown, in another embodiment, the guide 110 is a guide rail, and a guide wheel 140 is provided on the base end 470, which cooperates with the guide rail.

[0066] For example, two guide wheels 140 are disposed opposite each other on the base end 470, and a guide rail is located between the two guide wheels 140.

[0067] For example, at least one guide rail is provided at both ends of the base end 470, and correspondingly, two guide wheels 140 are provided opposite to each guide rail on the base end 470.

[0068] like Figure 1 As shown, in one embodiment, the buffer 200 further includes a second elastic member 220, which is disposed on the frame 100 and is disposed opposite to the first elastic member 210. One end of the transmission member 300 is connected to the first elastic member 210, and the other end of the transmission member 300 is connected to the second elastic member 220.

[0069] For example, the first elastic member 210 and the second elastic member 220 are distributed sequentially from bottom to top, and during use, such as Figure 1 As shown, the first elastic element 210 is shortened by the downward force applied by the transmission element 300, and the second elastic element 220 is extended by the downward tension applied by the transmission element 300.

[0070] For example, the second elastic element 220 includes, but is not limited to: helical spring, wave spring, butterfly spring, ring spring, leaf spring, steel leaf spring, rubber spring, air spring, etc.

[0071] like Figure 1 As shown, in one embodiment, the buffer 200 further includes a first limiting seat 230 and a second limiting seat 240.

[0072] The first limiting seat 230 is mounted on the frame 100, and the first elastic member 210 is mounted in the first limiting seat 230. One end of the transmission member 300 is slidably engaged with the first limiting seat 230, and the inner wall of the first limiting seat 230 limits one end of the transmission member 300, so that one end of the transmission member 300 can only move in the vertical direction. Exemplarily, the first limiting seat 230 is fixedly mounted on the frame 100 by welding, snap-fitting, or bolting.

[0073] The second limiting seat 240 is mounted on the frame 100, and the second elastic member 220 is mounted in the second limiting seat 240. The other end of the transmission member 300 is slidably engaged with the second limiting seat 240, and the inner wall of the second limiting seat 240 limits the other end of the transmission member 300, so that the other end of the transmission member 300 can only move in the vertical direction. Exemplarily, the second limiting seat 240 is fixedly mounted on the frame 100 by welding, snap-fitting, or bolting.

[0074] The first limiting seat 230 and the second limiting seat 240 slide and engage with both ends of the transmission component 300, respectively, and their inner walls limit the movement of both ends of the transmission component 300, ensuring that the two ends of the transmission component 300 can only move in the vertical direction. This design effectively avoids unexpected displacements such as lateral swaying or tilting of the transmission component 300 during movement, ensuring that the transmission component 300 always moves stably along the predetermined vertical direction, thereby improving the motion accuracy and reliability of the entire mechanical structure.

[0075] During mechanical operation, even the slightest movement deviation can affect the working effect and stability of the back-tapping device. The design of the first limiting seat 230 and the second limiting seat 240 greatly reduces the movement deviation of the transmission component 300 caused by external interference or its own inertia, ensuring the accuracy and consistency of the robotic arm 400 in height adjustment and tapping action execution, thereby improving the quality of back-tapping therapy.

[0076] The first elastic element 210 and the second elastic element 220 are respectively installed in the first limiting seat 230 and the second limiting seat 240. The limiting seats provide a stable installation environment for the elastic elements, enabling the first elastic element 210 and the second elastic element 220 to better exert their telescopic buffering function. During the tapping process, the first elastic element 210 and the second elastic element 220 can more effectively absorb the reaction force of the patient's tapping site and the inertial force of the robotic arm 400, avoiding the problem of reduced or failed buffering effect caused by unstable installation and lateral swaying of the first elastic element 210 and the second elastic element 220, and further enhancing the buffering capacity of the buffer 200 against impact force.

[0077] like Figure 1 As shown, in one embodiment, the robotic arm 400 includes a first telescopic rod 410, a second telescopic rod 420, a telescopic drive member 440, and a striking member 430.

[0078] One end of the first telescopic rod 410 is mounted on the transmission component 300, and the base end 470 is located at the end of the first telescopic rod 410 near the transmission component 300.

[0079] One end of the second telescopic rod 420 is hinged to the other end of the first telescopic rod 410.

[0080] The percussion element 430 is installed on the other end of the second telescopic rod 420, and the percussion end 480 is set on the percussion element 430. The second telescopic rod 420 reciprocates on the first telescopic rod 410, thereby driving the percussion element 430 to percuss the patient's percussion area.

[0081] One end of the telescopic drive component 440 is hinged to the first telescopic rod 410, and the other end of the telescopic drive component 440 is hinged to the second telescopic rod 420. The telescopic drive component 440 extends and retracts, causing the second telescopic rod 420 to rotate on the first telescopic rod 410.

[0082] For example, the telescopic drive component 440 includes, but is not limited to: hydraulic telescopic rod, pneumatic telescopic rod, electric actuator, threaded screw mechanism or linear motor, etc.

[0083] By controlling the extension and retraction of the telescopic drive component 440, the rotation angle of the second telescopic rod 420 can be precisely adjusted, thereby accurately controlling the position of the percussion end 480, achieving precise positioning of specific percussion points, and meeting different treatment needs.

[0084] Adjusting the length of the first telescopic rod 410 adjusts the distance between the percussion element 430 and the frame 100, thereby adjusting the distance between the percussion element 430 and the patient. Adjusting the length of the second telescopic rod 420 adjusts the height of the percussion element 430, thus accommodating patients of different heights and body types.

[0085] like Figure 1 As shown, in one embodiment, a hinge seat 450 is detachably provided on the second telescopic rod 420, and the other end of the telescopic drive member 440 is hinged to the hinge seat 450. The position of the hinge seat 450 on the second telescopic rod 420 is adjusted to adjust the rotation amplitude of the second telescopic rod 420.

[0086] For example, the hinge seat 450 is detachably mounted on the second telescopic rod 420 by means of a locking screw 500.

[0087] For example, during use, if it is necessary to increase the swing amplitude of the second telescopic rod 420, the position of the hinge seat 450 can be adjusted as follows: Initially, the locking screw 500 is tightened, and the hinge seat 450 is locked to the second telescopic rod 420; loosen the locking screw 500 and adjust the hinge seat 450 towards the first telescopic rod 410; after adjusting to the desired position, tighten the locking screw 500 to lock the hinge seat 450 to the second telescopic rod 420; compared to before adjustment, the first telescopic rod 410 can drive the second telescopic rod 420 to swing a greater amplitude when it extends or shortens by the same distance.

[0088] For example, during use, if it is necessary to reduce the swing amplitude of the second telescopic rod 420, the position of the hinge seat 450 can be adjusted as follows: Initially, the locking screw 500 is tightened, and the hinge seat 450 is locked to the second telescopic rod 420; loosen the locking screw 500 and adjust the hinge seat 450 away from the first telescopic rod 410. After adjusting to the desired position, tighten the locking screw 500 to lock the hinge seat 450 to the second telescopic rod 420. Compared to before adjustment, the first telescopic rod 410 can drive the second telescopic rod 420 to swing with a smaller amplitude when it extends or shortens by the same distance.

[0089] Patients with different conditions and physical constitutions require significantly different percussion amplitudes. For example, for patients with mild lung disease and weak constitutions, a smaller percussion amplitude is sufficient to promote sputum expectoration and improve respiratory function, while avoiding discomfort or injury caused by excessive amplitude. Conversely, for patients with severe conditions and thick sputum, a larger percussion amplitude is needed to enhance stimulation and more effectively loosen and expel sputum. By adjusting the position of the hinge seat 450 to change the rotation amplitude of the second telescopic rod 420, the appropriate percussion amplitude can be precisely matched according to the patient's specific situation, improving the targetedness and effectiveness of treatment.

[0090] The physiological structure and muscle thickness vary in different parts of the human back, resulting in different tolerances to percussion amplitudes. For example, the muscles around the scapula are thicker and can withstand relatively larger percussion amplitudes; while the muscles on both sides of the spine are thinner and require smaller percussion amplitudes to prevent injury. This mechanical structure allows for flexible adjustment of the percussion amplitude according to the characteristics of the percussion site, ensuring that the percussion operation is both effective and safe, reducing potential risks to the patient's body.

[0091] Properly adjusting the position of the hinge seat 450 to obtain a suitable percussion amplitude helps to make the rotation of the second telescopic rod 420 smoother and more natural, thereby improving the continuity and fluency of the percussion action. This continuous and smooth percussion action can simulate the rhythm and cadence of manual back percussion, bringing patients a more comfortable treatment experience, while also helping to improve the percussion effect and promote sputum expectoration.

[0092] like Figure 1 As shown, in one embodiment, the first telescopic rod 410 includes a first end 412 and a second end 414. The first end 412 is connected to the transmission member 300. Exemplarily, the first end 412 and the transmission member 300 are connected by a drive motor 490 and a drive gear 495.

[0093] like Figure 1As shown, the base end 470 is located on the side of the first end 412 near the transmission member 300. The first end 412 and the second end 414 are in sliding telescopic cooperation, and the second end 414 can rotate on the first end 412. The first end 412 and the second end 414 are locked together by a locking screw 500.

[0094] For example, during use, adjusting the rotation angle of the second end 414 on the first end 412 can adjust the angle of the second telescopic rod 420, so that the second telescopic rod 420 can swing in the horizontal direction to tap the lying patient.

[0095] Patients in different positions (such as supine, lateral, semi-recumbent, etc.) have different back orientations and varying accessibility to the percussion sites. Adjusting the rotation angle of the second end 414 on the first end 412 allows the second telescopic rod 420 to swing horizontally, thereby flexibly adjusting the angle and direction of the percussion element 430. For example, when the patient is lying on their side, rotating the second end 414 allows the percussion element 430 to strike different areas of the back at appropriate angles, improving the versatility of the device.

[0096] The human back contains some special areas, such as the sides of the spine and the area near the scapula. Due to their complex physiological structure, these areas require precise tapping angles and directions. By rotating the second end 414 to adjust the angle of the second telescopic rod 420, the tapping element 430 can better conform to the contours of these areas, achieving accurate tapping and avoiding incomplete tapping or discomfort to the patient due to improper angles, thus improving the effectiveness and quality of tapping therapy.

[0097] like Figure 1 As shown, in one embodiment, a counterweight 460 is slidably mounted on the second telescopic rod 420. A locking screw 500 is provided on the counterweight 460. Tightening the locking screw 500 locks the counterweight 460 to the second telescopic rod 420. Loosening the locking screw 500 adjusts the position of the counterweight 460 on the second telescopic rod 420, thereby adjusting the striking force of the robotic arm 400.

[0098] For example, during use, if it is necessary to increase the striking force, the counterweight 460 is adjusted towards the striking element 430. For example, the locking screw 500 is loosened to unlock the counterweight 460 and the second telescopic rod 420, the counterweight 460 is pushed towards the end of the second telescopic rod 420 where the striking element 430 is located, and the locking screw 500 is tightened to lock the counterweight 460 and the second telescopic rod 420. The closer the counterweight 460 is to the striking element 430, the greater the inertial force of the end of the second telescopic rod 420 where the striking element 430 is located during the swinging process, thereby increasing the striking force.

[0099] For example, during use, if it is necessary to reduce the striking force, the counterweight 460 is adjusted away from the striking element 430. For example, the locking screw 500 is loosened to unlock the counterweight 460 and the second telescopic rod 420, the counterweight 460 is pushed away from the end of the second telescopic rod 420 where the striking element 430 is located, and the locking screw 500 is tightened to lock the counterweight 460 and the second telescopic rod 420. The further away the counterweight 460 is from the striking element 430 and the closer it is to the first telescopic rod 410, the smaller the inertial force of the end of the second telescopic rod 420 where the striking element 430 is located during the swinging process, thereby reducing the striking force.

[0100] like Figure 1 As shown, in one embodiment, the frame 100 is a box structure, and the box structure is provided with an adjustment port 120.

[0101] The buffer 200, transmission 300 and base end 470 are located in the housing structure. The base end 470 extends out of the housing structure from the adjustment port 120. The housing structure can prevent dust and other debris from damaging the transmission rack 310 and drive gear 495, etc.

[0102] A sealing curtain 130 is provided at the adjustment port 120. The sealing curtain 130 is used to block the adjustment port 120, thereby further sealing the box structure.

[0103] For example, the closed curtain 130 is made of a flexible material and is configured to be rolled up and folded.

[0104] For example, the housing structure is provided with a mounting base, and the enclosed curtain 130 is mounted on the mounting base.

[0105] like Figure 1 As shown, in one embodiment, the percussion member 430 includes an arc-shaped rod 452 and a percussion bowl 454. One end of the arc-shaped rod 452 is mounted on the second telescopic rod 420, and the other end of the arc-shaped rod 452 is mounted with a percussion bowl 454, which is used to abut against the patient's percussion site during percussion.

[0106] For example, the arc-shaped rod 452 is hinged to the second telescopic rod 420, and the relative angle of the arc-shaped rod 452 on the second telescopic rod 420 is adjustable.

[0107] For example, the striking bowl 454 is hinged to the arc-shaped rod 452, and the relative angle of the striking bowl 454 on the arc-shaped rod 452 is adjustable.

[0108] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0109] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tapping device, characterized in that, include: Rack (100); A buffer (200) is disposed on the frame (100), and the buffer (200) includes a first elastic member (210), one end of which is disposed on the frame (100); A transmission component (300) is connected to the first elastic component (210); A robotic arm (400) has a base end (470) and a striking end (480). The base end (470) is connected to the transmission member (300). The robotic arm (400) swings back and forth so that the striking end (480) strikes the patient's striking area. The patient's striking area exerts a reaction force on the striking end (480). The robotic arm (400) receives the reaction force and exerts a force on the first elastic member (210) through the transmission member (300). The first elastic member (210) absorbs the reaction force exerted by the patient's striking area on the robotic arm (400) and the transmission member (300).

2. The tapping device according to claim 1, characterized in that, The transmission component (300) is a transmission rack (310), which is vertically arranged, and one end of the transmission rack (310) is connected to the first elastic component (210); A drive motor (490) is provided on the base end (470). The output end of the drive motor (490) is connected to a drive gear (495). The drive gear (495) meshes with the transmission rack (310). The drive motor (490) drives the drive gear (495) to rotate, causing the robotic arm (400) to move back and forth along the transmission rack (310), thereby adjusting the height of the robotic arm (400).

3. The tapping device according to claim 1, characterized in that, The frame (100) is provided with a guide (110), one end of the base end (470) is connected to the guide (110), and the guide (110) keeps the base end (470) on a height-adjustable movement path.

4. The tapping device according to claim 1, characterized in that, The buffer (200) also includes: The second elastic element (220) is disposed on the frame (100) and is disposed opposite to the first elastic element (210). One end of the transmission element (300) is connected to the first elastic element (210), and the other end of the transmission element (300) is connected to the second elastic element (220).

5. The tapping device according to claim 4, characterized in that, The buffer (200) also includes: A first limiting seat (230) is mounted on the frame (100) and a first elastic member (210) is mounted in the first limiting seat (230). One end of the transmission member (300) is slidably engaged with the first limiting seat (230). The second limiting seat (240) is mounted on the frame (100) and the second elastic member (220) is mounted in the second limiting seat (240). The other end of the transmission member (300) is slidably engaged with the second limiting seat (240).

6. The tapping device according to claim 1, characterized in that, The robotic arm (400) includes: A first telescopic rod (410) is mounted on the transmission member (300) at one end, and the base end (470) is located on the first telescopic rod (410). The second telescopic rod (420) has one end hinged to the other end of the first telescopic rod (410); A percussion element (430) is installed on the other end of the second telescopic rod (420), and the percussion end (480) is disposed on the percussion element (430). The second telescopic rod (420) reciprocates on the first telescopic rod (410), thereby driving the percussion element (430) to percuss the patient's percussion area. A telescopic drive member (440) is provided, one end of which is hinged to the first telescopic rod (410), and the other end of which is hinged to the second telescopic rod (420). The telescopic drive member (440) extends and retracts, causing the second telescopic rod (420) to rotate on the first telescopic rod (410).

7. The tapping device according to claim 6, characterized in that, The second telescopic rod (420) is detachably provided with a hinge seat (450), and the other end of the telescopic drive member (440) is hinged to the hinge seat (450). The position of the hinge seat (450) on the second telescopic rod (420) is adjusted to adjust the rotation amplitude of the second telescopic rod (420).

8. The tapping device according to claim 6, characterized in that, The first telescopic rod (410) includes a first end (412) and a second end (414). The first end (412) is connected to the transmission member (300) for transmission. The base end (470) is located on the first end (412). The first end (412) and the second end (414) are in sliding telescopic cooperation, and the second end (414) can rotate on the first end (412). The first end (412) and the second end (414) are locked together by a locking screw (500).

9. The tapping device according to claim 6, characterized in that, A counterweight (460) is slidably mounted on the second telescopic rod (420). A locking screw (500) is provided on the counterweight (460). Tightening the locking screw (500) locks the counterweight (460) to the second telescopic rod (420). Loosening the locking screw (500) adjusts the position of the counterweight (460) on the second telescopic rod (420), thereby adjusting the striking force of the robotic arm (400).

10. The tapping device according to claim 1, characterized in that, The frame (100) is a box structure, and the box structure is provided with an adjustment port (120); The buffer (200), the transmission (300) and the base end (470) are located in the box structure, and the base end (470) extends out of the box structure from the adjustment port (120); A closed curtain (130) is provided at the adjustment port (120).

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