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CN-121987896-A - Multifunctional medical use Physiotherapy robot

CN121987896ACN 121987896 ACN121987896 ACN 121987896ACN-121987896-A

Abstract

The invention relates to the technical field of medical appliances, in particular to a multifunctional medical physiotherapy robot, the device comprises a cabinet, an operation screen and a six-axis robot, wherein an output shaft of the six-axis robot is provided with a quick-change base. The core is that the quick-change base can be quickly disassembled and assembled with four functional modules, namely a low-frequency pulse spray massage head, a radio-frequency thermal therapy massage head, a shock wave massage head and a negative pressure massage head. Each massage head is connected with the execution end through a structure comprising a flexible connecting piece so as to adapt to the curved surface of the human body and compensate the motion error. The invention realizes the integration and programmed cooperative application of a plurality of advanced physiotherapy technologies on one device through the quick-change mechanism and the central control system, solves the problems of single function and poor synergy of the existing device, and has the advantages of accurate treatment, convenient operation and wide application.

Inventors

  • LI BOCHENG
  • GE YONGGANG
  • PENG WEI
  • MA JINQIAN

Assignees

  • 北京凌波澄机器人科技有限公司

Dates

Publication Date
20260508
Application Date
20260202

Claims (5)

  1. 1. The multifunctional medical physiotherapy robot is characterized by comprising a cabinet (5), an operation screen (8) and a six-axis robot (6), wherein a quick-change base (7) is arranged at the output end shaft of the six-axis robot (6), and the quick-change base (7) is detachably provided with a low-frequency pulse spraying massage head, a radio-frequency thermotherapy massage head, a shock wave massage head and a negative pressure massage head; The low-frequency pulse spray massage head comprises an upper connecting piece (1-1), the bottom of the upper connecting piece (1-1) is connected with a lower connecting piece (1-5) through a first flexible connecting piece (1-3), the bottom of the lower connecting piece (1-5) is connected with an electrode plate (1-6) through a conductive bolt (1-7), an electric heating plate (1-9) is arranged above the electrode plate (1-6), an upper cover (1-10) is fixedly arranged in the middle of an inner cavity of the upper connecting piece (1-1), a copper ring (1-14) is arranged at the bottom end of the upper cover (1-10), an electromagnet (1-12) is fixedly arranged in the middle of the inner cavity of the upper cover (1-10) through a screw C (1-13), a spring (1-11) is arranged in the middle of the inner cavity of the upper cover (1-10), a spray assembly (1-8) is sleeved in the upper cover (1-10), the spray assembly (1-8) comprises a top cover (1-8-12), a liquid storage tank (1-8) and a sealing head (1-8) are communicated with the bottom end of the spray assembly (1-8), the spraying head (1-8-8) is electrically connected with the firing pin terminal (1-8-4) through a lead (1-8-5), a plug (1-8-3) is arranged at the top of the top cover (1-8-12), the top of the plug (1-8-3) is connected with the iron sheet (1-8-2) through a screw D (1-8-1), the spring (1-11) is in a compressed state when the iron sheet (1-8-2) is attached to the electromagnet (1-12), the firing pin terminal (1-8-4) is in fit contact with the copper ring (1-14), and the lower sealing cover (1-8-7) is sleeved at the bottom end of the sealing cover (1-8-9); The radio frequency thermotherapy massage head comprises a quick-release connecting plate (2-1), wherein the bottom of the quick-release connecting plate (2-1) is connected with the top of a flexible connecting piece II (2-3) through a pressing ring I (2-4), the bottom of the flexible connecting piece II (2-3) is connected with a massage head II (2-6) through a pressing ring II (2-5), the bottom of the massage head II (2-6) is connected with a metal head (2-7) through a screw H (2-8), and the top of the metal head (2-7) is provided with a circuit board (2-9), a temperature control fixing plate (2-10) and a temperature-simulating control (2-11); The shock wave massage head comprises a shock wave physiotherapy head shell (3-2), a shock wave physiotherapy head upper shell (3-3) and a shock wave physiotherapy head lower shell (3-5), a heat dissipation cover (3-1) is arranged at the top end of the shock wave physiotherapy head shell (3-2), a massage head III (3-6) is arranged at the bottom end of the shock wave physiotherapy head lower shell (3-5), and a shock wave clamp (3-7) is fixedly arranged at one side of the shock wave physiotherapy head lower shell (3-5); The negative pressure massage head comprises a mechanical arm connecting plate (4-14), a flexible connecting piece III (4-11) and a massage head bottom box (4-9), a fixed head is fixedly arranged on one side of the mechanical arm connecting plate (4-14), a penicillin bottle (4-1) is sleeved at the upper end of the fixed head, the penicillin bottle (4-1) is communicated with one end of a hose (4-6) through a first needle (4-2), the other end of the hose (4-6) is communicated and connected with a five-way joint (4-13), the massage head bottom box (4-9) comprises a bottom box (4-9-3), a through joint (4-9-1) is arranged in the middle of the bottom box (4-9-3), the through joint (4-9-1) is communicated and connected with the five-way joint (4-13) through a pipeline, a first heating plate (4-9-6) and a second heating plate (4-9-6) are arranged on two sides of the bottom box (4-9-3), and the bottom box (4-9-3) is internally provided with a heating plate (4-9-2) which is electrically connected with the heating plate; The quick-change type mechanical arm is characterized in that the upper connecting piece (1-1), the quick-release connecting plate (2-1), the shock wave clamp (3-7) and the mechanical arm connecting plate (4-14) are fixedly provided with the connecting head (7-4) through bolts, the clamping rod (7-1) is fixedly arranged in the quick-change base (7) through bolts, and the connecting head (7-4) is vertically clamped and matched with the clamping rod (7-1).
  2. 2. The multifunctional medical physiotherapy robot according to claim 1, wherein four through holes are formed in the upper connecting piece (1-1), the quick-release connecting plate (2-1), the shock wave clamp (3-7) and the mechanical arm connecting plate (4-14), four internal threaded holes are formed in the surface of the quick-change base (7), and the upper connecting piece (1-1), the quick-release connecting plate (2-1), the shock wave clamp (3-7) and the mechanical arm connecting plate (4-14) are fixedly connected with the quick-change base (7) through bolts.
  3. 3. The multifunctional medical physiotherapy robot according to claim 1, wherein a clamping groove is formed in the middle of the connector (7-4), and matching grooves are formed in two sides of the clamping rod (7-1).
  4. 4. The multifunctional medical physiotherapy robot according to claim 1, wherein a tank body wall of the liquid storage tank (1-8-6) is provided with a wire groove, and the wires (1-8-5) vertically penetrate into the wire groove.
  5. 5. The multifunctional medical physiotherapy robot according to claim 1, wherein the sealing cover (1-8-9) is fixed at the bottom of the liquid storage tank (1-8-6) through a screw E (1-8-10), a through hole for containing spraying of the spraying head (1-8-8) is formed in the middle of the sealing cover (1-8-9), the spraying head (1-8-8) is fixed at the bottom end of the liquid storage tank (1-8-6) through pressing and pasting of the sealing cover (1-8-9), and a liquid outlet is formed in the bottom end of the liquid storage tank (1-8-6) and is connected with the spraying head (1-8-8) in a communicating mode.

Description

Multifunctional medical use Physiotherapy robot Technical Field The invention relates to the technical field of medical appliances, in particular to a multifunctional medical physiotherapy robot. Background With the increasing demands of society for health management and rehabilitation therapy, physical therapy is increasingly important as a non-invasive, less-side-effect therapeutic means. The robot technology has the advantages of accurate movement, strong repeatability, capability of relieving the burden of medical staff and the like, gradually becomes a core carrier for solving the problems of traditional physiotherapy efficiency and standardization, and is the focus direction of the research and development of the current technology. Although the prior art has made some breakthrough in the automation of single physiotherapy modalities (e.g., mechanical massage, local heat application, or electrical stimulation), in clinical practice complex conditions often require synergistic intervention with multiple physical factors to achieve optimal efficacy. The problem of functional fragmentation generally exists in the current market products, most of the products are only focused on realizing a single physiotherapy form, equipment is independent of each other, and organic integration and programmed collaborative operation of advanced technologies such as low-frequency pulse, deep heat treatment, mechanical impact, negative pressure suction and the like are difficult to realize. The short plate causes complicated treatment procedures, large equipment occupation space and limited comprehensive curative effect, and cannot efficiently meet the complex health requirements of patients for diversification and individuation. Therefore, developing an integrated medical robot device which can highly integrate multiple physiotherapy functions and realize intelligent cooperative operation has become a technical problem to be solved in the industry. Disclosure of Invention The invention provides a multifunctional medical physiotherapy robot which aims at solving the technical problems in the related art. In order to achieve the technical purpose, the technical scheme of the invention is realized as follows: A multifunctional medical physiotherapy robot comprises a cabinet, an operation screen and a six-axis robot, wherein a quick-change base is arranged at the output end shaft of the six-axis robot, and the quick-change base is detachably provided with a low-frequency pulse spraying massage head, a radio-frequency thermotherapy massage head, a shock wave massage head and a negative pressure massage head; The low-frequency pulse spraying massage head comprises an upper connecting piece, the bottom of the upper connecting piece is connected with a lower connecting piece through a first flexible connecting piece, the bottom of the lower connecting piece is connected with an electrode plate through a conductive bolt, an electric heating plate is arranged above the electrode plate, an upper cover is fixedly arranged in the middle of an inner cavity of the upper connecting piece, a copper ring is arranged at the bottom end of the upper cover, an electromagnet is fixedly arranged in the middle of the inner cavity of the upper cover through a screw C, a spring is arranged in the middle of the inner cavity of the upper cover, a spraying assembly is sleeved in the upper cover, the spraying assembly comprises a top cover, a liquid storage tank and a sealing cover, the bottom end of the liquid storage tank is communicated with a spraying head, the spraying head is electrically connected with a firing pin terminal through a wire, the top of the top cover is provided with a plug, the spring is in a compressed state when the iron sheet is attached to the electromagnet, the firing pin terminal is in contact with the copper ring, and the bottom sealing cover is sleeved at the bottom end of the sealing cover; The radiofrequency thermal therapy massage head comprises a quick-release connecting plate, the bottom of the quick-release connecting plate is connected with the top of a flexible connecting piece II through a pressing ring I, the bottom of the flexible connecting piece II is connected with the massage head through a pressing ring II, the bottom of the massage head is connected with a metal head through a screw H, and the top end of the metal head is provided with a circuit board, a temperature control fixing plate and a temperature control device; The shock wave massage head comprises a shock wave physiotherapy head shell, a shock wave physiotherapy head upper shell and a shock wave physiotherapy head lower shell, a heat radiation cover is arranged at the top end of the shock wave physiotherapy head shell, a massage head is arranged at the bottom end of the shock wave physiotherapy head lower shell, and a shock wave clamp is fixedly arranged at one side of the shock wave physiotherapy head lower shell; The negative pressure massage