CN117357723A

CN117357723A - Negative pressure physiotherapy robot and control method thereof

Info

Publication number: CN117357723A
Application number: CN202311533364.1A
Authority: CN
Inventors: 刘辛军; 李子豪; 聂振国; 赵慧婵
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2023-11-16
Filing date: 2023-11-16
Publication date: 2024-01-09
Anticipated expiration: 2043-11-16
Also published as: CN117357723B

Abstract

The embodiment of the invention provides a negative pressure physiotherapy robot and a control method thereof, and relates to the technical field of medical equipment. The negative pressure physiotherapy robot comprises a mechanical arm, a physiotherapy head, an air pump, a planning module, a monitoring module and a processing module; the top of the physiotherapy head is provided with a lip, the lip comprises an inner wall and an outer wall, a first cavity is formed between the inner wall and the outer wall, and a second cavity is formed on the inner side of the inner wall; the air pump is respectively communicated with the first cavity and the second cavity; the physiotherapy head is arranged on the mechanical arm; the planning module is used for determining a plurality of physiotherapy positions on the physiotherapy path; the monitoring module is connected with the lip and is used for monitoring the air pressure of the first cavity, the air pressure of the second cavity and the pressure value of the lip; the processing module is respectively connected with the air pump, the monitoring module and the mechanical arm. The negative pressure physiotherapy robot provided by the embodiment of the invention can improve the sealing connection speed of the lip and the physiotherapy position and improve the physiotherapy efficiency of the negative pressure physiotherapy robot.

Description

Negative pressure physiotherapy robot and control method thereof

Technical Field

The invention relates to the technical field of medical equipment, in particular to a negative pressure physiotherapy robot and a control method thereof.

Background

Cupping is a common traditional Chinese medicine treatment means, has a long history in China, is a precious heritage of traditional Chinese medicine, and is mainly divided into a cupping jar and a vacuum jar. The negative pressure physiotherapy is to use a negative pressure device to extract the gas in the inner cavity of the physiotherapy head contacting the skin surface to cause the internal and external pressure difference by the treatment principle similar to a vacuum tank, thereby forming negative pressure on the skin and further achieving the effect of limb physiotherapy.

The negative pressure physiotherapy robot generally comprises an air pump, an air pipe, a mechanical arm and a physiotherapy head, wherein the physiotherapy head is arranged on the mechanical arm and is provided with a cavity and an opening, one end of the air pipe is connected with the air pump, the other end of the air pipe is connected with the cavity of the physiotherapy head, and the mechanical arm can drive the physiotherapy head to carry out negative pressure physiotherapy along a physiotherapy path. In the physiotherapy process, the opening of the physiotherapy head can be buckled on the skin of a human body, and then the air pump evacuates the air in the cavity through the air pipe, so that negative pressure is generated in the cavity of the physiotherapy head, and the physiotherapy on the human body is realized. Because of the large difference in skin curvature at various parts of the human body, the mechanical arm is generally required to swing the physiotherapy head randomly or by extruding the opening of the physiotherapy head during use, so as to promote the formation of an airtight space between the physiotherapy head and the skin.

However, in the physical therapy position of the negative pressure physical therapy robot, the mechanical arm can seriously affect the efficiency of physical therapy of the negative pressure physical therapy robot by swinging the physical therapy head or by extruding the opening of the physical therapy head.

Disclosure of Invention

The embodiment of the invention provides a negative pressure physiotherapy robot and a control method thereof, which aim to solve the problem that the efficiency of physiotherapy of the negative pressure physiotherapy robot can be seriously affected by a mechanical arm through swinging a physiotherapy head or extruding an opening of the physiotherapy head in a physiotherapy position of the negative pressure physiotherapy robot.

In a first aspect, an embodiment of the present invention provides a negative pressure physiotherapy robot, including a mechanical arm, a physiotherapy head, an air pump and a control device;

the top of the physiotherapy head is provided with a lip, the lip comprises an inner wall and an outer wall, a first cavity is formed between the inner wall and the outer wall, and a second cavity is formed on the inner side of the inner wall;

the air pump is respectively communicated with the first cavity and the second cavity and is used for adjusting the air pressure in the first cavity and the second cavity;

the physiotherapy head is arranged on the mechanical arm, and the mechanical arm is used for adjusting the angle between the lip and the physiotherapy position and the physiotherapy pressure;

the control device comprises a planning module, a monitoring module and a processing module; the planning module is used for determining a plurality of physiotherapy positions on a physiotherapy path;

The monitoring module is connected with the lip, and is used for monitoring the air pressure of the first cavity, the air pressure of the second cavity and the pressure value of the lip;

the processing module is respectively connected with the air pump, the monitoring module and the mechanical arm, and is used for controlling the mechanical arm to drive the lip of the physiotherapy head to move along the physiotherapy path and performing physiotherapy operation on at least one physiotherapy position;

the processing module is further used for adjusting at least one parameter of the size, the angle and the physiotherapy pressure of the lips according to at least one parameter of the air pressure of the first cavity, the air pressure of the second cavity and the pressure value of the lips, so that the lips are in sealing connection with the physiotherapy positions.

In a second aspect, an embodiment of the present invention provides a control method of a negative pressure physiotherapy robot, applied to the negative pressure physiotherapy robot as described above, the control method including:

determining a plurality of physical therapy positions on a physical therapy path of the limb;

the control mechanical arm drives the lip of the physiotherapy head to contact with the physiotherapy position at a first physiotherapy pressure, and controls the air pump to apply target physiotherapy air pressure to the second cavity and target lip air pressure to the second cavity, and acquires air pressure of the second cavity;

Judging whether the air pressure of the second cavity is smaller than a first preset threshold value or not;

when the air pressure of the second cavity is greater than or equal to the first preset threshold value, acquiring a plurality of pressure values of the lip and the air pressure of the first cavity;

and adjusting at least one parameter of the size, angle and pressure of the lip according to at least one parameter of the air pressure of the first cavity, the air pressure of the second cavity and the pressure value of the lip.

In the embodiment of the present application, the target physiotherapy air pressure is negative pressure, and the target lip air pressure is positive pressure. The positive pressure is the pressure value less than 0, and the negative pressure is the pressure value less than 0. Negative pressure physiotherapy is used with negative pressure, i.e. the pressure value <0, the greater the negative pressure, the smaller the pressure value, but the greater the negative pressure, e.g. -10kpa greater than-30 kpa, but the negative pressure at-10 kpa is less than-30 kpa. That is, the greater the absolute value of the negative pressure, the greater the negative pressure. Therefore, when the negative pressure physiotherapy pressure is larger, the pressure value is smaller, and the air pressure is smaller.

In a third aspect, a physiotherapeutic head is provided, comprising a base and a lip, wherein the base is provided with a base cavity and a base opening communicated with the base cavity, and the lip is surrounded on the base opening;

The base is also provided with a first vent hole, the first vent hole is communicated with the base cavity, and the first vent hole is used for being connected with a first air pipe;

the lip comprises an inner wall and an outer wall, and a first cavity is formed between the inner wall and the outer wall;

the lip is silica gel material, still have the second vent on the lip, the second vent with first cavity intercommunication, the second vent is used for with second trachea intercommunication, and through the second trachea to first cavity injection or exhaust gas, in order to change the pressure in the first cavity.

The embodiment of the invention provides a negative pressure physiotherapy robot and a control method thereof, wherein the lip is designed to be of a structure comprising an inner wall and an outer wall, a first cavity is formed between the inner wall and the outer wall, a second cavity is formed on the inner side of the inner wall, an air pump is respectively communicated with the first cavity and the second cavity, so that the air pump can be used for injecting or exhausting air into the first cavity to change the air pressure in the first cavity, thereby changing the size of the first cavity of the lip, when the size of the first cavity is changed, the size of the second cavity is changed, the area of the joint of the inner wall and the outer wall is also changed, and the joint of the inner wall and the outer wall is required to be connected with a physiotherapy position during use, namely, the contact area of the lip and the physiotherapy position can be changed through changing the air pressure of the first cavity, so that the lip of the negative pressure physiotherapy robot can be suitable for the requirements of different physiotherapy positions, and the lip angle of the lip in the pressure value of the first cavity, the air pressure of the second cavity and the lip can be adjusted according to at least one parameter in the pressure value of the air pressure of the first cavity, the lip angle of the air pressure of the second cavity and the lip of the lip can be adjusted, and the lip efficiency of the lip can be connected with the physiotherapy position of the human can be improved, and the lip efficiency can be sealed, and the physiotherapy position can be further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural diagram of a negative pressure physiotherapy robot according to a first embodiment of the present invention;

fig. 2 is another schematic structural diagram of a negative pressure physiotherapy robot according to the first embodiment of the present invention;

fig. 3 is another schematic structural diagram of a negative pressure physiotherapy robot according to the first embodiment of the present invention;

fig. 4 is another schematic structural diagram of a negative pressure physiotherapy robot according to the first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a physiotherapeutic head of a negative pressure physiotherapeutic robot according to an embodiment of the present invention;

fig. 6 is an exploded view of a physiotherapeutic head of a negative pressure physiotherapeutic robot according to an embodiment of the present invention;

fig. 7 is a schematic view of a lip structure of a physiotherapeutic head of a negative pressure physiotherapeutic robot according to an embodiment of the invention;

fig. 8 is a schematic cross-sectional view of a lip of a physiotherapeutic head of a negative pressure physiotherapeutic robot according to an embodiment of the invention;

Fig. 9 is a schematic structural view of a lip of a physiotherapy head of a negative pressure physiotherapy robot according to the first embodiment of the invention when the air pressure of the first cavity is small;

fig. 10 is a schematic structural view of a lip of a physiotherapy head of a negative pressure physiotherapy robot according to the first embodiment of the invention when the air pressure of the first cavity is high;

fig. 11 is a schematic structural view of a strain gauge bracket of a physiotherapy head of a negative pressure physiotherapy robot according to the first embodiment of the invention;

fig. 12 is a schematic view of another angle of a strain gauge bracket of a physiotherapy head of a negative pressure physiotherapy robot according to the first embodiment of the invention;

fig. 13 is a schematic structural view of a base of a physiotherapy head of a negative pressure physiotherapy robot according to the first embodiment of the invention;

FIG. 14 is a flowchart of a control method of a negative pressure physiotherapy robot according to the first embodiment of the present invention;

FIG. 15 is another flowchart of a control method of the negative pressure physiotherapy robot according to the first embodiment of the invention;

fig. 16 is a schematic structural view of a physiotherapeutic head according to a second embodiment of the present invention;

FIG. 17 is an exploded view of the physio-head of FIG. 16 from one perspective;

fig. 18 is a schematic view of the lip of fig. 16 in a view angle;

fig. 19 is a front view of the lip of fig. 16;

FIG. 20 is a cross-sectional view A-A of FIG. 19;

FIG. 21 is a schematic view of the base of FIG. 17 from one perspective;

FIG. 22 is a schematic view of the base of FIG. 17 from another perspective;

FIG. 23 is an exploded view of the physio-head of FIG. 16 from another perspective;

fig. 24 is a schematic view of the lip of fig. 16 in another view;

FIG. 25 is a schematic view of the first collar of FIG. 17 from a perspective;

FIG. 26 is a schematic view of the first collar of FIG. 17 from another perspective;

FIG. 27 is a schematic view of the second collar of FIG. 17 from a perspective;

FIG. 28 is a schematic view of the second collar of FIG. 17 from another perspective;

FIG. 29 is a schematic view of the structure of the housing portion of FIG. 16;

fig. 30 is a schematic view of the seed lip connector of fig. 17 in a view;

fig. 31 is a schematic view of the lip connector of fig. 17 in another view;

FIG. 32 is a schematic view of the base of FIG. 17 from a further perspective;

fig. 33 is a side view of the lip in fig. 16;

fig. 34 is a B-B sectional view in fig. 33.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either fixedly attached, detachably attached, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the above description, descriptions of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

As described in the background art, the negative pressure physiotherapy robot can seriously influence the physiotherapy efficiency of the negative pressure physiotherapy robot when the mechanical arm swings the physiotherapy head randomly or presses the opening of the physiotherapy head. The inventor researches find that the reason why such a problem occurs is that the size of the opening of the physiotherapeutic head of the negative pressure physiotherapeutic robot cannot be changed, and the curved surface of each physiotherapeutic position has a large difference, and it is difficult to rapidly adapt to the physiotherapeutic demands of different physiotherapeutic positions by only randomly swinging the physiotherapeutic head or by squeezing the opening of the physiotherapeutic head, which may seriously affect the efficiency of the physiotherapeutic of the negative pressure physiotherapeutic robot.

In order to solve the above problems, according to the negative pressure physiotherapy robot and the control method thereof provided by the embodiments of the present invention, through enabling the lips to achieve caliber sizes of different sizes, the contact area between the lips and the physiotherapy positions can be changed, so that the lips of the negative pressure physiotherapy robot can be suitable for physiotherapy requirements of different physiotherapy positions, and through the processing module, according to at least one parameter of the air pressure of the first cavity, the air pressure of the second cavity and the pressure value of the lips, efficient adjustment of the lips according to the pressure feedback and the pressure feedback can be achieved, and at least one parameter of the size, the angle and the pressure of the lips can be adjusted, so that the sealing connection speed of the lips and the physiotherapy positions can be improved, and the physiotherapy efficiency of the negative pressure physiotherapy robot can be improved.

The negative pressure physiotherapy robot and the control method thereof provided by the embodiment of the invention are described in detail below with reference to specific embodiments.

Example 1

As shown in fig. 1 to 4, an embodiment of the present invention provides a negative pressure physiotherapy robot, which includes a mechanical arm 10, a physiotherapy head 11, an air pump 12 and a control device 100, wherein the control device 100 includes a planning module 13, a monitoring module 14 and a processing module 15. The top of the physiotherapy head 11 is provided with a lip 111, the lip 111 comprises an inner wall 1113 and an outer wall 1114 (see fig. 7), a first cavity 1111 is formed between the inner wall 1113 and the outer wall 1114, and a second cavity 1112 is formed on the inner side of the inner wall 1113; the air pump 12 is respectively communicated with the first cavity 1111 and the second cavity 1112 (see fig. 3), and the air pump 12 is used for adjusting the air pressure in the first cavity 1111 and the second cavity 1112; the physiotherapy head 11 is mounted on the mechanical arm 10, and the mechanical arm 10 is used for adjusting the angle between the lip 111 and the physiotherapy position and the physiotherapy pressure; the planning module 13 is connected with the lip 111, and the planning module 13 is used for determining a plurality of physiotherapy positions on a physiotherapy path; the monitoring module 14 is connected to the lip 111, and the monitoring module 14 is configured to monitor the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111; the processing module 15 is respectively connected with the air pump 12, the monitoring module 14 and the mechanical arm 10, and the processing module 15 is used for controlling the mechanical arm 10 to drive the lip 111 of the physiotherapy head 11 to move along the physiotherapy path and perform physiotherapy operation on at least one physiotherapy position; the processing module 15 is further configured to adjust at least one parameter of a size, an angle, and a physiotherapy pressure of the lip 111 according to at least one parameter of an air pressure of the first cavity 1111, an air pressure of the second cavity 1112, and a pressure value of the lip 111, so that the lip 111 is in sealing connection with the physiotherapy site.

Wherein, the physiotherapy position is the skin surface that needs physiotherapy on the physiotherapy route. The physiotherapy site is an area requiring physiotherapy, and is exemplified by the back, arms, or thighs.

The negative pressure physiotherapy robot can be a seven-degree-of-freedom cooperative robot with a moment sensor on a joint.

The negative pressure physiotherapy robot comprises a robot main body, the mechanical arm 10 is arranged on the robot main body, the robot main body comprises a control device 100, and the control device 100 comprises a planning module 13, a monitoring module 14 and a processing module 15.

As shown in fig. 1 and 2, the negative pressure physiotherapy robot includes a photographing unit 131, and the planning module 13 includes a model building unit, a path determining unit, and a physiotherapy position determining unit; image information of the physiotherapy site can be acquired through the photographing unit 131; the model building unit builds a three-dimensional model according to the image information of the physiotherapy part; the path determining unit locates the physiotherapy region according to the three-dimensional model and generates a physiotherapy path based on the located physiotherapy region; the physiotherapy position determining unit determines physiotherapy manipulations according to the physiotherapy positions and positions the physiotherapy positions on the physiotherapy path. The physiotherapy position determining unit stores physiotherapy methods corresponding to different physiotherapy positions.

The air pressure of the first cavity 1111 refers to the ambient air pressure of the cavity, the air pressure of the first cavity 1111 is the air pressure of the first cavity 1111, and the air pressure of the first cavity 1111 is positive pressure, that is, the air pressure of the first cavity 1111 is greater than 0; the air pressure of the second cavity 1112 refers to the ambient air pressure of the cavity, the air pressure of the second cavity 1112 is the air pressure of the second cavity 1112, and the air pressure of the second cavity 1112 is negative pressure, that is, the air pressure of the second cavity 1112 is less than 0.

The pressure value of the lip 111 is the contact pressure between the lip 111 and the physiotherapy site. The physiotherapy pressure of the lip 111 is the pressure applied by the mechanical arm 10 to the physiotherapy site through the physiotherapy head 11.

The lip 111 is made of silicone, for example, the lip 111 may be integrally formed of silicone. Therefore, when the air pressure in the first cavity 1111 is adjusted, the caliber and the size of the lip 111 can be changed to realize different sizes, the contact area between the lip 111 and the physiotherapy position can be changed, and the physiotherapy requirements of different physiotherapy positions can be met.

The lip 111 is in sealing connection with the physiotherapy site, and it is understood that when the air pressure of the second cavity 1112 is smaller than a certain value, the lip 111 is in sealing connection with the physiotherapy site. Illustratively, when the air pressure of the second chamber 1112 is less than-10 kpa, this represents a sealed connection of the lip 111 to the treatment site.

The processing module 15 may adjust at least one parameter of the size, angle, and physiotherapy pressure of the lip 111 according to one parameter of the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111, so as to seal the lip 111 with the physiotherapy site. For example, the processing module 15 may control the mechanical arm 10 to adjust the physiotherapy pressure of the lip 111 and the physiotherapy site according to the pressure value of the lip 111, so as to make the lip 111 be in sealing connection with the physiotherapy site.

The processing module 15 may adjust at least one parameter of the size, angle, and physiotherapy pressure of the lip 111 according to two parameters of the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111, so as to make the lip 111 be in sealing connection with the physiotherapy site. For example, the processing module 15 may control the mechanical arm 10 to adjust the angle of the lip 111 to the therapy site according to the air pressure of the first cavity 1111 and the air pressure of the second cavity 1112, so that the lip 111 is in sealing connection with the therapy site.

The processing module 15 may adjust at least one parameter of the size, angle, and physiotherapy pressure of the lip 111 according to the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111, so as to make the lip 111 be in sealing connection with the physiotherapy site. Specifically, the processing module 15 may control the air pump 12 to adjust the air pressure in the first cavity 1111, change the size of the lip 111, control the mechanical arm 10 to adjust the angle between the lip 111 and the physiotherapy site, and the physiotherapy pressure according to the air pressure in the first cavity 1111, the air pressure in the second cavity 1112, and the pressure value of the lip 111, so that the lip 111 is in sealing connection with the physiotherapy site.

According to the negative pressure physiotherapy robot provided by the embodiment of the invention, the lip 111 is designed to comprise the structure of the inner wall 1113 and the outer wall 1114, the first cavity 1111 is formed between the inner wall 1113 and the outer wall 1114, the second cavity 1112 is formed at the inner side of the inner wall 1113, and the air pump 12 is respectively communicated with the first cavity 1111 and the second cavity 1112, so that the air pump 12 can be used for injecting or exhausting air into the first cavity 1111 to change the air pressure in the first cavity 1111, thereby changing the size of the first cavity 1111 of the lip 111, changing the size of the second cavity 1112 when the size of the first cavity 1111 is changed, and also changing the area of the joint of the inner wall 1113 and the outer wall 1114, and when the negative pressure physiotherapy robot is used, the joint of the inner wall 1113 and the outer wall 1114 needs to be connected with physiotherapy positions, that is, by changing the air pressure of the first cavity 1111, the contact area between the lip 111 and the physiotherapy positions can be changed, and the mouth of the negative pressure physiotherapy robot can meet the requirements of different physiotherapy positions.

Moreover, by arranging the monitoring module 14 and the processing module 15, at least one parameter of the size, the angle and the physiotherapy pressure of the lip 111 can be adjusted, so that the lip 111 is in sealing connection with the physiotherapy position, the sealing connection speed of the lip 111 and the physiotherapy position can be improved, the whole physiotherapy duration is shortened, and the physiotherapy efficiency of the negative pressure physiotherapy robot is effectively improved.

In some embodiments, as shown in fig. 4, the monitoring module 14 may include a first air pressure sensor 141 and a second air pressure sensor 142. For example, a first air pressure sensor 141 may be connected to the first chamber 1111, the first air pressure sensor 141 being configured to monitor the air pressure of the first chamber 1111. The second air pressure sensor 142 is connected to the second cavity 1112, and the second air pressure sensor 142 is used for monitoring air pressure of the second cavity 1112.

The number of air pumps 12 may be two, the first air pump 121 and the second air pump 122, respectively. Illustratively, the first air pump 121 may be connected to the first chamber 1111 via an air pipe, and the second air pump 122 may be connected to the second chamber 1112 via an air pipe. The first air pump 121 and the second air pump 122 may adjust the air pressure in the first chamber 1111 and the second chamber 1112, respectively, by inflating or deflating.

Optionally, the monitoring module 14 may further include a plurality of strain gauges 143; wherein, a plurality of strain gages 143 can be arranged around lip 111 interval, and the strain gages 143 are used for monitoring the pressure value of lip 111 different positions.

By providing the plurality of strain gauges 143, the pressure values of the plurality of positions of the lip 111 may be measured, so that the air pressure of the first cavity 1111 may be adjusted according to the plurality of pressure values, and the plurality of pressure values may avoid the chance of a single value, thereby improving accuracy and precision, relative to adjusting the air pressure of the first cavity 1111 according to one pressure value.

The specific structure of the physio-head 11 will be described below with reference to the accompanying drawings.

In one possible implementation, as shown in fig. 5, the physio-head 11 may include a lip 111, a housing portion 112, at least one collar 114, and a lip connector 115. The lip 111 is located on top of the treatment head 11, the lip 111 can be connected to the housing part 112 by means of a collar 114 and a lip connector 115, and the housing part 112 is connected to the robot arm 10. In use, the lip 111 may be connected to a physical therapy site of a user. In this embodiment, the number of collars 114 is one.

As shown in fig. 6, the therapy head 11 may further include a base 113 and a strain gauge bracket 116. The base 113 is located between the shell 112 and the strain gauge bracket 116, one surface of the strain gauge bracket 116 is connected with the lip 111, the other surface of the strain gauge bracket 116 is connected with the strain gauge 143 (see fig. 12), wherein the strain gauge 143 may be disposed on one surface of the base 113 facing the strain gauge bracket 116 (see fig. 13), and the strain gauge 143 is connected with one surface of the strain gauge bracket 116 facing away from the lip 111, where the strain gauge 143 is used for detecting the strain of the connection position of the strain gauge bracket 116 and the lip 111 after being subjected to pressure, and then the pressure value of the lip 111 is obtained through a certain mapping relationship.

For example, the strain gauge bracket 116 may deform after the lip 111 is subjected to pressure, that is, the strain gauge bracket 116 may convert the pressure applied to the lip 111 into the deformation of the strain gauge bracket 116, where the deformation of the strain gauge bracket 116 is the strain. The strain amount of the strain gauge bracket 116 is detected by the strain gauge 143, and the pressure of the lip 111, that is, the pressure value of the lip 111 can be obtained by a certain mapping relation.

Illustratively, a base 113 may be disposed on a side of the housing portion 112 adjacent to the lip 111 for carrying the lip 111 and the like and for connecting the lip 111 to the housing portion 112. The lip connector 115 may be located between the base 113 and the lip 111, one side of the lip connector 115 may be connected to the base 113, the other side may be connected to the lip 111, and the lip 111 and the base 113 may be connected to each other through the lip connector 115. This effectively improves the reliability and stability of the connection between the lip 111 and the base 113, contributing to the improvement of the structural stability of the entire physiotherapeutic head 11.

The connection manner between the lip connector 115 and the base 113 and the connection manner between the lip connector 115 and the lip 111 include, but are not limited to, adhesion, clamping, fastening, or a bolt fastener, and in the embodiment of the present application, the connection manner between the lip connector 115 and the base 113 and the connection manner between the lip connector 115 and the lip 111 are not limited.

As shown in fig. 7 and 8, the lip 111 may include an inner wall 1113 and an outer wall 1114, a first cavity 1111 is formed between the inner wall 1113 and the outer wall 1114, and a second cavity 1112 is formed inside the inner wall 1113.

In some embodiments, lip 111 may be molded by die opening and cast using silicone. The lip 111 may further include a shaping film (not shown in the drawing), which may be disposed around a surface of the outer wall 1114 of the lip 111 facing the first cavity 1111, and the shaping film is integrally formed with the inner wall 1113 and the outer wall 1114 of the lip 111. For example, the shaped film may be integrally injection molded with the inner wall 1113 and the outer wall 1114 of the lip 111. Wherein the shaped film may be configured to resist a change in diameter of the outer wall 1114 of the lip 111, e.g., the shaped film may be harder in material that is less prone to deformation. Thus, when the volume of the first cavity 1111 changes, only the diameter of the inner wall 1113 of the lip 111 may be changed correspondingly, so as to change the caliber of the lip 111, which is helpful to improve the accuracy and sensitivity of the caliber change of the lip 111.

In some embodiments, the second air pump 122 may pump out air of the second cavity 1112 through an air pipe (not shown in the drawing) to form a negative pressure in the second cavity 1112 of the thermal treatment head 11, thereby achieving physical therapy. For example, during use, lip 111 may be pressed against and in close proximity to the user's physical therapy site, such that a closed cavity is formed between second cavity 1112 and the physical therapy site. At this time, the second air pump 122 may be turned on, so that the second air pump 122 pumps out the air in the second cavity 1112, thereby generating negative pressure in the second cavity 1112 to implement physiotherapy.

In some embodiments, the first air pump 121 may inflate the first cavity 1111 through the air pipe, thereby increasing the air pressure of the first cavity 1111, increasing the contact area between the lip 111 and the physiotherapy site of the user (see fig. 9 and 10), and reducing the size of the second cavity 1112 of the lip 111, so that the lip 111 is quickly and sealingly connected to the physiotherapy site of the user, and improving the physiotherapy efficiency.

It should be noted that, the area of the connection between the inner wall 1113 and the outer wall 1114 of the lip 111 in fig. 10 is larger than the area of the connection between the inner wall 1113 and the outer wall 1114 of the lip 111 in fig. 9, so that when the lip 111 contacts with the physiotherapy site of the user, the contact area between the lip 111 and the physiotherapy site of the user can be increased, the size of the second cavity 1112 of the lip 111 is reduced, and the quick sealing connection between the lip 111 and the physiotherapy site of the user is facilitated.

For example, a control switch may be provided on the therapy head 11 to enable adjustment of the air pressure in the first chamber 1111 of the lip 111, thereby adjusting the size of the lip 111. For example, pressing the control switch of lip 111 may pressurize first chamber 1111 and release it back to the initial state. Of course, in some embodiments, the control switch of the lip 111 is connected with the processing module 15 of the robot body, and the processing module 15 may control the control switch of the lip 111 such that the control switch is pressed or released.

A first air passage (not shown) communicating with the first cavity 1111 of the lip 111 and a second air passage (not shown) communicating with the second cavity 1112 of the lip 111 are provided in the head 11. The first air pump 121 may be connected to the first air passage through a first air pipe, and the second air pump 122 may be connected to the second air passage through a second air pipe, so that the first air pump 121 and the second air pump 122 may respectively adjust the air pressures of the first chamber 1111 and the second chamber 1112.

In the embodiment of the present application, the specific structures of the first air passage and the second air passage are not further described, so long as the first chamber 1111 and the second chamber 1112 can be connected to the air pump 12, respectively.

In some embodiments, the first air pressure sensor 141 may be disposed at a side of the inner wall 1113 or the outer wall 1114 of the lip 111 facing the first cavity 1111, and the second air pressure sensor 142 may be disposed at a side of the inner wall 1113 of the lip 111 facing the second cavity 1112. This may facilitate the first air pressure sensor 141 monitoring the air pressure in the first chamber 1111 and the second air pressure sensor 142 monitoring the air pressure in the second chamber 1112.

The first air pressure sensor 141 and the processing module 15, and the second air pressure sensor 142 and the processing module 15 may be connected by a signal line or by wireless communication. In the embodiment of the present application, the connection manner between the first air pressure sensor 141 and the processing module 15, and the connection manner between the second air pressure sensor 142 and the processing module 15 are not further limited.

In some embodiments, the plurality of strain gages 143 may be connected to the lip 111 by a strain gage bracket 116, the plurality of strain gages 143 may be connected to the process module 15 by a signal line, or the plurality of strain gages 143 may be connected to the process module 15 by wireless communication. In the embodiment of the present application, the connection manner between the plurality of strain gages 143 and the processing module 15 is not further limited.

The specific structure of the strain gage bracket 116 will be described below with reference to the drawings.

As shown in fig. 11, the strain gage frame 116 may include a frame body 1161 and strain gage connectors 1162 disposed on the frame body 1161, wherein the plurality of strain gage connectors 1162 are disposed on a side of the frame body 1161 facing the lip 111.

Illustratively, a plurality of strain gage measuring heads 1163 are provided on a surface of the holder body 1161 facing the lip 111, and the strain gage measuring heads 1163 extend from the holder body 1161 in a direction approaching the lip 111 along an axial direction (z-direction) of the lip 111. Each strain gage measuring head 1163 is sleeved with a strain gage connecting piece 1162. Illustratively, an end of each strain gage coupler 1162 facing toward the lip 111 is in contact with the lip 111 (see fig. 8).

As shown in fig. 12, the side of the strain gage measurement head 1163 facing away from the lip 111 includes a strain gage sensing surface 1164, and the strain gage 143 may be coupled to the strain gage sensing surface 1164. Illustratively, the strain gauge 143 may be fixedly coupled to the bracket body 1161 by bonding, clamping, fastening, welding, or the like.

Further, a strain gauge adapter plate 1131 (see fig. 13) for fixing the strain gauge may be provided on the base 113, and the pins of the strain gauge 143 may be soldered to the strain gauge adapter plate 1131 and then connected to an external control module through signal lines.

The strain gauge 143 mainly measures strain of an object. The strain gage connector 1162 is connected to the strain gage measuring head 1163, so that the connection with the lip 111 is achieved. When the physiotherapy head 11 is used for negative pressure physiotherapy, the lip 111 generates a certain pressure on the physiotherapy position of the user, and after the strain gauge measuring head 1163 connected with the lip 111 receives the pressure, the strain gauge connecting piece 1162 drives the strain gauge bracket 116 to generate a certain deformation, namely a strain amount, so that the strain gauge sensing surface 1164 is caused to generate strain, and meanwhile, the strain is detected by the strain gauge 143.

Therefore, when a strain gauge 143 detects strain, it indicates that a pressure value is detected in the region of the lip 111 corresponding to the strain gauge 143, and when the pressure value is greater than a required value (for example, 20N), the region of the lip 111 corresponding to the strain gauge 143 is bonded to the physiotherapy site, so as to form a seal. When the pressure value is detected in the region of the lip 111 corresponding to a certain strain gauge 143, but the pressure value is smaller than the required value (for example, 20N), it is indicated that the region of the lip 111 corresponding to the strain gauge 143 is not attached to the physiotherapy site, and is a region causing air leakage; when no strain is detected by a certain strain gauge 143, it is indicated that the region of the lip 111 corresponding to the strain gauge 143 is not attached to the physiotherapy site, and is a region causing air leakage. In this way, detection of the sealing signal of the lip 111 can be achieved through strain information sensed by the strain gauge 143.

It will be appreciated that calibration of the strain gage brackets 116 is required prior to normal use to achieve a mapping of strain to pressure. In the embodiments of the present application, the manner in which the strain gage brackets 116 are calibrated is not further described.

In some embodiments, attachment holes may also be provided in the bracket body 1161 to attach the strain gage bracket 116 to the base 113 of the therapy head 11.

In the embodiment of the present invention, the number of the strain gages 143 is 6, however, in other embodiments, the number of the strain gages 143 may be set to 4, 5, 7, 8 or more, and in the embodiment of the present application, the number of the strain gages 143 is not limited.

When the physiotherapy head 11 is assembled, the 6 strain gauge connectors 1162 can be stuck in the lip 111 by using glue, then the lip 111 is stuck on the upper surface of the lip connector 115 by using glue, and then the lip 111 is fixedly connected with the lip connector 115 by using the collar 114. Then, the strain gauge bracket 116 may be fixed to the base 113 by a screw and a nut, the lip connector 115 may be fixed to the base 113 by a screw and a nut, and finally the base 113 and the housing 112 may be fixedly connected to each other, thereby completing the assembly. Of course, in other embodiments, the therapy head 11 may also be assembled in other orders.

The control method of the negative pressure physiotherapy robot in the above embodiment will be described in detail with reference to the accompanying drawings.

Fig. 14 is a flowchart of a control method of the negative pressure physiotherapy robot according to an embodiment of the present application.

As shown in fig. 14, an embodiment of the present invention provides a control method of a negative pressure physiotherapy robot, including the following steps:

s201: a plurality of therapy positions on a therapy path of a limb is determined.

Wherein, the planning module 13 of the control device 100 determines the physiotherapy path of the limb, and locates a plurality of physiotherapy positions on the physiotherapy path.

It should be noted that, before the negative pressure physiotherapy robot is used, that is, before step S201, the negative pressure physiotherapy robot may be set. Taking the negative pressure physiotherapy robot including two air pumps as an example for explanation, the target physiotherapy air pressure and the target lip air pressure of the negative pressure physiotherapy robot may be set, and then the first air pump 121 and the second air pump 122 are opened to prepare for the negative pressure physiotherapy.

S202: the control mechanical arm 10 drives the lip 111 of the physiotherapy head 11 to contact with the physiotherapy site at the first physiotherapy pressure, and controls the air pump 12 to apply the target physiotherapy air pressure to the second cavity 1112 and the target lip air pressure to the first cavity 1111, and obtains the air pressure of the second cavity 1112.

The processing module 15 of the control module controls the mechanical arm 10 to drive the lip 111 of the physiotherapy head 11 to move to the upper portion of the direction perpendicular to the physiotherapy phase according to the physiotherapy path, then, the physiotherapy posture of the lip 111 of the physiotherapy head 11 is set, specifically, the lip 111 can be close to the physiotherapy phase along the direction perpendicular to the physiotherapy phase, the physiotherapy pressure of the lip 111 of the physiotherapy head 11 is set to be the first physiotherapy pressure, then, the mechanical arm 10 is controlled to drive the lip 111 of the physiotherapy head 11 to be close to the physiotherapy phase, and the lip 111 of the physiotherapy head 11 is driven to be close to the physiotherapy phase through force-position mixed control according to the set physiotherapy posture and the physiotherapy pressure. It should be noted that, the physiotherapy pressure of the lip 111 of the physiotherapy head 11 is the force of the mechanical arm 10 to the physiotherapy position through the lip 111 of the physiotherapy head 11; the center of the lip 111 is connected to the center of gravity of the therapy head 11, the connection is defined as a lip line, and the angle of the lip 111 can be understood as an angle between the lip line and the projection of the lip line on the physiotherapy site, and when the lip 111 is close to the physiotherapy site along the direction perpendicular to the physiotherapy site, the lip line is perpendicular to the physiotherapy site, and the angle of the lip 111 is 90 °.

The processing module 15 of the control module controls the second air pump 122 of the air pump 12 to pump air out of the second cavity 1112, so as to apply target physiotherapy air pressure to the second cavity 1112; the processing module 15 of the control module controls the first air pump 121 of the air pump 12 to supply air to the second chamber 1112, thereby applying the target lip air pressure to the first chamber 1111.

In this embodiment, the target physiotherapy air pressure is negative pressure, and the negative pressure physiotherapy uses negative pressure, that is, the pressure value is less than 0, the larger the negative pressure is, the smaller the pressure value is, but the larger the negative pressure is, for example, -10kpa is greater than-30 kpa, but the negative pressure with the pressure of-10 kpa is smaller than the negative pressure with the pressure of-30 kpa, that is, the larger the absolute value of the negative pressure is, the larger the negative pressure is, so the smaller the pressure value is and the smaller the air pressure is when the negative pressure physiotherapy pressure is larger; the target lip air pressure is positive pressure.

After the lip 111 of the therapy head 11 contacts the therapy site with the first therapy pressure, the monitoring module 14 of the control module obtains the air pressure of the second cavity 1112.

S203: it is determined whether the air pressure of the second chamber 1112 is less than a first predetermined threshold.

It should be noted that, the first preset threshold may be a negative pressure physiotherapy pressure threshold, for example, may be-10 kpa, etc., so that when the air pressure of the second cavity 1112 is smaller than the first preset threshold, negative pressure adsorption is achieved, and negative pressure physiotherapy of the physiotherapy site is completed. If the air pressure of the second cavity 1112 is greater than or equal to the first preset threshold, it indicates that the negative pressure adsorption is not completed, in other words, the position where the lip 111 and the physiotherapy site have air leakage, so that the pressure of the second cavity 1112 cannot reach the first preset threshold, and thus the lip 111 needs to be adjusted, and step S204 is performed.

By judging whether the air pressure of the second cavity 1112 is smaller than the first preset threshold value or not as a condition for judging whether the lip 111 is in sealing connection with the physiotherapy site or not, a preliminary judgment is firstly carried out on whether the lip 111 is in sealing connection with the physiotherapy site or not, and then the next operation is carried out, relative to directly adjusting the size of the lip, so that the accuracy of judging whether the lip 111 is in sealing connection with the physiotherapy site or not can be improved, the time of negative pressure physiotherapy can be saved, and the efficiency is improved.

When the air pressure of the second cavity 1112 is smaller than the first preset threshold, it is determined that the lip 111 is in sealing connection with the physiotherapy site, and the physiotherapy site completes the physiotherapy operation.

S204: when the air pressure of the second cavity 1112 is greater than or equal to the first preset threshold, a plurality of pressure values of the lip 111 and the air pressure of the first cavity 1111 are obtained.

At least one parameter of the size, angle, and pressure of the lip 111 is adjusted according to at least one parameter of the air pressure of the first chamber 1111, the air pressure of the second chamber 1112, and the pressure value of the lip 111. When the air pressure of the second cavity 1112 is smaller than the first preset threshold, the lip 111 is determined to be in sealing connection with the physiotherapy site, and the physiotherapy site completes the physiotherapy operation.

By providing the plurality of strain gauges 143, the pressure values at a plurality of positions of the lip 111 can be measured, and a plurality of pressure values of the lip 111 can be obtained.

The air pressure of the first chamber 1111 is acquired by the first air pressure sensor 141.

The processing module 15 may adjust at least one parameter of the size, angle, and physiotherapy pressure of the lip 111 according to one parameter of the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111. Illustratively, the processing module 15 may adjust the physiotherapy pressure of the lip 111 according to the pressure value of the lip 111, specifically, adjust the physiotherapy pressure of the lip 111 when the pressure values of the lip 111 are all smaller than the second preset threshold value; or, the processing module 15 may adjust the angle of the lip 111 and the physiotherapy pressure according to the pressure value of the lip 111, specifically, when the pressure values of the lip 111 are all smaller than the second preset threshold, the angle of the lip 111 and the physiotherapy pressure are adjusted; or, the processing module 15 may adjust the size, angle and physiotherapy pressure of the lip 111 according to the parameter of the pressure value of the lip 111, specifically, adjust the size, angle and physiotherapy pressure of the lip 111 when the pressure values of the lip 111 are all smaller than the second preset threshold.

The processing module 15 may adjust at least one parameter of the size, angle, and physiotherapy pressure of the lip 111 according to two parameters of the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111. Illustratively, the processing module 15 may adjust the angle of the lip 111 according to the air pressure of the first cavity 1111 and the second cavity 1112, specifically, when the air pressure of the first cavity is equal to the third preset threshold, and the air pressure of the second cavity is greater than the first preset threshold, the angle of the lip 111 is adjusted; or, the processing module 15 may adjust the angle and the physiotherapy pressure of the lip 111 according to the air pressure of the first cavity 1111 and the second cavity 1112, specifically, when the air pressure of the first cavity is equal to the third preset threshold, and the air pressure of the second cavity is greater than the first preset threshold, the angle and the physiotherapy pressure of the lip 111 are adjusted.

The processing module 15 may adjust at least one parameter of the size, angle, and physiotherapy pressure of the lip 111 according to three parameters of the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111. Illustratively, the processing module 15 may adjust the size of the lip 111 according to the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111, specifically, when the air pressure of the first cavity is less than a third preset threshold, the air pressure of the second cavity is greater than the first preset threshold, and at least one of the pressure values of the lip 111 is greater than the second preset threshold, the size of the lip 111 is adjusted; or, the processing module 15 may adjust the size and angle of the lip 111 according to the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111, specifically, when the air pressure of the first cavity is less than a third preset threshold, the air pressure of the second cavity is greater than the first preset threshold, and at least one of the pressure values of the lip 111 is greater than the second preset threshold, the size and angle of the lip 111 are adjusted; or, the processing module 15 may adjust the size, angle, and physiotherapy pressure of the lip 111 according to the air pressure of the first cavity 1111, the air pressure of the second cavity 1112, and the pressure value of the lip 111, specifically, when the air pressure of the first cavity is smaller than the third preset threshold, the air pressure of the second cavity is greater than the first preset threshold, and at least one of the pressure values of the lip 111 is greater than the second preset threshold, the size, angle, and physiotherapy pressure of the lip 111 are adjusted.

According to the control method of the negative pressure physiotherapy robot, the lip 111 is made of the silica gel material, so that the diameters and the sizes of the lip 111 can be different, the contact area between the lip 111 and physiotherapy positions can be changed, the lip 111 of the negative pressure physiotherapy robot can meet physiotherapy requirements of different physiotherapy positions, and the physiotherapy efficiency of the negative pressure physiotherapy robot is improved. Moreover, according to at least one parameter of the air pressure of the first cavity 1111, the air pressure of the second cavity 1112 and the pressure value of the lip 111, at least one parameter of the size, the angle and the pressure of the lip 111 is adjusted, so that the lip 111 can be efficiently adjusted according to pressure feedback and pressure feedback, the sealing connection speed of the lip 111 and the physiotherapy position can be improved, and the physiotherapy efficiency of the negative pressure physiotherapy robot can be improved.

Fig. 15 is another flowchart of a control method of the negative pressure physiotherapy robot according to an embodiment of the present application. Fig. 15 is a further refinement of the operational steps based on fig. 14.

As shown in fig. 15, in a possible embodiment, in step S204, it includes:

s2041: a plurality of pressure values of the lip 111 are acquired.

The signals corresponding to the pressure values can be filtered through a moving average filtering algorithm.

S2042: it is determined whether at least one of the plurality of pressure values of the lip 111 is greater than a second preset threshold.

When a strain gauge 143 detects strain, it indicates that a pressure value is detected in the area of the lip 111 corresponding to the strain gauge 143, and when the pressure value is greater than a second preset threshold (for example, 20N), the area of the lip 111 corresponding to the strain gauge 143 is attached to the physiotherapy site, so as to form a seal. When the pressure value is detected in the region of the lip 111 corresponding to a certain strain gauge 143, but the pressure value is smaller than a second preset threshold (for example, 20N), it is indicated that the region of the lip 111 corresponding to the strain gauge 143 is not attached to the physiotherapy site, and is a region causing air leakage; when no strain is detected by a certain strain gauge 143, it is indicated that the region of the lip 111 corresponding to the strain gauge 143 is not attached to the physiotherapy site, and is a region causing air leakage.

By judging whether at least one pressure value of the plurality of pressure values of the lip 111 is larger than a second preset threshold value, the sealing position and the leakage position of the lip and the physiotherapy position can be judged, and the leakage position of the lip and the physiotherapy position can be quickly judged, so that the negative pressure physiotherapy robot can make targeted adjustment according to the information, the sealing speed of the lip and the physiotherapy position is increased, and the efficiency of negative pressure physiotherapy is improved.

S2043: when at least one of the plurality of pressure values of the lip 111 is greater than the second preset threshold value, the air pump 12 is controlled to increase the air pressure of the first chamber 1111. So set up to increase the area of contact of lip 111 and physiotherapy position, reduce the size of the second cavity 1112 of lip 111 to lip 111 and user's physiotherapy position quick sealing connection.

As shown in fig. 15, in a possible embodiment, after step S2043, the method further includes:

s2044: the air pressure of the first chamber 1111 is acquired.

S2045: judging whether the air pressure of the first cavity 1111 reaches a third preset threshold; the third preset threshold is a maximum air pressure value that can be borne by the first cavity 1111.

Wherein the third preset threshold is greater than the target lip air pressure. The third preset threshold may be 40kpa.

When the air pressure of the first chamber 1111 does not reach the third preset threshold, that is, when the air pressure of the first chamber is less than the third preset threshold, step S203 is performed. When the air pressure of the second chamber 1112 is less than the first preset threshold, the air pump 12 is controlled to stop increasing the air pressure of the first chamber 1111 and the physiotherapy operation is completed.

By setting the third preset threshold value to the maximum air pressure value that can be borne by the first cavity, the lip 111 can cover the largest physiotherapy area, that is, the difference between the maximum size and the minimum size of the first cavity of the lip 111 in the working state can be maximized, and then the difference between the maximum size and the minimum size of the second cavity 1112 is maximized, so that the lip 111 can cover the largest physiotherapy area, and the applicability of the negative pressure physiotherapy robot is improved. At this time, by judging whether the air pressure of the first chamber 1111 reaches the third preset threshold, it is possible to prevent damage to the lip 111 by stopping increasing the air pressure of the first chamber 1111 in time.

In one possible implementation, after step S2045, the method further includes:

s2046: when the air pressure of the first cavity 1111 is equal to the third preset threshold, the mechanical arm 10 is controlled to adjust the angle between the lip 111 and the physiotherapy site, the air pump 12 is controlled to adjust the air pressure of the first cavity 1111 to the target lip air pressure, and the mechanical arm 10 is controlled to drive the lip 111 of the physiotherapy head 11 to repeat the physiotherapy operation on the physiotherapy site. So set up, can make the angle of negative pressure physiotherapy robot in time adjustment physiotherapy head to make lip and physiotherapy position seal fast, and then improve the efficiency of negative pressure physiotherapy.

When the air pressure of the first cavity 1111 is equal to the third preset threshold, the mechanical arm 10 may be controlled to adjust the angle between the lip 111 and the physiotherapy site according to the pressure values of the lip 111. Specifically, a position on the lip 111 of the physio-head 11 corresponding to the smallest one of the plurality of pressure values of the lip 111 is determined; the mechanical arm 10 is controlled to incline towards the direction of the corresponding position of the minimum pressure value on the lip of the physiotherapy head so as to adjust the angle between the lip and the physiotherapy position.

The processing module 15 may compare the pressure values of the lips 111, determine the smallest pressure value, determine the strain gauge 143 corresponding to the smallest pressure value, and determine the area of the lips 111 corresponding to the strain gauge 143, that is, the position of the smallest pressure value corresponding to the lips 111 of the physiotherapeutic head 11.

The processing module 15 can control the gesture of the mechanical arm 10, and the mechanical arm 10 inclines towards the direction of the position corresponding to the minimum pressure value on the lip of the physiotherapy head, so that the lip line of the lip 111 inclines towards the direction of the position corresponding to the minimum pressure value on the lip of the physiotherapy head, and the angle between the lip and the physiotherapy position can be adjusted.

After step S2046, further including:

s2047: the number of repeated physiotherapy of the physiotherapy site by the lip 111 of the physiotherapy head 11 is obtained.

The monitoring module 14 may monitor the number of repeated physiotherapy performed on the physiotherapy site by the lip 111. The monitoring module 14 may include a camera mounted on the mechanical arm 10, and the camera may monitor the number of repeated physiotherapy performed on the physiotherapy site by the lip 111.

S2048: it is judged whether the number of repeated physiotherapy of the physiotherapy site by the lip 111 of the physiotherapy head 11 is greater than a preset number of physiotherapy.

Wherein, the preset times of physiotherapy can be set before the negative pressure physiotherapy robot is used. In some examples, the preset number of treatments is 5.

When the number of repeated physiotherapy of the physiotherapy site by the lip 111 of the physiotherapy head 11 is less than or equal to the preset number of physiotherapy, step S202 is performed. When the air pressure of the second chamber 1112 is less than the first preset threshold, the air pump 12 is controlled to stop increasing the air pressure of the first chamber 1111 and the physiotherapy operation is completed.

And when the number of repeated physiotherapy times of the lip of the physiotherapy head to the physiotherapy position is larger than the preset physiotherapy times, the physiotherapy operation to the current physiotherapy position is abandoned, and the step S205 is executed.

As shown in fig. 15, in a possible embodiment, after step S2042, the method further includes:

s2049: when the pressure values of the lip 111 do not exceed the second preset threshold, that is, each pressure value is smaller than or equal to the second preset threshold, the mechanical arm 10 is controlled to adjust the physiotherapy pressure of the lip 111 of the physiotherapy head 11 to the second physiotherapy pressure, and the mechanical arm 10 is controlled to drive the lip 111 of the physiotherapy head 11 to repeat the physiotherapy operation on the physiotherapy position. So set up, can make the physiotherapy pressure of negative pressure physiotherapy robot in time adjustment physiotherapy head to make lip and physiotherapy position seal fast, and then improve the efficiency of negative pressure physiotherapy.

Wherein the second physiotherapy pressure is greater than the first physiotherapy pressure. In some examples, the first therapeutic pressure is a first therapeutic pressure of 5N and the second therapeutic pressure is 8N.

After step S2049, steps S2047 and S2048 are performed.

As shown in fig. 15, in a possible embodiment, after step S201, before step S202, further includes:

S205, performing operation; judging whether all physiotherapy positions on the physiotherapy path finish physiotherapy operation.

S206; when all physiotherapy positions on the physiotherapy path complete physiotherapy operation, the negative pressure physiotherapy robot completes negative pressure physiotherapy.

When there is a physiotherapy bit on the physiotherapy path that does not complete the physiotherapy operation, step S202 is performed.

In step S203, the following is performed: when the air pressure of the second cavity 1112 is smaller than the first preset threshold, step S205 is performed.

Example two

The embodiment of the invention provides a physiotherapy head which is applied to a negative pressure physiotherapy robot or other negative pressure physiotherapy devices. In this embodiment, the physiotherapy head is applied to the negative pressure physiotherapy robot, and the negative pressure physiotherapy robot includes air pump, trachea and physiotherapy head, and tracheal one end can be connected with the physiotherapy head, and the other end can be connected with the air pump, and the air pump can be taken out the air in the physiotherapy head through the trachea to form the negative pressure in the cavity of physiotherapy head, thereby realize the physiotherapy.

Referring to fig. 16 and 17, the therapy head 11 may include a base 113 and a lip 111, wherein the base 113 may have a base cavity 1131 and a base opening 1132 communicating with the base cavity 1131, and the lip 111 may be surrounded on the opening 1132. The base 113 may further have a first vent 1133 (shown with reference to fig. 21), where the first vent 1133 may be in communication with the base cavity 1131, and the first vent 1133 may be configured to be connected to a first air pipe, so that the air pump may pump air in the base cavity 1131 through the first air pipe.

For example, during use, the lip 111 may press against and conform closely to the skin of a person to form a closed cavity between the base cavity 1131 and the skin of the person. At this time, the air pump may be turned on to draw out the air in the base cavity 1131 through the first air pipe, thereby generating negative pressure in the base cavity 1131 to achieve physical therapy.

Fig. 18 is a schematic view of the lip of fig. 16 in a view angle; fig. 19 is a front view of the lip of fig. 16; fig. 20 is a cross-sectional view A-A of fig. 19.

Wherein, referring to fig. 18, the lip 111 may include an inner wall 1113 and an outer wall 1114, and as shown in connection with fig. 19 and 20, a first cavity 1111 may be formed between the inner wall 1113 and the outer wall 1114, a second cavity 1112 may be formed inside the inner wall 1113, and the second cavity 1112 may be in communication with the base cavity 1131. The lip 111 may be made of a silicone material, for example, the lip 111 may be integrally formed of a silicone material, so as to improve structural stability of the lip 111. The lip 111 may further have a second vent 1115 thereon, the second vent 1115 may communicate with the first chamber 1111, the second vent 1115 may be used to communicate with a second air pipe, and inject or exhaust air into or from the first chamber 1111 through the second air pipe to change the air pressure in the first chamber 1111. For example, there may be two air pipes in the negative pressure physiotherapy robot, the two air pipes may be a first air pipe and a second air pipe, one end of the first air pipe and one end of the second air pipe may be both connected with the air pump, the other end of the first air pipe may be connected with the first ventilation hole 1133 to pump air to the base cavity 1131 and the second cavity 1112, and the other end of the second air pipe may be connected with the second ventilation hole 1115 to inject or exhaust air to the first cavity 1111.

Wherein, by changing the pressure in the first cavity 1111, the overall size of the lip 111 can be changed, thereby changing the diameter of the inner wall 1113 of the lip 111, so that the caliber of the lip 111 can be different sizes. For example, when the pressure in the first chamber 1111 is small (as shown in fig. 9 of the first embodiment), the volume of the first chamber 1111 is also small, and the distance between the inner wall 1113 and the outer wall 1114 of the lip 111 is also relatively small. At this time, the inner ring of the lip 111 is relatively large in size, and accordingly, the caliber of the lip 111 is also large. While when the pressure of the first chamber 1111 increases (as shown in fig. 10 of the first embodiment), the volume of the first chamber 1111 increases with the increase of the air pressure, and the distance between the inner wall 1113 and the outer wall 1114 of the lip 111 increases. At this time, the inner ring size of the lip 111 is relatively small, and the caliber of the lip 111 is also small. Thus, through the air pressure in the first cavity 1111, the adjustment of different sizes and calibers of the lip 111 can be realized, so that the lip 111 can meet the physical therapy requirements of different parts of a human body.

Moreover, when the air pressure in the first cavity 1111 is larger, the distance between the inner wall 1113 and the outer wall 1114 of the lip 111 is correspondingly increased, so that the contact area between the lip 111 and the skin of the human body can be increased, the contact tightness between the lip 111 and the skin of the human body can be improved, the tightness of the second cavity 1112 can be effectively improved, and the negative pressure physiotherapy effect can be improved.

In addition, as the air pressure in the first chamber 1111 increases, the volume of the first chamber 1111 increases, and the height dimension (i.e., the dimension in the y direction in fig. 20) of the lip 111 may be increased, so that the contact area between the lip and the skin in the height direction may be increased, for example, when the lip 111 is attached to the joint of the human body, the joint of the human body may extend into the inner ring of the lip 111, and the inner wall 1113 of the lip 111 may be attached to the skin at the joint. At this time, due to the increase of the height of the lip 111, the contact area between the inner wall 1113 of the lip 111 and the skin at the joint can be effectively increased, so that the inner wall of the lip 111 can be better attached to the skin, the attaching tightness of the lip 111 at the joint can be effectively improved, and the physiotherapy effect of the negative pressure physiotherapy device at the joint can be improved.

FIG. 21 is a schematic view of the base of FIG. 17 from one perspective; fig. 22 is a schematic view of the base of fig. 17 from another perspective.

Referring to fig. 21, the base 113 may include a base body 1134 and a vent 1135 connected, and the base cavity 1131 and the base opening 1132 of the base 113 may both be located on the base body 1134, and the vent 1135 may be located outside of the base body 1134. As shown in fig. 22, a first air receiving port 1136 communicating with the first air hole 1133 may be provided on the bottom wall of the base body 1134, and the first air receiving port 1136 may be connected with a first air pipe, so that the air pump may vacuumize the base cavity 1131 and the second cavity 1112 through the first air pipe and the first air receiving port 1114, so as to achieve physiotherapy.

One end of the vent 1135 may have a second air vent 1137, the second air vent 1137 may be connected to the second air vent 1115 on the lip 111, for example, the second air vent 1137 may be inserted into the second air vent 1115. A third air receiving port 1138 may be provided at the other end of the ventilation portion 1135, the third air receiving port 1138 may be used to connect with a second air pipe, and the second air pipe may sequentially inflate or deflate the first cavity 1111 through the third air receiving port 1138 and the second air receiving port 1137, so as to change the pressure in the first cavity 1111, thereby changing the caliber of the lip 111, so that the lip 111 may meet the physiotherapy requirements of different human body parts.

Fig. 23 is an exploded view of the physio-head of fig. 16 from another perspective.

Referring to fig. 8, the therapy head 11 may further include a lip connector 115, the lip connector 115 may be located between the base 113 and the lip 111, one surface of the lip connector 115 may be connected to the base 113, the other surface may be connected to the lip 111, and the lip 111 and the base 113 may be connected to each other through the lip connector 115. This effectively improves the reliability and stability of the connection between the lip 111 and the base 113, contributing to the improvement of the structural stability of the entire physiotherapeutic head 11.

Fig. 24 is a schematic view of the lip in fig. 16 in another view.

For example, with continued reference to fig. 23, the physiotherapy head 11 may further include a first collar 1141, where the first collar 1141 may be disposed around the periphery of the lip 111, and, as shown in conjunction with fig. 24, a first lapping table 1116 may be disposed around an outer wall 1114 of an end of the lip 111, which is close to the lip connector 115, one end of the first collar 1141 may be pressed against the first lapping table 1116, another end of the first collar 1141 may be fastened to a surface of the lip connector 115, which faces away from the lip 111, and an outer ring of the lip 111 may be connected to the lip connector 115 through the first collar 1141. In this way, the reliability and stability of the connection between the lip 111 and the lip connector 115 can be effectively improved, and the separation between the lip 111 and the lip connector 115 can be effectively performed, so that the reliability and stability of the connection between the lip 111 and the base 113 are effectively improved, and the overall structural stability of the physiotherapy head 11 is improved.

Moreover, the first collar 1141 is reliable in connection, simple in operation, and convenient to mount and dismount, can effectively improve reliability and firmness of connection between the lip 111 and the lip connector 115, and can facilitate mounting and dismounting between the lip 111 and the lip connector 115, thereby being beneficial to improving assembly efficiency between the lip 111 and the lip connector 115.

With continued reference to fig. 23, the physiotherapy head 11 may further include a second collar 1142, where the second collar 1142 may be enclosed on an inner wall 1113 of the lip 111, and as shown in fig. 24, a second lap joint platform 1117 may be enclosed on an inner wall 1113 of one end of the lip 111, which is close to the lip connector 115, and one end of the second collar 1142 may be pressed on the second lap joint platform 1117, and the other end of the second collar 1142 may be fastened on a surface of the lip connector 115, which faces away from the lip 111, and an inner ring of the lip 111 may be connected to the lip connector 115 through the second collar 1142. In this way, the firmness and reliability of the connection between the lip 111 and the lip connector 115 can be further improved, and separation between the lip 111 and the lip connector 115 can be effectively avoided, so that the structural stability of the physiotherapy head 11 is further improved.

FIG. 25 is a schematic view of the first collar of FIG. 17 from a perspective; fig. 26 is a schematic view of the first collar of fig. 17 from another perspective.

Referring to fig. 25 and 26, the first collar 1141 may include a first pressing portion 1143 and a plurality of first fastening portions 1144, the plurality of first fastening portions 1144 may be disposed on the first pressing portion 1143 at intervals, the first pressing portion 1143 may be pressed on the first lapping platform 1116 of the lip 111, and the plurality of first fastening portions 1144 may be fastened on the lip connector 115. Through the cooperation between the first pressing portion 1143 and the first lapping platform 1116 and the cooperation between the plurality of first buckling portions 1144 and the lip connector 115, the lip 111 and the lip connector 115 can be connected, separation of the lip 111 and the lip connector 115 can be effectively prevented, and accordingly reliability and stability of connection between the lip 111 and the lip connector 115 can be effectively improved.

FIG. 27 is a schematic view of the second collar of FIG. 17 from a perspective; fig. 28 is a schematic view of the second collar of fig. 17 from another perspective.

Referring to fig. 27 and 28, the second collar 1142 may include a second pressing portion 1145 and a plurality of second fastening portions 1146, the plurality of second fastening portions 1146 may be disposed on the second pressing portion 1145 at intervals, the second pressing portion 1145 may be pressed on the second overlap platform 1117 of the lip 111, and the plurality of second fastening portions 1146 may be fastened on the lip connector 115. Through the cooperation between the second pressing part 1145 and the second lapping platform 1117 and the cooperation between the plurality of second buckling parts 1146 and the lip connector 115, the lip 111 and the lip connector 115 can be connected, separation of the lip 111 and the lip connector 115 can be effectively prevented, and accordingly reliability and stability of connection between the lip 111 and the lip connector 115 are effectively improved, and structural stability of the physiotherapy head 11 is improved.

Fig. 29 is a schematic structural view of the housing part in fig. 16.

Referring to fig. 29, the therapy head 11 may further include a housing part 112, the housing part 112 may be connected to the lip connector 115, wherein the housing part 112 may have a third cavity 1121, the housing part 112 may be located at a side of the base 113 facing away from the lip connector 115 (as shown in fig. 23), and the first air inlet 1136 and the third air inlet 1138 on the base 113 may be both located in the third cavity 1121. A through hole 1122 in communication with the third cavity 1121 may be formed in the bottom wall of the housing 112, and the through hole 1122 may be used for the first air tube and the second air tube to pass through.

For example, one end of the first air pipe and the second air pipe may be connected to an air pump, and the other end may pass through the through hole 1122 and extend into the third cavity 1121 to be connected to the first air receiving port 1136 and the third air receiving port 1138 in the third cavity 1121, respectively.

For example, as shown in fig. 29, a control switch 1123 may be provided on the housing portion 112, and the user may adjust the pressure in the first chamber 1111 by pressing the control switch 1123 to change the caliber of the lip 111. For example, a circuit board may be provided below the control switch 1123, and when the user presses the control switch 1123, a trigger signal may be generated on the circuit board, and the signal may be transmitted to the air pump through the data line to activate the air pump, so that the air pump injects air into the first cavity 1111 to increase the volume of the first cavity 1111, thereby reducing the caliber size of the lip 111. In contrast, when the user releases the control switch 1123, the trigger signal is turned off, and at this time, the air pump stops injecting air into the first chamber 1111, and the pressure in the first chamber 1111 is also relatively reduced, thereby restoring the size of the lip 111 to the original size.

Fig. 30 is a schematic view of the seed lip connector of fig. 17 in a view; fig. 31 is a schematic view of the lip connector of fig. 17 in another view.

The housing part and the lip connector 115 may be connected by bonding, clamping, fastening, or a bolt fastener. For example, as shown in fig. 29, a third mounting hole 1125 may be formed in the side wall 1124 of the housing 112, as shown in fig. 30 and 31, a third connection portion 1151 may be provided on the lip connector 115 to be engaged with the side wall 1124, a fourth mounting hole 1152 may be formed in the third connection portion 1151, and a bolt fastener may be passed through the third mounting hole 1125 and screwed into the fourth mounting hole 1152 so that the lip connector 115 and the housing may be connected by the bolt fastener.

Fig. 32 is a schematic view of the base of fig. 17 from a further perspective.

Referring to fig. 31 and 32, first coupling parts 1139 may be provided at both sides of the base 113, first mounting holes 1140 may be provided at the first coupling parts 1139, second coupling parts 1153 may be provided at the lip connectors 115 to be coupled with the first coupling parts 1139, second mounting holes 1154 may be provided at the second coupling parts 1153, the second mounting holes 1154 and the first mounting holes 1140 may be aligned with each other, and screw fasteners may pass through the first mounting holes 1140 and screw into the second mounting holes 1154 so that the lip connectors 115 and the base 113 may be coupled by the screw fasteners.

Fig. 33 is a side view of the lip in fig. 16, and fig. 34 is a B-B sectional view in fig. 33.

Referring to fig. 33 and 34, a shaping film 110 is disposed in the lip 111, the shaping film 110 may be disposed around an outer wall 1114 of the lip 111, and the shaping film 110 and the lip 111 are in an integrated structure. For example, the shaping film 110 and the lip 111 may be integrally injection-molded. Wherein, the shaping film 110 may be configured to prevent the outer wall 1114 of the lip 111 from being deformed, for example, the shaping film 110 may be made of a harder material, which is not easy to deform. Thus, when the volume of the first cavity 1111 changes, only the diameter of the inner wall 1113 of the lip 111 may be changed correspondingly, so as to change the caliber of the lip 111, which is helpful to improve the accuracy and sensitivity of the caliber change of the lip 111.

Moreover, by arranging the shaping film 110 on the outer wall 1114 of the lip 111, when the pressure of the first cavity 1111 is changed to change the caliber of the lip 111, the inner ring size is sensitive to change, and the first cavity 1111 can meet the requirement of changing the caliber of the lip 111 with smaller pressure change, thereby being beneficial to saving energy consumption.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. The negative pressure physiotherapy robot is characterized by comprising a mechanical arm, a physiotherapy head, an air pump and a control device;

2. The negative pressure physiotherapy robot of claim 1, wherein the physiotherapy head comprises a housing portion, a base, a lip connector, and at least one collar;

the lip is fixedly connected with the lip connector through at least one clamping ring, the lip connector is fixedly connected with the base, and the base is fixedly connected with the shell part.

3. The negative pressure physiotherapy robot of claim 2, wherein the physiotherapy head further comprises a strain gauge bracket, the monitoring module comprises a plurality of strain gauges, the plurality of strain gauges are arranged at intervals around the lip, and the plurality of strain gauges are connected with the lip through the strain gauge bracket.

4. The negative pressure physiotherapy robot according to claim 1, wherein the lip is made of silica gel, a shaping film is arranged in the lip, the shaping film is arranged on the outer wall of the lip in a surrounding mode, and the shaping film and the lip are of an integrated structure;

The shaping film is configured to prevent deformation of an outer wall of the lip.

5. A control method of a negative pressure physiotherapy robot applied to the negative pressure physiotherapy robot according to any one of claims 1 to 4, characterized by comprising:

the control mechanical arm drives the lip of the physiotherapy head to contact with the physiotherapy position at a first physiotherapy pressure, and controls the air pump to apply target physiotherapy air pressure to the second cavity and target lip air pressure to the first cavity, and acquires air pressure of the second cavity;

when the air pressure of the second cavity is greater than or equal to the first preset threshold value, acquiring a plurality of pressure values of the lip and the air pressure of the first cavity, and adjusting at least one parameter of the size, the angle and the pressure of the lip according to at least one parameter of the air pressure of the first cavity, the air pressure of the second cavity and the pressure value of the lip.

6. The method according to claim 5, wherein when the air pressure of the second cavity is greater than or equal to the first preset threshold, acquiring a plurality of pressure values of the lip and the air pressure of the first cavity, and adjusting at least one parameter of the size, the angle, and the pressure of the lip according to at least one parameter of the air pressure of the first cavity, the air pressure of the second cavity, and the pressure value of the lip, including:

Acquiring a plurality of pressure values of the lip;

judging whether at least one of a plurality of pressure values of the lip is larger than a second preset threshold value or not;

and when at least one of the pressure values of the lip is larger than the second preset threshold value, controlling the air pump to increase the air pressure of the first cavity.

7. The method according to claim 6, wherein when at least one of the pressure values of the lip is greater than the second preset threshold value, the step of controlling the air pump to increase the air pressure of the first cavity further comprises:

acquiring the air pressure of the first cavity;

judging whether the air pressure of the first cavity reaches a third preset threshold value or not; the third preset threshold value is the maximum air pressure value which can be born by the first cavity;

when the air pressure of the first cavity is smaller than the third preset threshold value and the air pressure of the second cavity is smaller than the first preset threshold value, the air pump is controlled to stop increasing the air pressure of the first cavity, and physiotherapy operation is completed.

8. The method for controlling a negative pressure physiotherapy robot according to claim 7, further comprising, after the step of determining whether the air pressure of the first cavity reaches a third preset threshold:

When the air pressure of the first cavity is equal to the third preset threshold, controlling the mechanical arm to adjust the angle between the lip and the physiotherapy position, controlling the air pump to adjust the air pressure of the first cavity to the target lip air pressure, and controlling the mechanical arm to drive the lip of the physiotherapy head to repeat physiotherapy operation on the physiotherapy position.

9. The method according to claim 8, wherein when the air pressure of the first cavity is equal to the third preset threshold and the air pressure of the second cavity is greater than the first preset threshold, controlling the mechanical arm to adjust the angle between the lip and the physiotherapy site, controlling the air pump to adjust the air pressure of the first cavity to the target lip air pressure, and controlling the mechanical arm to drive the lip of the physiotherapy head to perform repeated physiotherapy operation on the physiotherapy site, includes:

determining the corresponding position of the smallest pressure value in the pressure values of the lips on the lips of the physiotherapy head;

and controlling the mechanical arm to incline towards the direction of the position, corresponding to the minimum pressure value, on the lip of the physiotherapy head so as to adjust the angle between the lip and the physiotherapy position.

10. The method according to claim 6, wherein after the step of determining whether at least one of the plurality of pressure values of the lip is greater than a second preset threshold, further comprising:

and when all the pressure values of the lips do not exceed the second preset threshold value, controlling the mechanical arm to adjust the physiotherapy pressure of the lips of the physiotherapy head on the physiotherapy position to the second physiotherapy pressure, and controlling the mechanical arm to drive the lips of the physiotherapy head to repeatedly perform physiotherapy operation on the physiotherapy position.

11. The method according to claim 8 or 10, wherein when the air pressure of the first cavity is equal to the third preset threshold, controlling the mechanical arm to adjust the angle between the lip and the physiotherapy site, controlling the air pump to adjust the air pressure of the first cavity to the target lip air pressure, and controlling the mechanical arm to drive the lip of the physiotherapy head to repeat the physiotherapy operation on the physiotherapy site, or controlling the mechanical arm to adjust the physiotherapy pressure of the lip of the physiotherapy head to the second physiotherapy pressure when the pressure values of the lip are smaller than the second preset threshold, and controlling the mechanical arm to drive the lip of the physiotherapy head to repeat the physiotherapy operation on the physiotherapy site, further comprises:

Acquiring repeated physiotherapy times of lips of the physiotherapy head on the physiotherapy positions;

judging whether the repeated physiotherapy frequency of the lip of the physiotherapy head to the physiotherapy position is larger than a preset physiotherapy frequency or not;

when the repeated physiotherapy frequency of the lip of the physiotherapy head to the physiotherapy position is smaller than or equal to the preset physiotherapy frequency and the air pressure of the second cavity is smaller than the first preset threshold, judging that the lip is in sealing connection with the physiotherapy position and finishing physiotherapy operation;

and when the repeated physiotherapy times of the lip of the physiotherapy head on the physiotherapy position are larger than the preset physiotherapy times, giving up the physiotherapy operation on the current physiotherapy position.

12. The method according to claim 5, wherein after the step of determining a plurality of physiotherapy positions on a physiotherapy path of a limb, before the step of controlling the robot arm to bring a lip of a physiotherapy head into contact with the physiotherapy positions at a first physiotherapy pressure and controlling the air pump to apply a target physiotherapy air pressure to the second chamber and a target lip air pressure to the first chamber and to acquire an air pressure of the second chamber, further comprising:

judging whether all physiotherapy positions on the physiotherapy path finish physiotherapy operation or not;

When all physiotherapy positions on the physiotherapy path complete physiotherapy operation, the negative pressure physiotherapy robot completes negative pressure physiotherapy.

13. The method of claim 5, wherein determining a plurality of physical therapy positions on a physical therapy path of a limb, further comprises:

and establishing a three-dimensional model for the limb, and planning the physiotherapy path based on the three-dimensional model.