Novel physiotherapy manipulator tail-end hollow-type carrying integrated stage

Abstract

A novel physiotherapy manipulator tail-end hollow-type carrying integrated stage of the present utility model pertains to the technical field of human body services. The novel physiotherapy manipulator tail-end hollow-type carrying integrated stage comprises an over-force ejection-release protection assembly, wherein the over-force ejection-release protection assembly comprises an over-force release sliding sleeve and a mounting base that are movably connected, and a safety assembly for providing a pre-abutting force for overload protection is arranged on the inner and outer sliding contact surfaces between the over-force release sliding sleeve and the mounting base; a mounting bracket, wherein the mounting bracket is provided with an interface configured for connection to a corresponding controllable operational stage; and a force-sensing assembly, wherein the force-sensing assembly comprises a force sensor, and the force sensor is arranged between the mounting base and the mounting bracket. By arranging the force-sensing assembly, the magnitude and direction of a generated contact force can be accurately determined, and when the contact force borne by the over-force ejection-release protection assembly is too large, the over-force release sliding sleeve is detached from the mounting base to achieve overload protection, greatly improving the overall safety.

Description

A new type of hollow loading integrated platform at the end of a physiotherapy manipulator

[0001] This application claims the benefit of Chinese patent application No. 2024206484248, filed on April 1, 2024. This application incorporates the entirety of the aforementioned Chinese patent application. Technical Field

[0002] The utility model belongs to the technical field of human body services, in particular to a novel hollow loading integrated platform at the end of a physiotherapy manipulator. Background Art

[0003] When existing physiotherapy robots are performing massage or shock wave therapy, their human contact force detection mostly only detects the magnitude of a one-dimensional upward force and cannot sense the tilt of the force. In other words, they cannot sense and detect the force posture of the end of the robot in contact with the human body, and cannot provide more comprehensive physiotherapy services. If a multi-dimensional force sensor solution is used, the cost will be very high. When existing massage therapy robots come into contact with the human body, if an abnormal state occurs, such as continuously pressing down on the human body, it will cause harm to the human body, or if the robot stops pressing on the human body, it will be difficult for the human body to move away, posing a safety risk. At the same time, physiotherapy equipment such as shock wave therapy devices and life meridian devices are generally installed by fastening screws on the mounting frame, which is difficult to quickly disassemble and replace, and inconvenient to maintain.

[0004] Therefore, a new type of hollow loading integrated platform at the end of the physiotherapy manipulator is needed. This platform can quickly disassemble and replace the intermediate physiotherapy equipment, can detect the tilt state of the force at a low cost, and has a pure mechanical protection function that can automatically pop open when the force in contact with the human body is greater than the set value.

[0005] Utility Model Content

[0006] 1. Technical problems to be solved by the utility model

[0007] The purpose of the utility model is to solve the problems of existing massage therapy machines having single functions, lacking safety guarantee mechanisms and being difficult to effectively detect contact force.

[0008] 2. Technical solution

[0009] In order to achieve the above-mentioned purpose, the technical solution provided by the present utility model is:

[0010] The utility model is a new type of hollow loading integrated platform at the end of the physiotherapy manipulator, comprising

[0011] An over-force release protection assembly, the over-force release protection assembly comprising an over-force release sleeve and a mounting base that are movably connected, wherein the inner and outer sliding contact surfaces of the over-force release sleeve and the mounting base are provided with a safety assembly that provides a pre-contact force for overload protection;

[0012] A mounting bracket, wherein the mounting bracket is provided with an interface for connecting to a corresponding controllable operation platform;

[0013] A force sensing assembly, the force sensing assembly including a force sensor, the force sensor being disposed between the mounting base and the mounting bracket;

[0014] A quick-release assembly is used to connect a physical therapy assembly. The quick-release assembly, the over-force elastic release protection assembly and the hollow area of ​​the mounting bracket are interconnected and clamp and fix the physical therapy assembly.

[0015] Preferably, the force sensing components are provided with three or more, the lower ends of the force sensing components are installed on the mounting bracket evenly distributed along the circumference, and the upper ends of the force sensors are finally connected to the physiotherapy equipment through the intermediate components. When the force at the contact point between the physiotherapy equipment and the human body is tilted in direction, the different force values ​​of each sensor force sensor can be used to calculate the force tilt angle.

[0016] Preferably, the measurement direction of the force sensor is consistent with the relative slight movement direction of the mounting base and the mounting bracket, and the relative slight movement of the mounting base and the mounting bracket causes the force sensor to press against and measure the mounting bracket.

[0017] Preferably, the force sensing assembly includes a force sensor and a movable connecting piece mounted on the outside of the force sensor, the two ends of the movable connecting piece are respectively connected to the mounting base and the mounting bracket, the movable direction of the movable connecting piece is consistent with the measurement direction of the force sensor and the relative small movement direction of the mounting base and the mounting bracket, and the relative small movement of the mounting base and the mounting bracket drives the force sensor in the movable connecting piece and the mounting bracket to pull and press and measure.

[0018] Preferably, the movable connecting part includes a sensor guide sleeve and a sensor guide shaft arranged in the sensor guide sleeve, the sensor guide shaft includes a cylindrical connecting part 1 and a cylindrical connecting part 2 connected to each other, the cylindrical connecting part 1 is provided with an internal threaded hole at one end away from the cylindrical connecting part 2, and the top external threaded shaft of the force sensor is matched with the internal threaded hole.

[0019] Preferably, the sensor guide sleeve comprises a guide sleeve body, a middle section of the guide sleeve body is hollow with a cylindrical hole, and the middle section of the guide sleeve body extends outward to form a connecting protrusion, and the connecting protrusion is hollow and communicated with the cylindrical hole.

[0020] Preferably, the movable connecting part also includes a connecting block, which is recessed inward to form a cavity for accommodating the sensor guide sleeve. The bottom of the connecting block cavity includes a accommodating groove and a mounting hole four. The accommodating groove is matched with the connecting protrusion, and the mounting hole four is matched with the cylindrical hole. Mounting holes three are provided on the protrusions at both ends of the connecting block cavity. The mounting hole three is matched with the mounting interface three on the mounting base. The mounting hole two of the sensor guide sleeve is matched with the mounting hole seven on the mounting bracket.

[0021] Preferably, the mounting bracket includes a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 is provided with a hollow load-carrying through hole 1, and the hollow load-carrying through hole 1 is matched with the through hole of the force-exiting sleeve, the bracket plate 1 is also provided with a mounting hole 5, a mounting hole 6, an insulating ring sleeve mounting hole and a ranging component mounting hole, and a wire groove is provided at the connection between the bracket plate 1 and the bracket plate 2, and an inner positioning ring is provided on the side of the bracket plate 1 away from the bracket plate 2, the inner positioning ring is arranged on the circumferential outside of the hollow load-carrying through hole 1, and the outer positioning ring is arranged on the arc edge of the bracket plate 1.

[0022] Preferably, the over-force release sleeve includes a protruding end, and the mounting base includes an embedded end and a cavity for accommodating the protruding end;

[0023] The protruding end is embedded in the embedded end so that the over-force release sleeve is connected to the mounting base;

[0024] The safety component is arranged on the outer peripheral side wall of the embedding end.

[0025] Preferably, a preload spring is provided on the outer side of the embedded end, and the preload spring is configured to be in a compressed state when installed.

[0026] Preferably, the circumferential outer side wall of the raised end is recessed inward to form an annular ring groove, and the corresponding area where the embedded end contacts the annular groove of the raised end is provided with a plurality of connecting holes, and the safety components are arranged in the connecting holes one by one.

[0027] Preferably, a mounting thread is provided on the outside of the safety component, and a mounting operation hole is provided at the tail end of one end of the safety component. The safety component also includes a ball and a load spring that contact each other. The load spring is arranged in the connecting hole and is threadedly connected to the connecting hole through a mounting thread. The load spring is configured to be in a compressed state when installed so that the load spring applies elastic force to the ball.

[0028] Preferably, the size of the ball is adapted to the size of the connecting hole and the size of the cross-section of the annular groove so that the ball can move in the connecting hole and the annular groove, and the number of the safety components or the elastic coefficient of the load spring is adapted to the required overload protection threshold size.

[0029] Preferably, it also includes a quick-release assembly for connecting the physical therapy assembly, the quick-release assembly includes a clamping ring body provided with a mounting through hole, the clamping ring body is provided with a screw and a screw handle, the clamping ring body is provided with a disconnected gap groove, the screw passes through the gap groove and the screw is rotated to adjust the spacing of the gap groove.

[0030] Preferably, it further comprises a distance measuring component which is arranged on a side of the mounting bracket away from the over-force elastic release protection component, and an insulating ring sleeve is provided between the mounting bracket and the distance measuring component.

[0031] 3. Beneficial effects

[0032] Compared with the prior art, the technical solution provided by this utility model has the following beneficial effects:

[0033] A novel hollow load-carrying integrated platform at the end of a physiotherapy manipulator includes an over-force elastic release protection component, which includes a movably connected over-force release sleeve and a mounting base. The inner and outer sliding contact surfaces of the over-force release sleeve and the mounting base are provided with a safety component that provides a pre-contact force for overload protection; a mounting bracket, which is provided with an interface for connecting to a corresponding controllable operating platform; and a force sensing component, which includes a force sensor, which is arranged between the mounting base and the mounting bracket. By providing the force sensing component, the magnitude of the generated contact force can be accurately detected. When the contact force is too large, the over-force elastic release protection component can cause the over-force release sleeve and the mounting base to disengage, completing overload protection and greatly improving overall safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a schematic diagram of the overall structure of a novel hollow loading integrated platform at the end of a physiotherapy manipulator according to the present invention;

[0035] FIG2 is a schematic cross-sectional view of the structure of Example 1;

[0036] FIG3 is a schematic structural diagram of the quick-release assembly of Example 1;

[0037] FIG4 is a schematic structural diagram of the quick-release assembly and the over-force release sleeve connected and installed in accordance with Example 1;

[0038] FIG5 is a schematic structural diagram of an over-force release protection assembly according to Example 1;

[0039] FIG6 is a cross-sectional view of the over-force release protection assembly of Example 1;

[0040] FIG7 is a schematic structural diagram of the over-force release sleeve of Example 1;

[0041] FIG8 is a schematic structural diagram of the mounting base of Example 1;

[0042] FIG9 is a partial connection diagram of Example 1;

[0043] FIG10 is a schematic structural diagram and a cross-sectional view of the force sensing assembly of Example 1;

[0044] FIG11 is a schematic structural diagram of the sensor guide sleeve of Example 1;

[0045] FIG12 is a schematic structural diagram of the sensor guide shaft of Example 1;

[0046] FIG13 is a schematic diagram of the connection block structure of Example 1;

[0047] FIG14 is a schematic structural diagram of the mounting bracket of Example 1;

[0048] FIG15 is a schematic structural diagram of the insulating ring sleeve of Example 1;

[0049] FIG16 is a schematic structural diagram of the distance measuring component of Example 1;

[0050] FIG17 is a schematic structural diagram of the safety component of Example 1.

[0051] Explanation of the numbers in the schematic diagram:

[0052] 1000. Physiotherapy equipment;

[0053] 2000, over-force release protection assembly; 2100, over-force release sleeve; 2110, sleeve connecting plate; 2111, through hole; 2112, mounting interface 1; 2120, raised end; 2121, guide groove; 2122, annular groove; 2130, fixing plate; 2131, mounting interface 2; 2200, mounting base; 2210, base connecting plate; 2211, mounting interface 3; 2230, embedded end; 2232, inner side of embedded end; 2233, connecting hole; 2234, guide key; 2240, cavity; 2300, safety assembly; 2310, ball; 2320, load spring; 2330, mounting operation hole; 2340, mounting thread; 2400, preload spring;

[0054] 3000, quick-release assembly; 3100, clamping ring body; 3110, clearance groove; 3120, threaded hole; 3130, panel; 3140, mounting hole 1; 3200, rotating part; 3210, screw; 3220, screw handle; 3300, mounting through hole;

[0055] 4000, force sensing assembly; 4100, force sensor; 4200, sensor guide sleeve; 4210, mounting hole 2; 4220, cylindrical hole; 4240, connecting protrusion; 4250, guide sleeve body; 4300, sensor guide shaft; 4310, internal threaded hole; 4320, cylindrical connector 1; 4330, cylindrical connector 2; 4400, connecting block; 4410, mounting hole 3; 4420, mounting hole 4; 4430, receiving groove; 4500, self-locking nut;

[0056] 5000, mounting bracket; 5100, mounting hole five; 5200, mounting hole six; 5300, mounting hole seven; 5400, hollow load hole one; 5500, insulating ring mounting hole; 5600, wire trough; 5700, outer positioning ring; 5800, inner positioning ring; 5900, distance measuring component mounting hole;

[0057] 6000, insulating ring; 6100, outlet groove; 6200, mounting nut groove; 6300, hollow load through hole 2; 6500, sensor wiring through hole; 6600, screw mounting hole 1; 6700, screw mounting hole 2; 6900, hollow wiring loop; 6910, limit column; 6110, positioning boss;

[0058] 7000, ranging component; 7100, positioning ring groove; 7200, positioning groove; 7300, wiring cavity; 7400, ranging module mounting hole; 7500, screw mounting hole three; 7600, screw mounting hole four; 7700, hollow load through hole three. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0061] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0062] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0063] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0064] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0065] Example 1

[0066] 1-17, a novel hollow loading integrated platform at the end of a physiotherapy manipulator in this embodiment comprises:

[0067] An overload release protection assembly 2000, comprising an overload release sleeve 2100 and a mounting base 2200 that are movably connected. A safety assembly 2300 that provides a pre-contact force for overload protection is provided on the inner and outer sliding contact surfaces of the overload release sleeve 2100 and the mounting base 2200.

[0068] The mounting bracket 5000 is provided with an interface for connecting to the corresponding controllable operation platform; the quick-release component 3000 is used to connect the physical therapy component 1000, and the quick-release component 3000, the over-force elastic release protection component 2000 and the hollow area of ​​the mounting bracket 5000 are interconnected and clamp and fix the physical therapy component 1000.

[0069] The force sensing assembly 4000 includes a force sensor 4100, which is disposed between the mounting base 2200 and the mounting bracket 5000. The platform of this embodiment, by providing the force sensing assembly 4000, can accurately detect the magnitude of the generated contact force. Furthermore, the over-force release protection assembly 2000 can disengage the over-force release sleeve 2100 from the mounting base 2200 when the contact force is excessive, providing overload protection and significantly improving overall safety.

[0070] There are three or more force sensing components 4000, and the lower ends of the force sensing components 4000 are evenly distributed and installed along the circumference on the mounting bracket, and the upper ends of the force sensors are finally connected to the physical therapy device 1000 through the intermediate components. When the force at the contact point between the physical therapy device 1000 and the human body is tilted in direction, the different force values ​​of each sensor force sensor 4100 can be used to calculate the force tilt angle. When the force at the contact point between the end of the physical therapy device 1000 and the human body is in an inclined state, the axial tensile and pressure forces generated on each force sensing component 4000 are different, so that the approximate force tilt direction can be judged by the different forces detected by multiple groups of force sensing components 4000, and the posture of the manipulator can be adjusted so that the force detected on each group of force sensors tends to be the same, so that the posture of the end force can be measured and controlled, and the resultant force can determine the size of the contact force to better provide physical therapy services to the human body.

[0071] Moreover, the present application can achieve accurate measurement of the direction of the contact surface by adopting a simple force sensor 4100, which greatly saves costs.

[0072] The force sensing components 4000 are evenly distributed along the force-bearing areas of the contact surface. When force tilt occurs in any direction, it can be accurately detected by the corresponding force sensing component 4000, thereby improving the comprehensiveness of the detection.

[0073] The measurement direction of the force sensor 4100 is consistent with the relative small movement direction of the mounting base 2200 and the mounting bracket 5000. The relative small movement of the mounting base 2200 and the mounting bracket 5000 causes the force sensor 4100 and the mounting bracket 5000 to pull and press and measure.

[0074] The force sensing assembly 4000 includes a force sensor 4100 and a movable connecting piece mounted on the outside of the force sensor 4100. The two ends of the movable connecting piece are respectively connected to the mounting base 2200 and the mounting bracket 5000. The movable direction of the movable connecting piece is consistent with the measurement direction of the force sensor 4100 and the relative small movement direction of the mounting base 2200 and the mounting bracket 5000. The relative small movement of the mounting base 2200 and the mounting bracket 5000 drives the force sensor 4100 and the mounting bracket 5000 in the movable connecting piece to pull and press and measure.

[0075] The movable connecting part includes a sensor guide sleeve 4200 and a sensor guide shaft 4300 arranged in the sensor guide sleeve 4200. The sensor guide shaft 4300 includes a cylindrical connecting part 1 4320 and a cylindrical connecting part 2 4330 connected to each other. The cylindrical connecting part 1 4320 is provided with an internal threaded hole 4310 at one end away from the cylindrical connecting part 2 4330. The top external threaded shaft of the force sensor 4100 is cooperated and connected with the internal threaded hole 4310.

[0076] The sensor guide sleeve 4200 includes a guide sleeve body 4250 , a cylindrical hole 4220 is formed in the middle of the guide sleeve body 4250 , and a connecting protrusion 4240 is formed extending outward from the middle of the guide sleeve body 4250 . The connecting protrusion 4240 is hollow and communicates with the cylindrical hole 4220 .

[0077] The movable connecting part also includes a connecting block 4400, which is recessed inward to form a cavity for accommodating the sensor guide sleeve 4200. The bottom of the cavity of the connecting block 4400 includes a receiving groove 4430 and a fourth mounting hole 4420. The receiving groove 4430 is arranged in cooperation with the connecting protrusion 4240, and the fourth mounting hole 4420 is arranged in cooperation with the cylindrical hole 4220. The protrusions at both ends of the cavity of the connecting block 4400 are provided with three mounting holes 4410. The three mounting holes 4410 are arranged in cooperation with the three mounting interfaces 2211 on the mounting base 2200. The second mounting hole 4210 of the sensor guide sleeve 4200 is correspondingly connected with the seventh mounting hole 5300 on the mounting bracket 5000.

[0078] The mounting bracket 5000 includes a bracket plate 1 and a bracket plate 2 connected to each other. The bracket plate 1 is provided with a hollow load-carrying through hole 1 5400, and the hollow load-carrying through hole 1 5400 is arranged in cooperation with the through hole 2111 on the escape sleeve 2100. The bracket plate 1 is also provided with a mounting hole 5100, a mounting hole 6 5200, an insulating ring sleeve mounting hole 5500 and a ranging component mounting hole 5900. A wire groove 5600 is provided at the connection between the bracket plate 1 and the bracket plate 2. The side of the bracket plate 1 away from the bracket plate 2 is provided with an inner positioning ring 5800 and an outer positioning ring 5700. The inner positioning ring 5800 is arranged on the circumferential outside of the hollow load-carrying through hole 1 5400, and the outer positioning ring 5700 is arranged on the arc edge of the bracket plate 1.

[0079] The over-force release sleeve 2100 includes a protruding end 2120 , and the mounting base 2200 includes an embedded end 2230 and a cavity 2240 for accommodating the protruding end 2120 ;

[0080] The protruding end 2120 is embedded in the embedding end 2230 so that the over-force release sleeve 2100 is connected to the mounting base 2200;

[0081] The safety component 2300 is disposed on the outer peripheral side wall of the embedding end 2230 .

[0082] A preload spring 2400 is provided on the outer side of the embedded end 2230 , and the preload spring 2400 is configured to be in a compressed state when installed.

[0083] When the protruding end 2120 is embedded in the embedded end 2230, the preload spring 2400 is configured to be in a compressed energy storage state. When the embedded end 2230 is subjected to excessive pressure, the safety component 2300 will be overloaded and thus shrink. At this time, the preload spring 2400 pops up, thereby driving the over-force disengagement sleeve 2100 to separate from the mounting base 2200, completing overload protection and greatly improving overall safety.

[0084] The outer circumferential wall of the protruding end 2120 is recessed inward to form an annular groove 2122. A plurality of connection holes 2233 are provided in the corresponding areas where the embedded end 2230 contacts the annular groove 2122 of the protruding end 2120. The safety components 2300 are disposed one-to-one in the connection holes 2233. The outer side of the safety component 2300 is provided with a mounting thread 2340. An installation operation hole 2330 is provided at one end of the safety component 2300 away from the mounting thread 2340. The safety component 2300 further includes a ball 2310 and a load spring 2320 that contact each other. The load spring 2320 is disposed in the connection hole 2233 and is threadedly connected to the connection hole 2233 via the mounting thread 2340. When installed, the load spring 2320 is configured to be in a compressed state so that the load spring 2320 applies an elastic force to the ball 2310. When working normally, the load spring 2320 applies elastic force to the ball 2310 so that the ball 2310 extends outward and conflicts with the annular groove 2122 without being limited. When the protruding end 2120 receives too much load, the ball 2310 receives the thrust of the annular groove 2122 and moves inward, compressing the spring so that the annular groove 2122 and the ball 2310 are offset, thereby allowing the protruding end 2120 and the embedded end 2230 to move freely. At this time, since the preload spring 2400 is in a compressed energy storage state, the preload spring 2400 will bounce up and release, thereby driving the protruding end 2120 and the embedded end 2230 to separate and complete the overload protection work.

[0085] The size of the ball 2310 is adapted to the size of the connecting hole 2233 and the size of the cross section of the annular groove 2122 so that the ball 2310 can move in the connecting hole 2233 and the annular groove 2122 to ensure that the safety component 2300 can work normally and avoid the inability to complete the overload protection work due to the ball 2310 being stuck.

[0086] The number of the safety components 2300 or the elastic coefficient of the load spring 2320 is adapted to the required overload protection threshold size. The number of safety components 2300 can be freely matched or the load spring 2320 with different elastic coefficients can be selected according to the size of different types of overload protection thresholds, thereby improving the applicability of the threshold protection device and achieving a more humane and safe use experience.

[0087] The inner side surface 2232 of the embedded end 2230 is provided with a guide key 2234, and the raised end 2120 is provided with a guide groove 2121. The guide key 2234 and the guide groove 2121 are aligned in position and size to allow the guide key 2234 to fit within the guide groove 2121. The cooperation between the guide key 2234 and the guide groove 2121 not only facilitates the insertion of the raised end 2120 into the embedded end 2230, but also effectively prevents the raised end 2120 from deflecting within the embedded end 2230, thereby preventing the safety hazard of uneven forces acting on the various safety components 2300 due to the lack of deflection of the raised end 2120. Furthermore, during overload protection, the raised end 2120 is lifted vertically upward by the preload spring 2400, preventing it from becoming stuck and failing to complete the overload protection function due to deflection.

[0088] The over-force release sleeve 2100 further includes a sleeve connecting plate 2110 and a fixing plate 2130 . The sleeve connecting plate 2110 is hollow and has a through hole 2111 therein. The through hole 2111 is connected to the hollow area of ​​the protruding end 2120 .

[0089] The sleeve connection plate 2110 is provided with a first mounting interface 2112, and the fixed plate 2130 is provided with a second mounting interface 2131. The mounting base 2200 also includes a base connection plate 2210, which is provided with a plurality of third mounting interfaces 2211. The first mounting interface 2112, the second mounting interface 2131, and the third mounting interface 2211 are all used for connecting and installing with other functional components.

[0090] It also includes a distance measuring component 7000 arranged on the side of the mounting bracket 5000 away from the over-force elastic release protection component 2000, and an insulating ring 6000 is arranged between the mounting bracket 5000 and the distance measuring component 7000.

[0091] When the protruding end 2120 of this embodiment is embedded in the embedding end 2230 , a certain gap exists between the contact surfaces of the protruding end 2120 and the embedding end 2230 so that the protruding end 2120 can move relative to the embedding end 2230 .

[0092] The quick-release assembly 3000 is further included, which is connected to the over-force elastic release protection assembly 2000. The quick-release assembly 3000 is used to connect the physical therapy assembly 1000. The quick-release assembly 3000 includes a clamping ring body 3100 with a mounting through hole 3300. The clamping ring body 3100 is provided with a rotating member 3200. The rotating member 3200 includes a mutually fixedly connected screw 3210 and a screw handle 3220. The clamping ring body 3100 is provided with a disconnected gap groove 3110. The screw 32 The clearance groove 3110 is disposed within the threaded hole 3120 of the clamping ring body 3100, and the spacing of the clearance grooves 3110 is adjusted by rotating the screw 3210. A panel 3130 is also provided circumferentially around the clamping ring body 3100. The panel 3130 is provided with a first mounting hole 3140. The panel 3130 engages with a second mounting interface 2131 on the fixing plate 2130 through the first mounting hole 3140 to secure the clamping ring body to the over-force release protection assembly 2000. By rotating the screw handle 3220, the spacing of the clearance grooves 3110 in the clamping ring body 3100 is adjusted, thereby adjusting the diameter of the mounting through hole 3300 for better clamping and installation.

[0093] This embodiment further includes a distance measuring component 7000 disposed on a side of the mounting bracket 5000 away from the over-force elastic release protection component 2000 , and an insulating ring 6000 is disposed between the mounting bracket 5000 and the distance measuring component 7000 . The distance measuring component 7000 is provided with a positioning groove 7200 and a positioning ring groove 7100. The positioning ring groove 7100 is arranged in cooperation with the outer positioning ring 5700, and the positioning groove 7200 is arranged in cooperation with the inner positioning ring 5800. The distance measuring component 7000 is also provided with a distance measuring module mounting hole 7400 to be connected with the distance measuring module. The distance measuring component 7000 is also provided with a screw mounting hole three 7500, a screw mounting hole four 7600, a wiring cavity 7300 and a hollow load through hole three 7700. The hollow load through hole three 7700 and the hollow load through hole one 5400 are arranged in cooperation with the hollow load through hole two 6300 on the insulating ring sleeve 6000. The screw mounting hole four 7600 is arranged in cooperation with the distance measuring component mounting hole 5900 and is fixedly connected by screws.

[0094] The insulating ring sleeve 6000 is provided with an outlet groove 6100 corresponding to the wire groove 5600. When the insulating ring sleeve 6000 is clamped and fixed between the mounting bracket 5000 and the distance measuring component 7000, the wire groove 5600 coincides with the outlet groove 6100. The insulating ring sleeve 6000 also includes a plurality of mounting nut grooves 6200. Nuts are provided in the mounting nut grooves 6200 corresponding to the screw mounting holes 3 7500. The screws are connected to the nuts in the mounting nut grooves 6200 through the screw mounting holes 3 7500, so that the insulating ring sleeve 6000 is fixedly connected to the distance measuring component 7000. The insulating collar 6000 also has a sensor wiring hole 6500, a first screw mounting hole 6600, and a second screw mounting hole 6700. The sensor wiring hole 6500 cooperates with the sixth mounting hole 5200 to accommodate the connection wires of the force sensor 4100. The first screw mounting hole 6600 cooperates with the fourth screw mounting hole 7600 and the distance measurement component mounting hole 5900 and is fixedly connected via screws. The second screw mounting hole 6700 is used to connect the insulating collar 6000 to the insulating collar mounting hole 5500. One side of the insulating ring sleeve 6000 is recessed inward to form a circular hollow wiring loop 6900, and the hollow wiring loop 6900 is connected to the wire outlet groove 6100 for wiring. A number of limiting columns 6910 are provided in the middle of the hollow wiring loop 6900 for limiting the lines in the hollow wiring loop 6900. The side of the insulating ring sleeve 6000 that contacts the distance measuring component 7000 is formed with a positioning boss 6110 that protrudes outward circumferentially around the hollow load through hole 2 6300.

[0095] In this embodiment, the hollow areas of the over-force elastic release protection component 2000, the quick-release component 3000, the mounting bracket 5000, the insulating ring sleeve 6000 and the distance measuring component 7000 are penetrated for inserting and installing the physical therapy device 1000.

[0096] The above-mentioned embodiments only express a certain implementation method of the utility model, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, which all fall within the scope of protection of the utility model. Therefore, the scope of protection of the utility model patent shall be based on the attached claims.

Claims

1. A new type of hollow loading integrated platform at the end of a physiotherapy manipulator, characterized by: The invention comprises an over-force elastic release protection component (2000), wherein the over-force elastic release protection component (2000) comprises an over-force release sliding sleeve (2100) and a mounting base (2200) that are movably connected, and inner and outer sliding contact surfaces of the over-force release sliding sleeve (2100) and the mounting base (2200) are provided with a safety component (2300) that provides a pre-contact force for overload protection; A mounting bracket (5000), wherein the mounting bracket (5000) is provided with an interface for connecting to a corresponding controllable operation platform; A force sensing assembly (4000), the force sensing assembly (4000) comprising a force sensor (4100), the force sensor (4100) being disposed between the mounting base (2200) and the mounting bracket (5000); A quick-release assembly (3000) is used to connect the physical therapy assembly (1000); the quick-release assembly (3000), the over-force elastic release protection assembly (2000), and the hollow areas of the mounting bracket (5000) are interconnected and clamp and fix the physical therapy assembly (1000).

2. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 1 is characterized by: The force sensing components (4000) are provided with three or more, the lower ends of the force sensing components (4000) are evenly distributed and installed along the circumference on the mounting bracket, and the upper ends of the force sensors (4100) are finally connected to the physical therapy device (1000) through the intermediate component. When the force at the contact point between the physical therapy device (1000) and the human body is tilted in direction, the different force values ​​of each force sensor (4100) can be used to calculate the force tilt angle.

3. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 1 is characterized by: The measurement direction of the force sensor (4100) is consistent with the relative micro-movement direction of the mounting base (2200) and the mounting bracket (5000). The relative micro-movement of the mounting base (2200) and the mounting bracket (5000) causes the force sensor (4100) and the mounting bracket (5000) to pull, press, and measure.

4. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 1 is characterized by: The force sensing assembly (4000) includes a force sensor (4100) and a movable connecting piece mounted on the outside of the force sensor (4100), wherein both ends of the movable connecting piece are connected to the mounting base (2200) and the mounting bracket (5000) respectively, and the movable direction of the movable connecting piece is consistent with the measurement direction of the force sensor (4100) and the relative micro-movement direction of the mounting base (2200) and the mounting bracket (5000). The relative micro-movement of the mounting base (2200) and the mounting bracket (5000) drives the force sensor (4100) and the mounting bracket (5000) in the movable connecting piece to pull and press and measure.

5. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 4 is characterized by: The movable connecting part includes a sensor guide sleeve (4200) and a sensor guide shaft (4300) arranged in the sensor guide sleeve (4200), and the sensor guide shaft (4300) includes a cylindrical connecting part 1 (4320) and a cylindrical connecting part 2 (4330) connected to each other. The cylindrical connecting part 1 (4320) is provided with an internal threaded hole (4310) at one end away from the cylindrical connecting part 2 (4330), and the top external threaded shaft of the force sensor (4100) is matched with the internal threaded hole (4310).

6. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 5 is characterized by: The sensor guide sleeve (4200) includes a guide sleeve body (4250), the middle section of the guide sleeve body (4250) is hollow and provided with a cylindrical hole (4220), and the middle section of the guide sleeve body (4250) extends outward to form a connecting protrusion (4240), and the connecting protrusion (4240) is hollow and connected to the cylindrical hole (4220).

7. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 5 is characterized by: The movable connecting member also includes a connecting block (4400), which is recessed inward to form a cavity for accommodating the sensor guide sleeve (4200). The bottom of the cavity of the connecting block (4400) includes a receiving groove (4430) and a fourth mounting hole (4420). The receiving groove (4430) is arranged in cooperation with the connecting protrusion (4240), and the fourth mounting hole (4420) is arranged in cooperation with the cylindrical hole (4220). The protrusions at both ends of the cavity of the connecting block (4400) are provided with a third mounting hole (4410). The third mounting hole (4410) is arranged in cooperation with the third mounting interface (2211) on the mounting base (2200). The second mounting hole (4210) of the sensor guide sleeve (4200) is correspondingly connected with the seventh mounting hole (5300) on the mounting bracket (5000).

8. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 5 is characterized by: The mounting bracket (5000) includes a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 is provided with a hollow load through hole 1 (5400), the hollow load through hole 1 (5400) is arranged in conjunction with the through hole (2111) on the escape sleeve (2100), the bracket plate 1 is also provided with a mounting hole 5 (5100), a mounting hole 6 (5200), an insulating ring sleeve mounting hole (5500) and a distance measuring component mounting hole (5900), a wire groove (5600) is provided at the connection between the bracket plate 1 and the bracket plate 2, the side of the bracket plate 1 away from the bracket plate 2 is provided with an inner positioning ring (5800) and an outer positioning ring (5700), the inner positioning ring (5800) is arranged on the circumferential outer side of the hollow load through hole 1 (5400), and the outer positioning ring (5700) is arranged on the arc edge of the bracket plate 1.

9. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 1 is characterized by: The over-force release sleeve (2100) includes a protruding end (2120), and the mounting base (2200) includes an embedded end (2230) and a cavity (2240) for accommodating the protruding end (2120); The protruding end (2120) is embedded in the embedded end (2230) so that the over-force release sleeve (2100) is connected to the mounting base (2200); The safety component (2300) is arranged on the outer peripheral side wall of the embedded end (2230).

10. The novel hollow loading integrated platform at the end of the physiotherapy manipulator according to claim 9 is characterized by: A preload spring (2400) is provided on the outside of the embedded end (2230), and the preload spring (2400) is configured to be in a compressed state when installed.

11. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 9, characterized in that: The circumferential outer side wall of the protruding end (2120) is recessed inward to form an annular ring groove (122), and the corresponding area where the embedded end (2230) contacts the annular groove (122) of the protruding end (2120) is provided with a plurality of connecting holes (2333), and the safety components (2300) are arranged in the connecting holes (2333) in a one-to-one correspondence.

12. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 11 is characterized in that: The outer side of the safety component (2300) is provided with a mounting thread (2340), and the tail of one end of the safety component (2300) is provided with a mounting operation hole (2330). The safety component (2300) further includes a round ball (2310) and a load spring (2320) that contact each other. The load spring (2320) is arranged in the connecting hole (2333) and is threadedly connected to the connecting hole (2333) through the mounting thread (2340). When the load spring (2320) is installed, it is configured to be in a compressed state so that the load spring (2320) applies an elastic force to the round ball (2310).

13. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 12 is characterized in that: The size of the ball (2310) is adapted to the size of the connecting hole (2333) and the size of the cross section of the annular groove (122) so that the ball (2310) can move in the connecting hole (2333) and the annular groove (122), and the number of the safety components (2300) or the elastic coefficient of the load spring (2320) is adapted to the required overload protection threshold value.

14. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 12 is characterized in that: The quick-release assembly (3000) includes a clamping ring body (3100) provided with a mounting through hole (3300), the clamping ring body (3100) is provided with a screw (3210) and a screw handle (3220), and the clamping ring body (3100) is provided with a disconnected gap groove (3110), the screw (3210) passes through the gap groove (3110), and the screw (3210) is rotated to adjust the spacing of the gap groove (3110).

15. The novel hollow loading integrated platform at the end of a physiotherapy manipulator according to claim 12 is characterized in that: It also includes a distance measuring component (7000) arranged on a side of the mounting bracket (5000) away from the over-force elastic release protection component (2000), and an insulating ring (6000) is arranged between the mounting bracket (5000) and the distance measuring component (7000).

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