Iris window mechanism for a physiotherapy robot and physiotherapy robot

Abstract

The utility model discloses an iris window mechanism and physiotherapy robot for physiotherapy robot, iris window mechanism includes installation support, iris window subassembly and drive motor, iris window subassembly includes the coaxial setting cover, rotation rack and bottom plate, and the middle part of cover and bottom plate all is equipped with through -hole and cover and bottom plate detachable connection, and bottom plate is fixed on installation support, rotation rack is the annular structure of the rack of edge part is equipped with, and rotation rack rotatablely sets up between cover and bottom plate, and drive motor is fixed on installation support and forms transmission engagement through drive gear and rotation rack, and rotation rack and bottom plate between in proper order coaxial rotation stack multiple arc blade and form iris window, and rotation rack rotation can drive arc blade movement and make iris window unfold or close up. The utility model discloses iris window not only can play the good protection effect to the internal structure of physiotherapy robot including physiotherapy head, can also realize the automatic control of iris window opening and closing.

Description

Technical Field

[0001] This utility model relates to the field of massage equipment technology, and in particular to an iris window mechanism for a physiotherapy robot and a physiotherapy robot including an iris window mechanism for a physiotherapy robot. Background Technology

[0002] Physiotherapy is a method of applying pressure to specific parts of the body to quickly relieve muscle fatigue and regulate bodily functions. Traditional massage is a type of physiotherapy, typically performed manually by professional massage therapists. However, this method suffers from drawbacks such as high workload for therapists and significant individual differences in skill levels. With the rapid development of robotics across various industries, physiotherapy robots have also been widely used in physiotherapy in recent years. These robots use robotic arms to move therapy heads to simulate therapeutic movements, and different therapy heads can be used to achieve different therapeutic functions.

[0003] For example, patent application CN119548385A discloses a fully automatic modular massage system, its combined layout structure, and control method. The disclosed technical solution includes a robotic arm capable of carrying massage components and an automatic end-effector device that attaches different massage components. The robotic arm and the automatic end-effector device work together to replace the massage components. However, this patent's solution directly mounts the automatic end-effector device on the top of the cabinet, making it easy for massage components to be lost, contaminated, or damaged. To avoid these problems, some manufacturers place all the massage heads of the therapy robot inside the cabinet. When a massage head needs to be replaced, the operator manually opens the cabinet, selects the corresponding massage head, installs it, and then closes the cabinet, which is cumbersome. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an iris window mechanism for a physiotherapy robot that is easy to open and close.

[0005] To solve the aforementioned technical problems, the technical solution adopted by this utility model is: an iris window mechanism for a physiotherapy robot, including a mounting bracket, an iris window assembly, and a drive motor; the iris window assembly includes a cover plate, a rotating rack, and a base plate arranged coaxially, both the cover plate and the base plate having through holes in their middle portions, and the cover plate and base plate being detachably connected, with the base plate fixed to the mounting bracket; the rotating rack is an annular structure with teeth on its edges, rotatably disposed between the cover plate and the base plate, and the drive motor is fixed to the mounting bracket and forms a transmission engagement with the rotating rack through a drive gear; multiple arc-shaped blades are sequentially and coaxially stacked between the rotating rack and the base plate to form an iris window, and the rotation of the rotating rack drives the arc-shaped blades to move, causing the iris window to open or close. This utility model uses a drive motor to drive the rotating rack to rotate, which in turn drives one end of the sequentially stacked arc-shaped blades to rotate together with the rotating rack, thereby achieving the opening and closing of the iris window assembly through the rotation of the arc-shaped blades. The iris window of this invention not only provides excellent protection for the internal structure of the physiotherapy robot, including the physiotherapy head, but also enables automated control of the opening and closing of the iris window, thereby improving the efficiency and intelligence level of the physiotherapy robot when loading, replacing, or disassembling the physiotherapy head. Furthermore, the iris window of this invention has a stable structure and aesthetically pleasing opening and closing action.

[0006] As an improvement to the above solution: the two ends of the arc-shaped blade are respectively fixedly connected with a first mating post and a second mating post, and multiple sliding grooves are evenly distributed in a ring on the bottom plate. The sliding grooves are elongated oval grooves extending toward the center of the bottom plate. Multiple mating holes are evenly distributed in a ring on the rotating rack. The first mating post is set on the bottom surface of the arc-shaped blade and inserted into the sliding groove to form a sliding fit, and the second mating post is set on the top surface of the arc-shaped blade and inserted into the mating hole to form a rotational fit.

[0007] As an improvement to the above solution: the bottom surface of the cover plate is provided with an annular groove, and the top surface of the rotating rack is provided with an annular protrusion. The annular protrusion is embedded in the annular groove to form a sliding fit. This utility model achieves the relative rotation between the rotating rack and the cover plate while simultaneously enabling the installation of the rotating rack in the entire iris window assembly, thus simplifying the assembly structure and reducing assembly difficulty.

[0008] As an improvement to the above solution, a diffuse reflection photoelectric switch is also included, which is fixedly mounted on the mounting bracket and electrically connected to the drive motor. This invention, by incorporating a diffuse reflection photoelectric switch, can monitor in real time whether a hand has been inserted into the iris window component. In case of an accident, it can promptly control the operation of the drive motor to prevent the user's hand from being pinched.

[0009] As an improvement to the above solution, it also includes a proximity switch and a detection block that cooperates with the proximity switch. The proximity switch is fixedly mounted on the mounting bracket and located on the outside of the iris window assembly, and the detection block is fixedly mounted on the outer periphery of the rotating rack. This invention, by using a proximity switch and a detection block in conjunction, monitors the position of the detection block in real time using the proximity switch, and can monitor the rotation angle of the rotating rack, thereby achieving the effect of monitoring the opening and closing state of the iris window assembly.

[0010] As an improvement to the above solution: the proximity switch is a slot-type photoelectric proximity switch, which includes a U-shaped slot and a transmitter and receiver mounted on the U-shaped slot; the detection block can rotate into the U-shaped slot of the slot-type photoelectric proximity switch with the rotating rack.

[0011] This utility model also discloses a physiotherapy robot, including a robotic arm and a physiotherapy head storage rack mechanism for storing multiple physiotherapy heads. An actuator is mounted on the robotic arm, and the movement of the robotic arm drives the actuator, which has the physiotherapy heads mounted on it, to perform physiotherapy. It also includes an iris window mechanism for the physiotherapy robot as described above. The physiotherapy head storage rack mechanism is located below the iris window mechanism. The robotic arm drives the actuator to move to the physiotherapy head storage rack mechanism to load, replace, or remove physiotherapy heads, while the iris window of the iris window mechanism opens or closes accordingly. When it is necessary to load, replace, or remove a physiotherapy head, the robotic arm moves to move the actuator, which has the physiotherapy head mounted on it, above the iris window mechanism. The iris window mechanism opens, and the robotic arm drives the actuator to extend below the iris window mechanism, working in conjunction with the physiotherapy head storage rack mechanism to complete the corresponding loading, replacement, or removal of the physiotherapy head. After the operation is completed, the robotic arm drives the actuator to move above the iris window mechanism, and the iris window mechanism closes the iris window.

[0012] The beneficial effects of this utility model are as follows: As an iris window mechanism installed on a physiotherapy robot to protect the physiotherapy head and internal structure, this utility model uses a rotating rack to drive multiple sequentially stacked arc-shaped blades to rotate, thereby realizing the opening and closing of the entire iris window assembly. The rotation of the drive gear is controlled by the drive motor, which in turn drives the rotating rack that meshes with the drive gear. By adjusting the rotation direction and angle of the rotating rack, the opening and closing state and degree of the iris window assembly can be controlled. It is convenient to operate and easy to implement, and can play a good protective role for the internal structure of the physiotherapy robot, while ensuring the smooth replacement of the physiotherapy head. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the iris window mechanism when it is in the open state. Figure 2 This is a schematic diagram of the iris window mechanism when it is in the closed state. Figure 3 This is an exploded view of the iris window assembly. Figure 4 This is a schematic diagram of the arc-shaped blade. Figure 5 This is a schematic diagram of the iris window assembly during the movement of the curved blades; Figure 6 This is a schematic diagram of the coordinated structure of the actuator, iris window mechanism, and physiotherapy head shelving mechanism.

[0014] The markings in the diagram are as follows: 100-Mounting bracket, 200-Iris window assembly, 210-Cover plate, 220-Rotating rack, 221-Matching hole, 222-Annular convex strip, 230-Base plate, 231-Slide groove, 240-Arc-shaped blade, 241-First mating post, 242-Second mating post, 300-Drive motor, 400-Drive gear, 500-Diffuse reflection photoelectric switch, 610-Proximity switch, 620-Detection block, 700-Actuating end, 800-Therapy head shelf mechanism, 810-Therapy head. Detailed Implementation

[0015] To facilitate understanding of this utility model, the following description, in conjunction with the accompanying drawings, will provide further details.

[0016] 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.

[0017] like Figure 1 and Figure 2 As shown, the iris window mechanism for a physiotherapy robot disclosed in this utility model includes a mounting bracket 100, an iris window assembly 200, a drive motor 300, and a drive gear 400. The mounting bracket 100 is used to mount the iris window assembly 200 and the drive motor 300. The output end of the drive motor 300 is connected to the drive gear 400. The operation of the drive motor 300 drives the drive gear 400 to rotate, thereby controlling the opening and closing of the iris window assembly 200.

[0018] Specifically, such as Figure 3As shown, the iris window assembly 200 consists of a cover plate 210, a rotating rack 220, a base plate 230, and an arc-shaped blade 240. The iris window assembly 200 is arranged from bottom to top as follows: base plate 230, arc-shaped blade 240, rotating rack 220, and cover plate 210. The base plate 230 is fixed to the mounting bracket 100. Both the cover plate 210 and the base plate 230 are plate structures with through holes in the center. The cover plate 210 and the base plate 230 are detachably connected, with a gap between them for mounting the rotating rack 220 and the arc-shaped blade 240. The rotating rack 220 is an annular structure with racks on its periphery. The rotating rack 220 is rotatably mounted between the base plate 230 and the cover plate 210. The rack of the rotating rack 220 meshes with the drive gear 400 to form a transmission engagement. The drive motor 300 can drive the drive gear 400 to rotate, and the rotation of the drive gear 400 can drive the rotating rack 220 to rotate.

[0019] The structure of the arc-shaped blade 240 is as follows Figure 4 The described arc-shaped sheet structure has cylindrical mating posts fixed at both ends of the arc-shaped blade 240. Both mating posts are perpendicular to the arc-shaped blade 240 but extend in opposite directions. The two mating posts are fixedly connected to the bottom and top surfaces of the arc-shaped blade 240, respectively. The mating post connected to one side of the bottom surface of the arc-shaped blade 240 is the first mating post 241, and the mating post connected to one side of the top surface of the arc-shaped blade 240 is the second mating post 242. The base plate 230 has the same number of sliding grooves 231 as the arc-shaped blade 240. The sliding grooves 231 are evenly distributed in a ring around the center of the base plate 230. Each sliding groove 231 is an elongated oval groove extending towards the center of the base plate 230. The first mating post 241 on the arc-shaped blade 240 is inserted downwards into the corresponding sliding groove 231, and the first mating post 241 can slide along the sliding groove 231. The rotating rack 220 has the same number of mating holes 221 as the arc-shaped blades 240. Each mating hole 221 is a circular hole that fits with a second mating post 242 with a clearance. The mating holes 221 are evenly distributed in a ring around the center of the rotating rack 220. The second mating posts 242 on the arc-shaped blades 240 are inserted upwards into the corresponding mating holes 221, and the second mating posts 242 and the mating holes 221 can rotate relative to each other. Figure 5 As shown, when the rotating rack 220 rotates, the end of the arc-shaped blade 240 that engages with the rotating rack 220 will move together under the drive of the rotating rack 220, while the end of the arc-shaped blade 240 that engages with the base plate 230 will slide and translate within a small range along the slide groove 231. Figure 1 and Figure 3 As shown, when the rotating rack 220 is in its initial, non-rotating state, the arc-shaped blades 240 are stacked sequentially to form a ring structure completely covered by the cover plate 210, and the entire iris window assembly 200 is in the open state; as Figure 2 and Figure 5 As shown, after the rotating rack 220 rotates and drives the arc-shaped blade 240 to rotate, the arc-shaped blade 240 blocks the through hole in the middle of the iris window assembly 200, and the entire iris window assembly 200 is in a closed state. Furthermore, the degree of opening of the iris window assembly 200 can be controlled by controlling the rotation angle of the rotating rack 220. Similarly, the initial state of the rotating rack 220 can be reversed; that is, when the rotating rack 220 is not rotating, the entire iris window assembly 200 is in a fully open state; when the rotating rack 220 rotates and drives the arc-shaped blade 240 to rotate, the entire iris window 200 is in a fully closed state.

[0020] like Figure 3 As shown, this utility model achieves the rotation of the rotating rack 220 in the iris window assembly 200 through a sliding fit structure. Specifically, an annular groove is provided on the bottom surface of the cover plate 210, and the annular groove is arranged around the outer periphery of the central through hole of the cover plate 210. An annular protrusion 222 is provided on the top surface of the rotating rack 220. The annular protrusion 222 can be embedded in the annular groove of the cover plate 210. The annular protrusion 222 and the annular groove are in clearance fit in the width direction so that the annular protrusion 222 can slide in the annular groove, thereby realizing the relative rotation between the rotating rack 220 and the cover plate 210, and also realizing the installation of the rotating rack 220 in the iris window assembly 200.

[0021] like Figure 1 and Figure 2 As shown, this utility model installs diffuse reflection photoelectric switches 500 on the mounting bracket 100. The diffuse reflection photoelectric switches 500 are arranged in groups and electrically connected to the drive motor 300. The diffuse reflection photoelectric switches 500 perform non-contact detection of objects above the iris window assembly 200. When a hand is inserted into the iris window assembly 200, the operation of the drive motor 300 can be controlled in a timely manner to avoid the user's hand being pinched.

[0022] like Figures 1 to 3 As shown, in order to monitor the opening and closing status of the iris window assembly 200 in real time, this invention also includes a proximity switch 610 and a detection block 620 that cooperates with the proximity switch 610. The proximity switch 610 is fixedly mounted on the mounting bracket 100 and located on the outside of the iris window assembly 200, while the detection block 620 is fixedly mounted on the outer periphery of the rotating rack 220. By monitoring the position of the detection block 620 through the proximity switch 610, the rotation angle of the rotating rack 220 can be determined, thereby enabling the monitoring of the opening and closing status of the iris window assembly 200. Furthermore, the proximity switch 610 used in this invention is a slot-type photoelectric proximity switch, which includes a U-shaped slot and a transmitter and receiver mounted on the U-shaped slot. The detection block 620 can rotate with the rotating rack 220 into the U-shaped slot of the slot-type photoelectric proximity switch.

[0023] This utility model also discloses an embodiment of a physiotherapy robot including the aforementioned iris window mechanism for physiotherapy robots. This physiotherapy robot is mainly used for massage therapy and includes a robotic arm and a physiotherapy head storage mechanism 800. The physiotherapy head storage mechanism 800 stores the physiotherapy heads 810 required for massage. In this embodiment, the physiotherapy head 810 is the massage head used in massage therapy. The massage head can be inserted and installed on the execution end 700 of the robotic arm. The movement of the robotic arm drives the execution end 700 with the massage head installed to perform massage therapy, or loads, replaces, or removes and returns the massage head installed on the execution end 700 to its original position according to the needs of different massage techniques. Figure 6 As shown, the actuator 700 mounted on the robotic arm moves above the iris window mechanism, while the massage head storage mechanism 800 is fixed below it. When a massage head needs to be loaded, the massage head storage mechanism 800 rotates to position the desired massage head directly below the iris window assembly 200. Then, the robotic arm moves the actuator 700 downwards, automatically opening the iris window assembly 200. The robotic arm then moves the actuator 700 downwards to engage with the massage head, allowing it to be retrieved. Finally, the robotic arm moves the actuator 700 upwards above the iris window mechanism, closing the iris window assembly 200 again. The entire massage head loading process is completed automatically. Similarly, through relevant controls, the massage head on the actuator 700 can be automatically removed from the robotic arm and placed into the massage head storage mechanism 800 after treatment, or a new massage head can be selected and replaced during treatment.

Claims

1. An iris window mechanism for a physiotherapy robot, characterized in that: The system includes a mounting bracket (100), an iris window assembly (200), and a drive motor (300). The iris window assembly (200) includes a cover plate (210), a rotating rack (220), and a base plate (230) arranged coaxially. Both the cover plate (210) and the base plate (230) have through holes in their middle portions, and the cover plate (210) and the base plate (230) are detachably connected. The base plate (230) is fixed to the mounting bracket (100). The rotating rack (220) is an annular structure with racks on its edges. The structure includes a rotating rack (220) rotatably mounted between the cover plate (210) and the base plate (230). The drive motor (300) is fixed on the mounting bracket (100) and forms a transmission engagement with the rotating rack (220) through the drive gear (400). Multiple arc-shaped blades (240) are stacked coaxially between the rotating rack (220) and the base plate (230) to form an iris window. The rotation of the rotating rack (220) drives the arc-shaped blades (240) to move, causing the iris window to open or close.

2. The iris window mechanism for a physiotherapy robot as described in claim 1, characterized in that: The two ends of the arc-shaped blade (240) are respectively fixedly connected to a first mating post (241) and a second mating post (242). The base plate (230) is provided with a plurality of sliding grooves (231) evenly distributed in a ring. The sliding grooves (231) are elongated oval grooves extending toward the middle of the base plate (230). The rotating rack (220) is provided with a plurality of mating holes (221) evenly distributed in a ring. The first mating post (241) is set on the bottom surface of the arc-shaped blade (240) and inserted into the sliding groove (231) to form a sliding fit. The second mating post (242) is set on the top surface of the arc-shaped blade (240) and inserted into the mating hole (221) to form a rotational fit.

3. The iris window mechanism for a physiotherapy robot as described in claim 1, characterized in that: The bottom surface of the cover plate (210) is provided with an annular groove, and the top surface of the rotating rack (220) is provided with an annular protrusion (222). The annular protrusion (222) is embedded in the annular groove to form a sliding fit.

4. The iris window mechanism for a physiotherapy robot as described in claim 1, characterized in that: It also includes a diffuse reflection photoelectric switch (500) fixedly mounted on a mounting bracket (100), and the diffuse reflection photoelectric switch (500) is electrically connected to a drive motor (300).

5. The iris window mechanism for a physiotherapy robot as described in claim 1, characterized in that: It also includes a proximity switch (610) and a detection block (620) that cooperates with the proximity switch (610). The proximity switch (610) is fixedly mounted on the mounting bracket (100) and located on the outside of the iris window assembly (200). The detection block (620) is fixedly mounted on the outer periphery of the rotating rack (220).

6. The iris window mechanism for a physiotherapy robot as described in claim 5, characterized in that: The proximity switch (610) is a slot-type photoelectric proximity switch, which includes a U-shaped slot and a transmitter and receiver mounted on the U-shaped slot; the detection block (620) can rotate into the U-shaped slot of the slot-type photoelectric proximity switch along with the rotating rack (220).

7. A physiotherapy robot, comprising a robotic arm and a physiotherapy head storage rack mechanism (800) for storing multiple physiotherapy heads (810), wherein an actuator (700) is mounted on the robotic arm, and the movement of the robotic arm drives the actuator (700) on which the physiotherapy heads (810) are mounted to perform physiotherapy; characterized in that: It also includes an iris window mechanism for a physiotherapy robot as described in any one of claims 1 to 6; the physiotherapy head rack mechanism (800) is located below the iris window mechanism, and the robotic arm drives the actuator (700) to move to the physiotherapy head rack mechanism (800) to load, replace or remove the physiotherapy head (810), while the iris window of the iris window mechanism expands or closes accordingly.

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