CN115227559A

CN115227559A - Flexible parallel physiotherapy execution device and physiotherapy equipment

Info

Publication number: CN115227559A
Application number: CN202210810635.2A
Authority: CN
Inventors: 邱晨; 董会旭; 潘烨
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-10-25

Abstract

The invention provides a flexible parallel physiotherapy executing device and physiotherapy equipment, which can realize multiple functions of one machine and facilitate flexible force control. This parallelly connected physiotherapy final controlling element of flexibility includes: a stationary platform; the flexible driving mechanisms are respectively arranged on the static platform and used for flexibly outputting driving force and motion relative to the static platform; the actuating mechanisms are arranged in parallel and are connected to the flexible driving mechanism in a one-to-one correspondence manner and are used for transmitting the driving force and the movement output by the flexible driving mechanism; and the movable platform is connected with the actuating mechanisms and is used for combining the driving force and the motion transmitted by the actuating mechanisms so as to perform spatial motion for simulating physical therapy manipulation relative to the static platform.

Description

Flexible parallel physiotherapy execution device and physiotherapy equipment

Technical Field

The application relates to the technical field of physical therapy, in particular to a flexible parallel physical therapy execution device and physical therapy equipment.

Background

With the development of medical health career and the improvement of the living standard of people, the rehabilitation industry gradually enters a rapid development stage. At present, the places for providing rehabilitation therapy include a traditional Chinese medicine clinic, a physical therapy center and the like, wherein a massage therapist is required to bear a great physical burden when providing a medical massage service. Meanwhile, the operation and management of clinics also face a plurality of problems of poor recruitment, training and management of therapists, and the like, so that the standardization and branding development of the rehabilitation treatment industry is further limited.

Along with the continuous improvement of the robot technology, a brand new thought is provided for solving the pain point in the rehabilitation treatment industry by using the robot technology. At present, a plurality of physical therapy robots are on the market, and the core of providing different treatments by different physical therapy robots comes from the physical therapy actuators at the front end, such as a robot for providing soft tissue treatment, a robot for providing thermal therapy, a robot for providing moxibustion and the like. Although the existing soft tissue physical therapy actuator can not only realize the force control when the robot is in contact with the human body by providing the force control, but also realize the finger kneading action of the simulated human hand by adopting the special transmission mechanism design; however, the conventional actuator for physical therapy of soft tissue has a relatively single therapeutic technique, and cannot provide different therapeutic techniques according to the requirements of different patients. In addition, the existing soft tissue physical therapy actuator usually designs the force control module and the therapy manipulation module separately, so that the design of a transmission structure is relatively complex and redundant, and accurate control is difficult to realize.

Disclosure of Invention

Based on the above, the invention provides a flexible parallel physiotherapy executing device and a physiotherapy device, which can realize multiple functions and facilitate flexible force control.

According to an aspect of the present invention, there is provided a flexible parallel physiotherapy performing apparatus, including:

a static platform;

the flexible driving mechanisms are respectively arranged on the static platform and used for flexibly outputting driving force and motion relative to the static platform;

the actuating mechanisms are arranged in parallel and are connected to the flexible driving mechanism in a one-to-one correspondence mode and used for transmitting the driving force and the movement output by the flexible driving mechanism; and

and the movable platform is connected with the actuating mechanisms and is used for combining the driving force and the motion transmitted by the actuating mechanisms so as to perform spatial motion for simulating physical therapy manipulation relative to the static platform.

In an embodiment of the application, the actuating mechanism is a moving branch chain, the input end of the moving branch chain is connected to the flexible driving mechanism, and the output end of the moving branch chain is connected to the moving platform, so that single-shaft output motion and moment of the flexible driving mechanism corresponding to each moving branch chain are transmitted to the moving platform through the moving branch chains for spatial combination.

In one embodiment of this application, the motion branched chain includes input connecting rod, output connecting rod, first articulated subassembly and second articulated subassembly, the input of input connecting rod fixed connection in flexible actuating mechanism, the output of input connecting rod pass through first articulated subassembly articulate in the input of output connecting rod, the output of output connecting rod pass through second articulated subassembly articulate in move the platform.

In one embodiment of the present application, the first hinge assembly includes a first pivot fixedly connected to the output end of the input link and a pair of first steering knuckles connected to both ends of the first pivot, the first steering knuckles being disposed at the input end of the output link; the second hinge assembly comprises a second pivot fixedly connected with the movable platform and a pair of second steering joints connected with two ends of the second pivot, and the second steering joints are arranged at the output end of the output connecting rod.

In one embodiment of the present application, the moving branched chain further includes an elastic supporting member, and both ends of the elastic supporting member are respectively and fixedly connected to two output links in each of the moving branched chains.

In one embodiment of the application, the movable platform comprises a movable piece fixedly connected with the executing mechanism and a functional piece arranged on the movable piece, and the movable piece is used for converting a motion combination output by the executing mechanism into spatial motion so as to drive the functional piece to move in the space.

In one embodiment of the present application, the functional member is detachably mounted to the moving member.

In an embodiment of the application, the flexible driving mechanism includes a driving part and a flexible linkage, the flexible linkage includes an input connecting piece connected with the driving part, an output connecting piece connected with the actuating mechanism, and an elastic component arranged between the input connecting piece and the output connecting piece, wherein when the driving part is started to drive the input connecting piece to act, the elastic component is driven by the input connecting piece to be elastically deformed so as to drive the output connecting piece, and is used for measuring and calculating the output force through the deformation amount of the elastic component.

In an embodiment of the present application, the elastic component includes a first torsion spring, a second torsion spring and an intermediate connecting member connected in series with the first torsion spring and the second torsion spring, the two ends of the first torsion spring are respectively fixedly connected to the input connecting member and the intermediate connecting member, and the two ends of the second torsion spring are respectively fixedly connected to the output connecting member and the intermediate connecting member.

In an embodiment of the present application, the input connecting member, the intermediate connecting member and the output connecting member are sequentially coaxially arranged to be rotatable, the first torsion spring is sleeved on a shaft between the input connecting member and the intermediate connecting member, and the second torsion spring is sleeved on a shaft between the intermediate connecting member and the output connecting member.

In one embodiment of the present application, the intermediate link has a first torsion spring cavity facing the input link and a second torsion spring cavity facing the output link to enclose the first torsion spring within the first torsion spring cavity through the input link and to enclose the second torsion spring within the second torsion spring cavity through the output link.

In an embodiment of the application, the flexible parallel physiotherapy executing device further includes a flexible linkage device correspondingly disposed at a joint of the executing mechanism, the flexible linkage device includes an input connecting piece, an output connecting piece and an elastic component, the elastic component is disposed between the input connecting piece and the output connecting piece, wherein when the input connecting piece is driven to move, the elastic component is driven by the input connecting piece to elastically deform so as to drive the output connecting piece, and is used for measuring and calculating the output force through a deformation amount of the elastic component.

According to another aspect of the present application, there is further provided a physical therapy device comprising:

an apparatus main body; and

the flexible parallel physiotherapy executing apparatus according to any one of the above aspects, wherein the flexible parallel physiotherapy executing apparatus is mounted on the device main body.

In one embodiment of the present application, the device body is a handheld device body, and the static platform of the flexible parallel physiotherapy performing device is loaded on the handheld device body to form a handheld physiotherapy device.

In one embodiment of the application, the handheld device main body comprises a shell for loading the static platform, a handheld handle fixedly arranged on the shell and a man-machine interaction module arranged on the shell, wherein the man-machine interaction module is communicably connected with the flexible parallel physiotherapy executing device.

In one embodiment of the present application, the apparatus body is a mobile apparatus body, and the stationary platform of the flexible parallel physiotherapy performing device is loaded on the mobile apparatus body to form a mobile physiotherapy apparatus.

In one embodiment of the present application, the mobile device body includes a mobile carrier and a robot arm mounted to the mobile carrier, and the stationary platform of the flexible parallel physiotherapy performing apparatus is integrated at an end of the robot arm.

In summary, the parallel-arranged executing mechanism is adopted as the main structure of the physiotherapy executing device, so that the complex motion of the output moving platform can be realized to simulate various physiotherapy methods through the motion control of a plurality of input joints; the input joint of the device adopts a flexible driving mechanism, so that advanced single-joint motion control and flexible force control can be realized; the motion control and the flexible force control of the whole equipment can be realized by combining the flexible force control of a single joint based on the kinematics and the dynamics of the parallel mechanism, and the multifunctional function of one machine can be realized effectively.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Figure 1 is a perspective view of a flexible parallel physiotherapy implement according to one embodiment of the present application;

figure 2 illustrates a perspective view of a flexible drive mechanism in the flexible parallel physiotherapy administration device according to the above-described embodiment of the present application;

FIG. 3 shows an exploded schematic view of a flexible drive mechanism according to the above-described embodiments of the present application;

FIG. 4 shows a schematic perspective view of a flexible linkage in the flexible drive mechanism according to the above embodiment of the present application;

FIG. 5 shows an exploded view of a flexible linkage according to the above embodiments of the present application;

FIG. 6 shows a schematic perspective view of a driver in a flexible drive mechanism according to the above-described embodiment of the present application;

FIG. 7 shows an exploded view of a transmission according to the above-described embodiment of the present application;

FIG. 8 shows a variant example of the flexible linkage according to the above-described embodiment of the present application;

FIG. 9 is a perspective view of a kinematic branch in the flexible parallel physiotherapy-performing device according to the above-described embodiment of the present application;

FIG. 10 is a perspective view of a movable platform of the flexible parallel physiotherapy performing device according to the above-described embodiment of the present application;

figure 11 illustrates a variant embodiment of the flexible parallel therapy performing device according to the above described example of the present application;

FIG. 12 is a first example of a material treatment apparatus of an embodiment of the present application;

FIG. 13 is a second example of a material treatment apparatus of the above-described embodiment of the present application;

fig. 14 shows a schematic view of an application of the material treatment apparatus according to the above-described second example of the present application.

Reference numerals: 1. a flexible parallel physiotherapy executing device; 10. a flexible drive mechanism; 11. a drive member; 110. a rotating electric machine; 12. a flexible linkage; 121. an input connector; 122. an output connector; 123. an elastic component; 1230. a rotating torsion spring; 1231. a first torsion spring; 1232. a second torsion spring; 1233. an intermediate connecting member; 12331. a first torsion spring chamber; 12332. a second torsion spring cavity; 1234. a first sliding connection member; 1235. a second sliding connection member; 124. a sensor assembly; 1240. an angle sensor; 13. a driver; 131. an input shaft assembly; 1311. an input shaft; 1312. an input bearing seat; 1313. inputting a bearing retainer ring; 1314. locking the nut; 132. an output shaft assembly; 1321. an output shaft; 1322. a first output bearing pedestal; 1323. an output bearing retainer ring; 1324. a second output bearing pedestal; 133. a belt drive assembly; 1331. an input pulley; 1332. an output pulley; 1333. a drive belt; 20. an actuator; 200. a moving branched chain; 21. an input link; 22. an output link; 23. a first hinge assembly; 231. a first pivot; 232. a first steering knuckle; 24. a second hinge assembly; 241. a second pivot; 242. a second steering knuckle; 25. an elastic support member; 250. a support spring; 30. a static platform; 40. a movable platform; 41. a moving member; 42. a functional element; 50. an apparatus main body; 51. a handheld device body; 511. a housing; 512. a handle; 513. a human-computer interaction module; 52. a mobile device body; 521. moving the carrier; 522. provided is a mechanical arm.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiment in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and therefore the application is not limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The use of the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like in the description of the present application is for purposes of illustration only and is not intended to represent the only embodiment.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact via an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of this application, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Considering that the treatment method realized by the existing soft tissue physical treatment actuator is relatively single, different treatment methods cannot be provided according to the requirements of different patients. In order to solve the problem, the application provides a flexible parallel physiotherapy executing device and a physiotherapy device, which can realize one machine with multiple functions and facilitate flexible force control.

Specifically, referring to fig. 1 to 10, one embodiment of the present application provides a flexible parallel physiotherapy performing device 1, which may include a plurality of flexible driving mechanisms 10, a plurality of performing mechanisms 20, a static platform 30 and a dynamic platform 40. A plurality of the flexible driving mechanisms 10 are respectively provided to the stationary platform 30 for flexibly outputting driving force and motion with respect to the stationary platform 30. A plurality of the actuators 20 are arranged in parallel, and the actuators 20 are connected to the flexible driving mechanism 10 in a one-to-one correspondence for transmitting the driving force and motion output through the flexible driving mechanism 10. The movable platform 40 is connected to the plurality of actuators 20 for combining driving force and motion transmitted through the plurality of actuators 20 to perform spatial motion for mimicking a physical therapy approach with respect to the stationary platform 30.

It should be noted that, the flexible parallel physiotherapy executing device 1 of the present application, on one hand, realizes flexible force control by flexibly outputting driving force and movement through the flexible driving mechanism 10, i.e. the force when the movable platform 40 contacts with the outside is controllable; on the other hand, the driving force and the motion output by the flexible driving mechanisms 10 are transmitted to the movable platform 40 through the actuating mechanisms 20 which are arranged in parallel, so that the corresponding spatial motion trail is generated in a combined mode, various manipulations in pressure physical therapy are simulated, and the multifunctional function of one machine is effectively realized. It is understood that the physical therapy maneuvers simulated by the movable platform 40 of the present application may include, but are not limited to, one or more of finger kneading, tendon poking, knocking, and meditation; in other words, the spatial movement performed by the movable platform 40 may include, but is not limited to, a finger kneading movement, a muscle poking movement, a knocking movement, a Buddhist movement, or a combination movement of any two or more of the above movements, which will not be described in detail herein. In addition, this flexible parallelly connected physiotherapy final controlling element 1 of this application can fully fuse the advantage that parallel mechanism possessed no accumulative error, precision are higher, compact structure, rigidity are high and bearing capacity is strong to realize accurate motion control and power control.

More specifically, the static platform 30 may provide an electrical interface and/or a mechanical interface for being mounted to different device bodies to perform different functions, in addition to providing support for the flexible driving mechanism 10. For example, the static platform 30 is adapted to mount to a handheld device body to form a handheld physiotherapeutic device; the static platform 30 is also adapted to be mounted to a mobile device body to form a mobile physical therapy device, such as a physio-therapeutic robot or the like.

Optionally, the flexible parallel physiotherapy executing apparatus 1 of the present application may include, but is not limited to, three flexible driving mechanisms 10 and three executing mechanisms 20, such that after the three flexible driving mechanisms 10 input corresponding driving instructions respectively, the output driving force and motion can be transmitted to the movable platform 40 through the three executing mechanisms 20, so that the movable platform 40 can realize motion in a three-dimensional space, and various physiotherapy maneuvers can be performed conveniently. It is understood that the motion mentioned in the present application can refer to a motion with controllable position and attitude, and also can refer to a motion with controllable motion speed, so that when the movable platform 40 contacts with the external environment, the present application can control the magnitude of the spatial three-dimensional contact force by controlling the output torque of each flexible driving mechanism 10.

In addition, in other embodiments of the present application, the flexible parallel physiotherapy executing apparatus 1 may also include two or more than three flexible driving mechanisms 10 and two or more than three actuating mechanisms 20, as long as the movable platform 40 can be driven to perform a movement for simulating various physiotherapy methods, which is not described in detail herein.

According to the above embodiment of the present application, as shown in fig. 1 and fig. 2, the flexible driving mechanism 10 may include a driving part 11 and a flexible linkage 12, and the flexible linkage 12 links the driving part 11 and the executing mechanism 20 to drive the executing mechanism 20 to execute a required therapeutic action, so as to realize flexible force control, so as to combine the force control and the motion control of the executing mechanism 20.

Optionally, as shown in fig. 1 to fig. 5, the flexible linkage 12 may include an input connecting element 121 connected to the driving component 11, an output connecting element 122 connected to the actuating mechanism 20, and an elastic component 123 disposed between the input connecting element 121 and the output connecting element 122, wherein when the driving component 11 is activated to drive the input connecting element 121 to move, the elastic component 123 is elastically deformed under the driving of the input connecting element 121 to drive the output connecting element 122, so as to measure the output force through the deformation amount of the elastic component 123; meanwhile, the flexible linkage 12 flexibly links the driving part 11 with the actuating mechanism 20, so that the actuating mechanism 20 can be driven by the flexible driving mechanism 10 to execute the required therapeutic action.

It should be noted that, on the one hand, the elastic component 123 in the flexible driving mechanism 10 can reduce the risk caused by rigid body collision due to its inherent flexibility; on the other hand, the elastic element 123 in the flexible driving mechanism 10 can control the magnitude of the driving force by controlling the amount of deformation of the elastic element 123 because the amount of elastic deformation of the elastic element 123 is related to the magnitude of the received driving force, so that the force control is realized by motion control (position control), which helps to simplify the control difficulty and improve the control stability.

According to the above-mentioned embodiment of the present application, as shown in fig. 1 and 3, the driving part 11 of the flexible driving mechanism 10 can be, but is not limited to be, implemented as a rotating motor 110 for driving the input connection 121 of the flexible linkage 12 to rotate to output a rotation angle, an angular velocity and a torque, so that the flexible linkage 12 transmits the output angle, the output angular velocity and the output torque to the executing mechanism 20 to execute the required therapeutic action. It is understood that, in other embodiments of the present application, the driving component 11 may also be implemented as a linear motor for driving the input connecting component 121 of the flexible linkage 12 to move so as to output a linear displacement, a linear velocity and a driving force, so that the flexible linkage 12 transmits the output displacement, the output velocity and the output force to the executing mechanism 20, and the required therapeutic action may also be executed, which is not described in detail herein.

In the above embodiment of the present application, as shown in fig. 4 and fig. 5, the elastic element 123 of the flexible linkage 12 may include one or more rotating torsion springs 1230, so as to calculate the torsion moment generated by the elastic element 123 according to the deformation angle of the rotating torsion springs 1230, and further obtain the output moment of the flexible driving mechanism 10, so as to facilitate both the force control and the motion control of the actuator 20. It is understood that in other embodiments of the present application, the elastic element 123 may also include one or more other types of planar springs, or other elastic devices such as an elastic tube, an elastic sheet, an elastic rod or an elastic strip, which can mainly generate a planar torque, as long as the output force can be calculated through the deformation amount, and the description thereof is omitted here.

Illustratively, as shown in fig. 4 and 5, the elastic assembly 123 may include a first torsion spring 1231, a second torsion spring 1232, and an intermediate link 1233 connected in series with the first torsion spring 1231 and the second torsion spring 1232. Both ends of the first torsion spring 1231 are fixedly connected to the input link 121 and the middle link 1233, respectively; the two ends of the second torsion spring 1232 are fixedly connected to the output link 122 and the middle link 1233, respectively. Thus, when the input link 121 is driven by the rotating electrical machine 110 to rotate, the first torsion spring 1231 is twisted to generate elastic deformation, and the second torsion spring 1232 is driven by the intermediate link 1233 to be twisted to generate elastic deformation, so as to drive the output link 122 to rotate, thereby obtaining the elastic deformation of the elastic element 123 according to the rotation angle difference between the input link 121 and the output link 122, so as to accurately calculate the moment generated by the elastic element 123.

E.g. by k ₁ Represents a stiffness coefficient of the first torsion spring 1231; with k is ₂ Represents the stiffness coefficient of the second torsion spring 1232; the stiffness coefficient k of the elastic member 123 may be 1/k =1/k ₁ +1/k ₂ And (4) obtaining. If the rotation angle (i.e., input angle) of the input link 121 is θ _m The rotation angle (i.e., output angle) of the output link 122 is θ _out Then the moment τ = k (θ) generated by the elastic member 123 _m -θ _out ). It will be appreciated that the stiffness coefficient k referred to in this application ₁ And k ₂ Can be obtained through the parameters of the purchased products or experimental modes; the input angle theta mentioned in the present application _m May be obtained, but not limited to, by an angle sensor built into the rotating electrical machine 110; output angle θ referred to in this application _out This may be obtained, but is not limited to, by an angle sensor built into the actuator 20; the torque τ calculated by the present application will be a reference for the magnitude of the contact force between the actuator 20 and the outside for controlling the physical therapy strength.

It should be noted that in other examples of the present application, the elastic element 123 may also only include the first torsion spring 1231, and both ends of the first torsion spring 1231 are respectively and fixedly connected to the input link 121 and the output link 122, so as to directly and flexibly transmit the rotation angle, the angular velocity and the moment of the input link 121 to the output link 122 through the first torsion spring 1231, and still obtain the elastic deformation of the elastic element 123 according to the rotation angle difference between the input link 121 and the output link 122, and further calculate the moment generated by the elastic element 123.

Alternatively, as shown in fig. 4 and 5, the input link 121, the intermediate link 1233, and the output link 122 are rotatably coaxially arranged in this order; the first torsion spring 1231 is sleeved on the shaft between the input link 121 and the intermediate link 1233; the second torsion spring 1232 is sleeved on the shaft between the middle connecting member 1233 and the output connecting member 122, so that the first torsion spring 1231 and the second torsion spring 1232 are both twisted and deformed around the shaft, and the situation that the moment is influenced by the non-twisted deformation of the first torsion spring 1231 and the second torsion spring 1232 is avoided.

Alternatively, as shown in fig. 4 and 5, the middle link 1233 has a first torsion spring cavity 12331 facing the input link 121 and a second torsion spring cavity 12332 facing the output link 122, so as to enclose the first torsion spring 1231 within the first torsion spring cavity 12331 through the input link 121 and enclose the second torsion spring 1232 within the second torsion spring cavity 12332 through the output link 122, so as to prevent the external environment from interfering with the deformation of the first torsion spring 1231 and the second torsion spring 1232.

Alternatively, as shown in fig. 4 and 5, the first torsion spring cavity 12331 and the second torsion spring cavity 12332 in the middle connecting member 1233 are each implemented as an annular cavity so as to respectively sleeve the first torsion spring 1231 and the second torsion spring 1232 inside the first torsion spring cavity 12331 and the second torsion spring cavity 12332.

Optionally, as shown in fig. 4 and 5, the elastic assembly 123 may further include a first sliding joint 1234 and a second sliding joint 1235; first sliding connection 1234 is disposed between intermediate link 1233 and input link 121 for slidably connecting intermediate link 1233 to input link 121; the second sliding connection element 1235 is disposed between the middle connection element 1233 and the output connection element 122, and is used to slidably connect the output connection element 122 to the middle connection element 1233, so as to reduce the sliding friction between the middle connection element 1233 and the input connection element 121 and the output connection element 122, respectively, and improve the calculation accuracy of the torque generated by the elastic element 123.

Notably, the first and second sliding

interfaces

1234, 1235 of the present application can be implemented as bearings; may also be implemented as an oil or oilless liner; but may also be implemented as other parts that lubricate movement. For example, when the first sliding link 1234 is implemented as a bearing, the first sliding link 1234 may be fixed to the intermediate link 1233 to rotate about the input link 121; or may be fixed to the input link 121 for rotation about the intermediate link 1233. Similarly, when the second sliding interface 1235 is implemented as a bearing, the second sliding interface 1235 can be fixed to the intermediate link 1233 to rotate around the output link 122; may also be fixed to the output link 122 for rotation about the intermediate link 1233.

According to the above-mentioned embodiment of the present application, as shown in fig. 1 and 2, the flexible driving mechanism 10 may further include a driver 13, the driver 13 being adapted to be driveably disposed between the flexible linkage 12 and the actuator 20 to steerably transmit the motion and moment outputted via the flexible linkage 12 to the actuator 20.

Illustratively, as shown in fig. 3 and 6, the transmission 13 may include an input shaft assembly 131, an output shaft assembly 132 and a belt transmission assembly 133, the input shaft assembly 131 is connected to the output connecting member 122 of the flexible linkage 12, the output shaft assembly 132 is used for connecting the actuating mechanism 20, and the belt transmission assembly 133 is drivingly connected to the input shaft assembly 131 and the output shaft assembly 132, so as to realize the change of the movement direction, the transmission speed and the torque magnitude through a relatively compact structure. It is understood that in other examples of the present application, the belt driving component 133 in the driver 13 may also be replaced by a chain driving component, a gear driving component, a link driving component, or the like, as long as the conversion of the motion direction, the transmission speed, and the magnitude of the moment can be achieved, which is not described in detail herein.

Alternatively, as shown in fig. 6 and 7, the input shaft assembly 131 of the actuator 13 may include an input shaft 1311, an input bearing block 1312, an input retainer 1313, and a lock nut 1314, the input shaft 1311 extending through the input bearing block 1312, and the input shaft 1311 being mounted to the input bearing block 1312 by the input retainer 1313 and the lock nut 1314; the input end of the input shaft 1311 is fixedly connected to the output connecting member 122 of the flexible linkage 12, and the output end of the input shaft 1311 is connected to the belt driving assembly 133.

Similarly, as shown in fig. 6 and 7, the output shaft assembly 132 of the transmission 13 may include an output shaft 1321, a first output bearing seat 1322, and an output bearing retainer 1323, the output shaft 1321 extends through the first output bearing seat 1322, and the output shaft 1321 is mounted to the first output bearing seat 1322 through the output bearing retainer 1323; the input end of the output shaft 1321 is connected to the belt drive assembly 133, and the output end of the output shaft 1321 is for connection to the actuator 20.

Alternatively, as shown in fig. 6 and 7, the belt drive assembly 133 may include an input pulley 1331, an output pulley 1332, and a drive belt 1333 sleeved over the input pulley 1331 and the output pulley 1332; the input pulley 1331 is fixed to the output end of the input shaft 1311; the output pulley 1332 is fixed to an input end of the output shaft 1321. Thus, when the output connector 122 of the flexible linkage 12 drives the input shaft 1311 to rotate, the input shaft 1311 drives the input pulley 1331 to rotate, so as to transmit the rotation of the input pulley 1331 to the output pulley 1332 via the transmission belt 1333; the output pulley 1332 is used to drive the output shaft 1321 to rotate, so as to transmit the rotation to the actuator 20 to perform the required therapeutic action.

It should be noted that, as shown in fig. 3 and fig. 7, the flexible linkage 12 of the flexible driving mechanism 10 of the present application may further include a sensor assembly 124, the sensor assembly 124 is configured to detect a movement difference between the output connecting member 122 and the input connecting member 121, so as to obtain a deformation amount of the elastic assembly 123, and to calculate an output force (moment) of the flexible linkage 12.

Specifically, the sensor assembly 124 may include an angle sensor 1240 built into the actuator 13, so as to obtain the output angle and the output angular velocity of the flexible linkage 12 through the angle sensor 1240, and further calculate the torque generated by the flexible linkage 12. It is understood that the sensor assembly 124 of the present application may also include an angle sensor (not shown) built in the driving part 11 for obtaining the input angle and the input angular velocity of the flexible linkage 12, so as to calculate the moment generated by the flexible linkage 12 in accordance with the output angle.

For example, as shown in fig. 6 and 7, the output shaft assembly 132 may further include a second output bearing seat 1324, the second output bearing seat 1324 is arranged at a distance from the first output bearing seat 1322, the output end of the output shaft 1321 is rotatably disposed on the second output bearing seat 1324, so as to jointly support the output shaft 1321 through the first output bearing seat 1322 and the second output bearing seat 1324; the angle sensor 1240 is fixedly arranged on the second output bearing seat 1324, and the angle sensor 1240 is connected to the output end of the output shaft 1321 and is used for measuring the rotation angle and the angular velocity of the output shaft 1321, so as to obtain the rotation angle of the output connecting piece 122 of the flexible linkage 12 through the conversion ratio between the input pulley 1331 and the output pulley 1332, and further calculate the torque generated by the flexible linkage 12.

Optionally, the angle sensor 1240 may be fixed to the second output bearing block 1324 by, but not limited to, a support; of course, may be secured to the second output bearing block 1324 by means such as bolting or gluing. It is understood that the angle sensor 1240 of the present application can be, but is not limited to, implemented as a photoelectric sensor, an electromagnetic sensor, an encoder, a potentiometer, or the like that can measure angular velocity and angular change. In addition, the sensor assembly 124 of the flexible linkage 12 of the present application may use two or more angle sensors 1240 to cooperate with each other, or only one angle sensor 1240 may be used, as long as the angle difference between the input connector 121 and the output connector 122 can be obtained for calculating the output force, which is not limited in the present application.

Illustratively, fig. 8 shows a deformation example of the flexible linkage 12 according to the above embodiment of the present application, so as to be disposed at each joint, wherein the flexible linkage 12 may include an input link 121, an output link 122, and an elastic component 123 and an angle sensor 1240 disposed between the input link 121 and the output link 122, wherein when the input link 121 is driven to act, the elastic component 123 is elastically deformed by the input link 121 to drive the output link 122, and the angle sensor 1240 is used for detecting an angle difference between the input link 121 and the output link 122 to obtain a deformation amount of the elastic component 123, so as to measure an output force of the flexible linkage 12.

It should be noted that in other examples of the present application, the angle sensor 1240 may also be respectively disposed on the input connector 121 and the output connector 122 of the flexible linkage 12, or respectively disposed on an input device connected to the input connector 121 and an output device connected to the output connector 122, as long as the angle changes of the input connector 121 and the output connector 122 can be measured, which is not described herein again.

In addition, in other examples of the present application, the elastic component 123 in the flexible linkage 12 may also be replaced by a magnetic component (not shown in the figure), so as to measure the output force through the variation of the magnetic pole pitch in the magnetic component, and still realize the force control through the motion control (position control), that is, realize the flexible force control, which is convenient for taking into account the force control and the motion control, and this application is not repeated herein.

According to the above-mentioned embodiment of the present application, as shown in fig. 1 and 9, the actuator 20 may be, but not limited to, implemented as a moving branch 200, an input end of the moving branch 200 is connected to the flexible driving mechanism 10, and an output end of the moving branch 200 is connected to the movable platform 40, so that a single-axis output motion and moment of the flexible driving mechanism 10 corresponding to each moving branch 200 are transmitted to the movable platform 40 through a plurality of moving branches 200 to be spatially combined at the movable platform 40, thereby implementing a composite motion and mechanical property of the movable platform 40.

For example, as shown in fig. 1 and 9, the moving branch 200 may include an input link 21, an output link 22, a first hinge assembly 23 and a second hinge assembly 24, an input end of the input link 21 is fixedly connected to the output shaft 1321 of the flexible driving mechanism 10, an output end of the input link 21 is hinged to an input end of the output link 22 through the first hinge assembly 23, and an output end of the output link 22 is hinged to the movable platform 40 through the second hinge assembly 24.

Alternatively, as shown in fig. 9, the first hinge assembly 23 may include a first pivot 231 fixedly connected to the output end of the input link 21 and a pair of first steering knuckles 232 connected to both ends of the first pivot 231, the first steering knuckles 232 being disposed at the input ends of the output links 22. Similarly, the second hinge assembly 24 may include a second pivot 241 fixedly connected to the movable platform 40 and a pair of second steering joints 242 connected to both ends of the second pivot 241, the second steering joints 242 being disposed at the output end of the output link 22.

Alternatively, the first steering knuckle 232 may be, but is not limited to being, implemented as a first spherical bearing rollably disposed at the input end of the output link 22; likewise, the second steering knuckle 242 can be, but is not limited to being, implemented as a second spherical bearing rollably disposed at the output end of the output link 22. It is understood that in other examples of the present application, the first steering joint 232 and the second steering joint 242 may be implemented as other types of joints as long as rotation in two directions can be achieved, and the present application is not described herein again.

It should be noted that each of the moving branches 200 generally includes a pair of output links 22, such that a pair of first steering joints 232 are respectively and correspondingly disposed at the input ends of the pair of output links 22, and a pair of second steering joints 242 are respectively and correspondingly disposed at the output ends of the pair of output links 22. In order to prevent the pair of output links 22 from rotating in space, as shown in fig. 8, the moving branch 200 of the present application may further include an elastic support 25, and both ends of the elastic support 25 are respectively fixedly connected to the pair of output links 22 to telescopically support the pair of output links 22.

Alternatively, as shown in fig. 9, the elastic support 25 of the present application may be, but is not limited to being, implemented as a support spring 250 to enhance the structural stability of the moving branch 200.

Alternatively, as shown in fig. 9, each of the moving branches 200 may include a pair of elastic supports 25, and the pair of elastic supports 25 are respectively located at opposite sides of the pair of output links 22 so as to symmetrically support the pair of output links 22.

According to the above embodiment of the application, as shown in fig. 1 and 10, the movable platform 40 may include a moving part 41 fixedly connected to the actuator 20 and a functional part 42 disposed on the moving part 41, where the moving part 41 is configured to convert a motion combination output by the actuator 20 into a spatial motion, so as to drive the functional part 42 to move in the space, thereby simulating various physical therapy maneuvers. Meanwhile, after the functional element 42 of the movable platform 40 is in contact with the outside, an interaction force is generated, and the control of the magnitude of the outside contact force can be realized through the torque control of the flexible driving mechanism 10.

Alternatively, as shown in fig. 1 and 10, the moving part 41 of the moving platform 40 of the present application may be fixedly connected to the second pivot 241 of the second hinge assembly 24 of the moving branch 200 to receive the motion and moment transmitted through the moving branch 200. It is understood that the moving member 41 of the present application may be, but is not limited to being, implemented as a bracket for mounting the functional member 42.

Alternatively, the functional element 42 of the movable platform 40 of the present application is used as a part contacting with the human body, and it may be a solid body with different shapes, different materials or different hardness and hardness, so as to apply proper pressure to the human body. Of course, the functional element 42 can also be a functional module with a special function, for example, various treatment heads for magnetic therapy, thermal therapy, phototherapy, shock wave therapy and/or ultrasound therapy.

Preferably, the functional member 42 is detachably mounted to the moving member 41 so that different functional members can be rapidly replaced to perform different physiotherapy functions.

It should be noted that, although the flexible linkage 12 of the flexible parallel physiotherapy executing device 1 according to the above-mentioned embodiment of the present application is disposed at the connecting joint between the driving part 11 and the driver 13, in other embodiments of the present application, the flexible linkage 12 may be disposed at other joints.

Exemplarily, fig. 11 shows a modified embodiment of the flexible parallel physiotherapy performing device according to the above embodiment of the present application, wherein the flexible parallel physiotherapy performing device 1 further includes a flexible linkage 12 disposed at the joint of the performing mechanism 20, the flexible linkage 12 includes an input connecting member 121, an output connecting member 122, and an elastic component 123 disposed between the input connecting member 121 and the output connecting member 122, wherein when the input connecting member 121 is driven to act, the elastic component 123 is elastically deformed by the input connecting member 121 to drive the output connecting member 122, so as to measure the output force through the deformation amount of the elastic component 123, thereby implementing the flexible force control.

It is understood that the joints of the actuator 20 mentioned in the present application may refer to the internal joints of the moving branch 200, or may refer to the joints between the moving branch 200 and the actuator 13, or the joints between the moving branch 200 and the movable platform 40, which are capable of achieving flexible force control, and the details of the present application are not repeated.

It is worth mentioning that, according to another aspect of the present application, as shown in fig. 12 and 13, an embodiment of the present application provides a physical therapy apparatus, which may include the above-mentioned flexible parallel physiotherapy performing device 1 and an apparatus main body 50, and the flexible parallel physiotherapy performing device 1 is mounted on the apparatus main body 50 so as to implement a desired physiotherapy function.

Exemplarily, in the first example of the present application, as shown in fig. 12, the device body 50 may be implemented as a handheld device body 51, and the static platform 30 of the flexible parallel physiotherapy performing apparatus 1 is loaded on the handheld device body 51 to form a handheld physiotherapy device for a user to perform physiotherapy in a handheld manner.

Alternatively, as shown in fig. 12, the handheld device main body 51 may include a housing 511 for loading the static platform 30, a handheld handle 512 fixed to the housing 511, and a human-machine interaction module 513 arranged on the housing 511, wherein the human-machine interaction module 513 is communicably connected to the flexible parallel physiotherapy executing apparatus 1 and is used for controlling the flexible parallel physiotherapy executing apparatus 1 to execute the required physiotherapy operation, for example, the functions of adjusting and powering on/off the working module through human-machine interaction. It can be understood that the handheld device main body 51 of the present application may further include a power module, a control circuit module, a motor driving module and other functional modules not shown in the drawings, which are disposed in the housing 511, so as to assist in implementing the physiotherapy operation of the handheld physiotherapy device, which is not described herein again.

Optionally, the human-computer interaction module 513 of the handheld device main body 51 of the present application may be, but is not limited to being, implemented as a touch screen.

It is noted that, in the second example of the present application, as shown in fig. 13 and 14, the device body 50 may be implemented as a mobile device body 52, and the stationary platform 30 of the flexible parallel physiotherapy performing apparatus 1 is loaded on the mobile device body 52 to form a mobile physiotherapy device for a user to move the device to a proper position for better performing a desired physiotherapy.

Alternatively, as shown in fig. 13, the mobile device body 52 may include a mobile carrier 521 and a robot arm 522 mounted to the mobile carrier 521, and the stationary platform 30 of the flexible parallel physiotherapy executing apparatus 1 is integrated at an end of the robot arm 522 so as to control physiotherapy operation of the flexible parallel physiotherapy executing apparatus 1 by the robot arm 522. It is understood that the mobile carrier 521 may be configured with a robot control cabinet, a mobile power source, or an emergency power source to control the motion of the robot 522. In addition, a motor driving module, a power module and a control circuit module communicably connected to the flexible parallel physiotherapy executing apparatus 1 may be integrated into the distal end of the robot arm 522, or may be integrated into the movable carrier 521 through a cable.

Optionally, the movable carrier 521 may further include a cart function module for moving the flexible parallel physiotherapy executing apparatus 1 in a wide range to adapt to various application environments. It is understood that the cart functional module mentioned in the present application may be implemented as a passive moving wheel, or may be implemented as an active moving platform, which is not described in detail herein.

It should be noted that the flexible parallel physiotherapy executing device 1 can act on different parts of the human body in different ways, such as the two ways of the handheld physiotherapy equipment and the mobile physiotherapy equipment shown in the foregoing. After selecting one way, as shown in fig. 12, the flexible parallel physiotherapy executing device 1 can be positioned to the part of the human body needing treatment, such as the neck, shoulders, back, waist, buttocks, arms, legs, feet, etc. Meanwhile, according to the anatomical characteristics of muscle tissues to be treated at different parts of the human body, the flexible parallel physiotherapy executing device 1 can be contacted with the parts at a proper angle so as to simulate different physiotherapy methods.

It can be understood that, the flexible parallel physiotherapy executing device 1 of the present application can correspondingly set for each physiotherapy technique: the motion trajectory curve (manipulation control) of the movable platform 40 in the space coordinate system and the pressure application degree (force control) of the movable platform 40, thereby realizing the accurate control of the physical therapy manipulation. For example, as shown in fig. 13, if a local coordinate system { O-x, y, z } is defined by a tangential plane between the movable platform 40 and the human body contact portion and a normal direction, a motion curve of the movable platform 40 in the coordinate system { O-x, y, z } corresponds to a manipulation motion, and a pressure of the movable platform 40 in a z-axis direction corresponds to a pressing force degree.

The technical features of the above embodiments can be combined without changing the basic principle of the present invention, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present description should be considered as being described in the present specification.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. Flexible parallelly connected physiotherapy final controlling element, its characterized in that includes:

a stationary platform (30);

a plurality of flexible driving mechanisms (10), wherein a plurality of flexible driving mechanisms (10) are respectively arranged on the static platform (30) and used for flexibly outputting driving force and movement relative to the static platform (30);

a plurality of actuators (20), wherein the actuators (20) are arranged in parallel, and the actuators (20) are connected to the flexible driving mechanism (10) in a one-to-one correspondence manner, and are used for transmitting the driving force and the movement output by the flexible driving mechanism (10); and

a movable platform (40), the movable platform (40) being connected to the plurality of actuators (20) for combining the driving force and motion transmitted via the plurality of actuators (20) to perform a spatial motion relative to the stationary platform (30) for mimicking a physical therapy approach.

2. The flexible parallel physiotherapy performing apparatus according to claim 1, wherein the performing mechanism (20) is a moving branch chain (200), an input end of the moving branch chain (200) is connected to the flexible driving mechanism (10), and an output end of the moving branch chain (200) is connected to the movable platform (40) so as to transmit a single-axis output motion and a moment of the flexible driving mechanism (10) corresponding to each moving branch chain (200) to the movable platform (40) through a plurality of moving branch chains (200) for spatial combination.

3. The flexible parallel physiotherapy performing apparatus according to claim 2, wherein the moving branch (200) comprises an input link (21), an output link (22), a first hinge assembly (23) and a second hinge assembly (24), wherein an input end of the input link (21) is fixedly connected to the flexible driving mechanism (10), an output end of the input link (21) is hinged to an input end of the output link (22) through the first hinge assembly (23), and an output end of the output link (22) is hinged to the movable platform (40) through the second hinge assembly (24).

4. The flexible parallel physiotherapy actuation device according to claim 3, wherein the first hinge assembly (23) comprises a first pivot (231) fixedly connected to the output end of the input link (21) and a pair of first steering knuckles (232) connected to both ends of the first pivot (231), the first steering knuckles (232) being provided at the input end of the output link (22); the second hinge assembly (24) comprises a second pivot (241) fixedly connected with the movable platform (40) and a pair of second steering joints (242) connected with two ends of the second pivot (241), and the second steering joints (242) are arranged at the output end of the output connecting rod (22).

5. The flexible parallel physiotherapy actuation device according to claim 4, wherein the movement branches (200) further comprise elastic supports (25), and both ends of the elastic supports (25) are respectively fixedly connected to the two output links (22) in each movement branch (200).

6. The physiotherapy performing device according to claim 1, wherein the movable platform (40) comprises a movable member (41) fixedly connected with the performing mechanism (20) and a functional member (42) arranged on the movable member (41), and the movable member (41) is used for converting the motion combination output by the performing mechanism (20) into spatial motion so as to drive the functional member (42) to move in space.

7. Flexible parallel physiotherapy execution apparatus according to claim 6, characterized in that said functional element (42) is removably mounted to said mobile element (41).

8. The flexible parallel physiotherapy actuation device according to any one of claims 1 to 7, wherein the flexible driving mechanism (10) comprises a driving part (11) and a flexible linkage (12), the flexible linkage (12) comprises an input connecting part (121) connected with the driving part (11), an output connecting part (122) connected with the actuation mechanism (20), and an elastic component (123) arranged between the input connecting part (121) and the output connecting part (122), wherein when the driving part (11) is actuated to drive the input connecting part (121) to act, the elastic component (123) is elastically deformed by the input connecting part (121) to drive the output connecting part (122) for measuring the output force by the deformation amount of the elastic component (123).

9. The flexible parallel physiotherapy performing apparatus according to claim 8, wherein the elastic member (123) comprises a first torsion spring (1231), a second torsion spring (1232) and an intermediate connecting member (1233) connected in series with the first torsion spring (1231) and the second torsion spring (1232), both ends of the first torsion spring (1231) are fixedly connected to the input connecting member (121) and the intermediate connecting member (1233), respectively, and both ends of the second torsion spring (1232) are fixedly connected to the output connecting member (122) and the intermediate connecting member (1233), respectively.

10. The flexible parallel physiotherapy performing device according to claim 9, wherein said input connection (121), said intermediate connection (1233) and said output connection (122) are rotatably coaxially arranged in sequence, said first torsion spring (1231) being sleeved on the shaft between said input connection (121) and said intermediate connection (1233), said second torsion spring (1232) being sleeved on the shaft between said intermediate connection (1233) and said output connection (122).

11. The flexible shunt physiotherapy applicator of claim 10, wherein the intermediate connector (1233) has a first torsion spring chamber (12331) facing the input connector (121) and a second torsion spring chamber (12332) facing the output connector (122) to enclose the first torsion spring (1231) within the first torsion spring chamber (12331) through the input connector (121) and to enclose the second torsion spring (1232) within the second torsion spring chamber (12332) through the output connector (122).

12. The flexible parallel physiotherapy performing apparatus according to any one of claims 1 to 7, further comprising a flexible linkage (12) correspondingly disposed at a joint of the performing mechanism (20), wherein the flexible linkage (12) comprises an input connecting member (121), an output connecting member (122) and an elastic component (123), the elastic component (123) is disposed between the input connecting member (121) and the output connecting member (122), and when the input connecting member (121) is driven to act, the elastic component (123) is elastically deformed by the input connecting member (121) to drive the output connecting member (122) for calculating an output force by a deformation amount of the elastic component (123).

13. A physical therapy device, comprising:

an apparatus main body (50); and

the flexible parallel physiotherapy execution device (1) according to any one of claims 1 to 12, said flexible parallel physiotherapy execution device (1) being carried on said apparatus main body (50).

14. The physical therapy device according to claim 13, characterized in that the device body (50) is a hand-held device body (51), and the static platform (30) of the flexible parallel physiotherapy performing apparatus (1) is loaded on the hand-held device body (51) to form a hand-held physical therapy device.

15. The physical therapy equipment according to claim 14, characterized in that the hand-held device body (51) comprises a housing (511) for loading the static platform (30), a hand-held handle (512) fixed to the housing (511), and a man-machine interaction module (513) arranged on the housing (511), wherein the man-machine interaction module (513) is communicably connected to the flexible parallel physiotherapy executing apparatus (1).

16. The physical therapy device according to claim 13, wherein the device body (50) is a mobile device body (52), and the static platform (30) of the flexible parallel physiotherapy performing apparatus (1) is loaded on the mobile device body (52) to form a mobile physical therapy device.

17. The physical therapy equipment according to claim 16, characterized in that the mobile equipment body (52) comprises a mobile carrier (521) and a robot arm (522) mounted to the mobile carrier (521), the stationary platform (30) of the flexible parallel physiotherapy performing device (1) being integrated at the end of the robot arm (522).