CN217391155U

CN217391155U - Moxa-moxibustion physiotherapy head and physiotherapy robot with inclination angle measurement function

Info

Publication number: CN217391155U
Application number: CN202220563925.7U
Authority: CN
Inventors: 林伟杰; 王喆
Original assignee: Shenzhen Sprocomm Technologies Co ltd
Current assignee: Shenzhen Sprocomm Technologies Co ltd
Priority date: 2022-03-15
Filing date: 2022-03-15
Publication date: 2022-09-09
Anticipated expiration: 2032-03-15

Abstract

The utility model discloses a moxa-moxibustion physiotherapy head and physiotherapy robot with inclination angle measurement function, including the physiotherapy head body, wherein, the physiotherapy head still includes: the physiotherapy head comprises a physiotherapy head body, a first sensor, a second sensor and a third sensor, wherein the first sensor, the second sensor and the third sensor are arranged on the physiotherapy head body and are used for ranging towards the front of the physiotherapy head body; the connecting line among the first sensor, the second sensor and the third sensor is in an equilateral triangle shape. Can measure the human inclination of treating the physiotherapy region, and the angle calculation rate of accuracy is high, is difficult for makeing mistakes, makes the physiotherapy head can aim at the moxa-moxibustion position, improves moxa-moxibustion physiotherapy head's practicality.

Description

Moxa-moxibustion physiotherapy head and physiotherapy robot with inclination angle measurement function

Technical Field

The utility model relates to a moxa-moxibustion physiotherapy equipment technical field especially relates to a moxa-moxibustion physiotherapy head and physiotherapy robot with inclination angle measurement function.

Background

For realizing moxa-moxibustion physiotherapy machine people's intelligent degree, need go on the range finding through the therapy head to patient's skin surface to make moxa-moxibustion physiotherapy machine people should the position of therapy head and human physiotherapy region, and then make things convenient for the therapy head to carry out the moxa-moxibustion to the human body more.

Most moxa-moxibustion physiotherapy robot only has the range finding function at present, and during the use of physiotherapy head, the human skin surface of physiotherapy head physiotherapy can incline, and current moxa-moxibustion physiotherapy robot does not have the function of measuring inclination, leads to the fault-tolerant rate of physiotherapy head when the moxa-moxibustion low like this, and the moxa-moxibustion position is inaccurate.

Accordingly, the prior art is yet to be improved and developed.

SUMMERY OF THE UTILITY MODEL

In view of above-mentioned prior art's is not enough, the utility model aims to provide a moxa-moxibustion physiotherapy head with angle of inclination measurement function can measure the regional inclination of treating the physiotherapy of human skin, and the angle calculation rate of accuracy is high, be difficult for makeing mistakes, make the physiotherapy head can the accurate moxa-moxibustion position that corresponds, improve moxa-moxibustion physiotherapy head's practicality, moxa-moxibustion physiotherapy robot among the solution prior art does not have the function of measuring inclination, it is low to lead to the fault-tolerant rate of physiotherapy head when the moxa-moxibustion like this, the unsafe problem in moxa-moxibustion position.

The technical scheme of the utility model as follows:

the utility model provides a moxa-moxibustion physiotherapy head with inclination angle measurement function, includes the physiotherapy head body, its characterized in that, the physiotherapy head still includes: the first sensor, the second sensor and the third sensor are arranged on the physiotherapy head body and used for ranging towards the front of the physiotherapy head body;

the connecting line among the first sensor, the second sensor and the third sensor is in an equilateral triangle shape.

Furthermore, the physical therapy head body comprises a shell, and an installation inner cavity is formed in the shell;

the first sensor, the second sensor and the third sensor are all positioned in the installation inner cavity;

three measuring holes are formed in the shell and communicated with the installation inner cavity, and the three measuring holes are respectively opposite to the first sensor, the second sensor and the third sensor.

Furthermore, an avoiding groove is formed in the outer wall of the shell and is opposite to the measuring hole.

Furthermore, a supporting frame is arranged in the installation inner cavity, and the first sensor, the second sensor and the third sensor are detachably arranged on the supporting frame.

Furthermore, three measuring grooves are formed in the edge of the supporting frame, and the first sensor, the second sensor and the third sensor are respectively connected to the upper surface of the supporting frame and are respectively located at the three measuring grooves.

Furthermore, the two sides of the measuring groove are respectively provided with a supporting table, a threaded hole is formed in the supporting table and used for connecting a screw, and the first sensor, the second sensor or the third sensor are fixed on the supporting table through the screws.

Further, the support frame comprises a first support, the first support is fixedly arranged, and a plurality of ventilation hole sites are arranged on the first support;

the second support, the second support is dismantled and is connected on first support, and the measurement groove is seted up on the second support.

Further, the outline of the first bracket and the outline of the second bracket are both set to be circular.

Furthermore, the first sensor, the second sensor and the third sensor are all infrared distance measuring sensors.

Based on the same conception, the utility model also provides a physiotherapy robot, which comprises a control device, a mechanical arm arranged on the control device and the moxibustion physiotherapy head with the inclination angle measuring function; moxa-moxibustion physiotherapy head is connected on the arm.

Has the beneficial effects that: compared with the prior art, the utility model provides a moxa-moxibustion physiotherapy head and physiotherapy robot with angle of inclination measurement function wherein carries out the moxa-moxibustion physiotherapy through the physiotherapy head body, sets up first sensor, second sensor and third sensor on the physiotherapy head body respectively, first sensor the second sensor with the third sensor all is used for the orientation the place ahead range finding of physiotherapy head body, just first sensor the second sensor with line between the third sensor is equilateral triangle. Through the different length of place ahead range finding, according to current trigonometric function's calculation relation, can confirm the inclination that the physiotherapy is regional to human surface, moxa-moxibustion physiotherapy head when realizing the range finding like this has also realized the regional inclination measurement of physiotherapy, adopts three sensor to be equilateral triangle setting, is convenient for calculate, and the calculation process is simplified, and the angle calculation rate of accuracy is high, is difficult for makeing mistakes. Thereby make physiotherapy robot measure inclination after, control the first accurate moxa-moxibustion position that corresponds of physiotherapy ability, improve the practicality of moxa-moxibustion physiotherapy head.

Drawings

FIG. 1 is a schematic structural view of an embodiment of a moxibustion physiotherapy head with inclination angle measurement function according to the present invention;

FIG. 2 is a bottom view of an embodiment of the moxibustion therapy head with tilt angle measurement function of the present invention;

FIG. 3 is a schematic structural diagram of the interior of the installation cavity of the moxibustion therapy head with tilt angle measurement function according to the embodiment of the present invention;

FIG. 4 is a schematic structural view of an embodiment of the physiotherapy robot of the present invention;

FIG. 5 is a schematic diagram illustrating the calculation of the back inclination angle of the X-axis of the moxibustion therapy head with the inclination angle measuring function according to the embodiment of the present invention;

fig. 6 is a schematic diagram of the calculation of the inclined angle of the rear side of the Y axis of the embodiment of the moxibustion therapy head with the function of measuring the inclined angle.

The reference numbers in the figures: 10. a moxibustion physiotherapy head; 100. a physical therapy head body; 110. a first sensor; 120. a second sensor; 130. a third sensor; 140. a housing; 141. installing an inner cavity; 142. measuring a hole; 143. avoiding a void groove; 200. a support frame; 210. a first bracket; 211. a ventilation hole position; 220. a second bracket; 221. a support table; 222. a measuring tank; 20. a mechanical arm; 30. and controlling the equipment.

Detailed Description

The utility model provides a moxa-moxibustion physiotherapy head with angle of inclination measurement function, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following refers to the drawing and lifts the example the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The specific structure of this embodiment is as follows:

as shown in fig. 1 and 2, the embodiment proposes a moxibustion therapy head 10 with a tilt angle measuring function, which comprises a therapy head body 100, and a first sensor 110, a second sensor 120 and a third sensor 130 arranged on the therapy head body 100. The physiotherapy head body 100 is used for carrying out moxibustion on a human body, and achieves the purpose of physiotherapy through the moxibustion. The first sensor 110, the second sensor 120 and the third sensor 130 are all used for ranging towards the front of the physiotherapy head body 100, and the front is towards the direction of a human body to be treated with physiotherapy. Specifically, the first sensor 110, the second sensor 120, and the third sensor 130 are all infrared distance measuring sensors. The infrared distance measuring sensors at different positions respectively measure the distance, and the measured distance is subjected to trigonometric function calculation, so that the inclination angle of the human body to-be-treated physical therapy surface area is calculated. The connecting lines among the first sensor 110, the second sensor 120 and the third sensor 130 are in an equilateral triangle shape, so that the distances among the sensors are the same, calculation is convenient, the operation process is simplified, and the measurement of the inclination angle is more accurate.

The working principle of the embodiment is as follows: carry out moxa-moxibustion physiotherapy through physiotherapy head body 100, set up first sensor 110, second sensor 120 and third sensor 130 on physiotherapy head body 100 respectively, first sensor 110 second sensor 120 with third sensor 130 all is used for the orientation the place ahead of physiotherapy head body 100 (if the human body that needs the physiotherapy is located the physiotherapy head below, then the place ahead orientation of physiotherapy head body is downward) range finding, just first sensor 110 second sensor 120 with line between the third sensor 130 is equilateral triangle. Carry out the moxa-moxibustion physiotherapy through the first body of physiotherapy, set up first sensor, second sensor and third sensor on the first body of physiotherapy respectively, first sensor the second sensor with the third sensor all is used for the orientation the place ahead range finding of the first body of physiotherapy, just first sensor the second sensor with line between the third sensor is equilateral triangle. Through the different length of place ahead range finding, according to current trigonometric function's calculation relation, can confirm the inclination that the physiotherapy is regional to human surface, moxa-moxibustion physiotherapy head when realizing the range finding like this has also realized the regional inclination measurement of physiotherapy, adopts three sensor to be equilateral triangle setting, is convenient for calculate, and the calculation process is simplified, and the angle calculation rate of accuracy is high, is difficult for makeing mistakes. Thereby make physiotherapy robot measure inclination after, control the first accurate moxa-moxibustion position that corresponds of physiotherapy ability, improve the practicality of moxa-moxibustion physiotherapy head.

The method for calculating the inclination angle through the trigonometric function is an existing calculation method. In this embodiment, taking the horizontal of the physical therapy head body as an example, the distance measurement is performed on the inclined area below through different sensors, and the process of calculating the angle is as follows: the first sensor and the second sensor in the embodiment are distributed in parallel to the X axis, and the third sensor is positioned on the Y axis; the height of the three different positions, namely the distance from the sensor to the human body inclined surface epidermis, is obtained, the height obtained by the distance measurement of the first sensor is h1, the height obtained by the distance measurement of the second sensor is h2, and the height obtained by the distance measurement of the third sensor is h 3.

When the surface that the physiotherapy head detected the human body only has the slope in a direction, when another direction is parallel, have wherein two height and equate, judge from this that the physiotherapy head state carries out different operations and can reduce partly operand, improve the functioning speed, so divide following three kinds of condition:

1. as shown in FIG. 5, when the physical therapy head detects that the surface of the human body is only deviated in the X direction (the surface of the human body is kept horizontal at the Y axis, and is lifted or pressed down at the X axis, and X' is deviated in the rear direction in the figure), that is, when the absolute value of h1-h3 is equal to the absolute value of h2-h3, it can be determined that the surface is only deviated in the X direction. Since the first sensor and the second sensor are distributed parallel to the X direction, the tilt angle anglex in the X direction can be obtained by direct calculation as atan (| h2-h1|/L), where L is the side length of the equilateral triangle in which the sensors are distributed.

2. As shown in fig. 6, when the physical therapy head detects that the surface of the human body is deviated only in the Y direction (the surface of the human body is positioned at the X axis and is kept horizontal, the Y axis is raised or pressed, and Y' in the figure is deviated in the rear direction), that is, h1 is detected to be h2, and it can be determined that the surface is deviated only in the Y direction. Respectively calculating a first sensor and a third sensor; and the inclination angles obtained by the second sensor and the third sensor are the smaller value of the two inclination angles, and the final angley is the smaller value of the two inclination angles.

The specific calculation method is as follows: taking the first sensor and the third sensor as an example, the length L13 formed by the projection of the first sensor and the third sensor on the slope is calculated:

then calculating the length L13y of the L13 in the y direction;

after obtaining L13y, the inclination angle angley value is calculated by an arcsine function:

angley＝asin((|(h1-h3)|/(L13y*L13y))

calculate the other angley value that second sensor and third sensor obtained in the same way, then get minimum wherein, because of being in safe consideration, get minimum angley value and can adjust the physiotherapy head and adopt this angle value to carry out the physiotherapy, even the gradient is big on human surface like this, and the sunken area on human surface that lies in with little incline direction, moxa-moxibustion physiotherapy head appears after can conveniently taking out behind the moxa-moxibustion, can avoid touching human condition emergence.

3. When the physiotherapy area to be measured has an inclination angle in both directions (according to the trigonometric function principle, not specifically illustrated), the inclination angle angleX in the x direction is calculated through the above 1 process by the trigonometric function relationship, then the inclination angles of the first sensor and the third sensor are calculated by the above 2 process, then the inclination angle angleY formed between the second sensor and the third sensor is calculated, the smaller value of the two is taken as the inclination angle in the Y direction, and then the physiotherapy head is adjusted according to the inclination angle in the x direction and the inclination angle in the Y direction.

The method comprises the following specific steps:

the lengths l13 of the first sensor and the third sensor on the inclined plane are calculated:

the length of the first and second sensors on the slope, l12, is then calculated:

l12＝L*sinanglex

the length l13y of l13 in the y direction is then calculated:

after l13y is obtained, the inclination angle angleY is calculated by an arcsine function

angleY＝asin((|(h1-h3)|/(l13y*l13y))

And similarly, calculating the angleY obtained by the second sensor and the third sensor, then taking the minimum value of the angleY, and adjusting the angle of the physical therapy head according to the obtained inclination angle angleX and the minimum angleY to enable the angle to correspond to the two angles.

The inclination angle can be obtained through the conventional trigonometric function calculation process.

As shown in fig. 2 and 3, the therapy head body 100 in this embodiment includes a casing 140, and the casing 140 has a mounting cavity 141 therein, and components for moxibustion are mounted in the mounting cavity 141. The first sensor 110, the second sensor 120, and the third sensor 130 are all located in the mounting cavity 141 such that the first sensor 110, the second sensor 120, and the third sensor 130 are protected by the housing 140. As shown in fig. 2, three measuring holes 142 are formed in the housing 140, the measuring holes 142 are communicated with the mounting inner cavity 141, and the three measuring holes 142 respectively face the first sensor 110, the second sensor 120, and the third sensor 130. The first sensor 110, the second sensor 120, and the third sensor 130 may radiate infrared light toward the outside of the case 140 through three measuring holes 142, respectively, for ranging.

As shown in fig. 2 and 3, the outer wall of the housing 140 in this embodiment is provided with a clearance groove 143, and the clearance groove 143 faces the measurement hole 142. Because the front end of physiotherapy head body 100 is little the rear end is big, need keep away from the front end setting of physiotherapy head body 100 with the sensor, make like this in the sensor be located the rear end or in the great space in middle to it is more sensitive to enable to measure, improves measurement accuracy.

As shown in fig. 3, a supporting frame 200 is disposed in the mounting cavity 141 in the present embodiment, and the first sensor 110, the second sensor 120, and the third sensor 130 are detachably disposed on the supporting frame 200. Through setting up support frame 200 to make first sensor 110, second sensor 120 and third sensor 130 can install on support frame 200, adopt detachable mode setting, be convenient for change first sensor 110, second sensor 120 and third sensor 130, thereby convenient maintenance.

As shown in fig. 3, three measuring grooves 222 are formed at the edge of the supporting frame 200 in this embodiment, and the first sensor 110, the second sensor 120 and the third sensor 130 are respectively connected to the upper surface of the supporting frame 200 and are respectively located at the three measuring grooves 222. By arranging the first sensor 110, the second sensor 120 and the third sensor 130 on the upper surface of the supporting frame 200, the supporting frame 200 supports the sensors, so that the structure of the supporting frame 200 is stable, and the sensors can be stably supported.

As shown in fig. 3, support bases 221 are respectively disposed on two sides of the measurement groove 222 in this embodiment, and threaded holes are opened on the support bases 221, and the threaded holes are used for connecting screws, and fixing the first sensor 110, the second sensor 120, or the third sensor 130 on the support bases 221 through the screws. The sensors are connected by a support table 221 so that the sensors are supported at a distance from the upper surface of the support table 221 and are connected by screws, which facilitates the removal of the sensors.

As shown in fig. 3, the supporting frame 200 in this embodiment includes a first frame 210 and a second frame 220. The first bracket 210 can be fixedly arranged and fixed relative to the shell 140, and the first bracket 210 is provided with a plurality of ventilation holes 211, so that fans and the like can be arranged on the ventilation holes 211, ventilation is facilitated, and moxibustion below the physiotherapy head body 100 can be sufficiently combusted. The second bracket 220 is detachably coupled to the first bracket 210, and the measuring groove 222 is opened in the second bracket 220. The second bracket 220 mainly plays a role of connecting each sensor, and a circuit board may be disposed on the second bracket 220, so that the support frame 200 is respectively configured as the first bracket 210 and the second bracket 220, thereby implementing different functions.

The first bracket 210 and the second bracket 220 in this embodiment are each provided with a circular outer contour. The circular bracket can be adapted to the circular physiotherapy head body 100, the space in the shell 140 is fully utilized, and the structural strength is ensured.

As shown in fig. 4, based on the same concept, the utility model also provides a physiotherapy robot, which comprises a control device 30, a mechanical arm 20 arranged on the control device 30, and the moxibustion physiotherapy head 10 with the inclination angle measuring function; the moxibustion therapy head 10 is connected to the robot arm 20. The mechanical arm 20 is controlled to move through control setting, so that the moxibustion physiotherapy head 10 is driven to move, and moxibustion physiotherapy on a human body is realized.

To sum up, the utility model provides a moxa-moxibustion physiotherapy head 10 and physiotherapy robot with inclination angle measurement function, the utility model provides a moxa-moxibustion physiotherapy head and physiotherapy robot with inclination angle measurement function wherein carries out the moxa-moxibustion physiotherapy through the physiotherapy head body, sets up first sensor, second sensor and third sensor on the physiotherapy head body respectively, first sensor the second sensor with the third sensor all is used for the orientation the place ahead range finding of physiotherapy head body, just first sensor the second sensor with line between the third sensor is equilateral triangle. Through the different length of place ahead range finding, according to current trigonometric function's calculation relation, can confirm the inclination that the physiotherapy is regional to human surface, moxa-moxibustion physiotherapy head when realizing the range finding like this has also realized the regional inclination measurement of physiotherapy, adopts three sensor to be equilateral triangle setting, is convenient for calculate, and the calculation process is simplified, and the angle calculation rate of accuracy is high, is difficult for makeing mistakes. Thereby make physiotherapy robot measure inclination after, control the first accurate moxa-moxibustion position that corresponds of physiotherapy ability, improve the practicality of moxa-moxibustion physiotherapy head.

It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a moxa-moxibustion physiotherapy head with inclination angle measurement function, includes the physiotherapy head body, its characterized in that, the physiotherapy head still includes: the physiotherapy head comprises a physiotherapy head body, a first sensor, a second sensor and a third sensor, wherein the first sensor, the second sensor and the third sensor are arranged on the physiotherapy head body and are used for ranging towards the front of the physiotherapy head body;

2. The moxibustion therapy head with inclination angle measuring function according to claim 1, wherein the therapy head body comprises a housing having a mounting cavity therein;

the first sensor, the second sensor and the third sensor are all positioned in the mounting inner cavity;

the shell is provided with three measuring holes, the measuring holes are communicated with the mounting inner cavity, and the three measuring holes are respectively opposite to the first sensor, the second sensor and the third sensor.

3. The moxibustion physiotherapy head with the inclination angle measuring function of claim 2, wherein the outer wall of the housing is provided with a clearance groove, and the clearance groove faces the measuring hole.

4. The moxibustion therapy head with the inclination angle measuring function according to claim 2, wherein a support frame is provided in the mounting cavity, and the first sensor, the second sensor and the third sensor are detachably provided on the support frame.

5. The moxibustion physiotherapy head with the inclination angle measuring function of claim 4, wherein the edge of the support frame is provided with three measuring grooves, and the first sensor, the second sensor and the third sensor are respectively connected to the upper surface of the support frame and are respectively located at the three measuring grooves.

6. The moxibustion therapy head with the inclination angle measuring function according to claim 5, wherein support bases are respectively provided at both sides of the measuring groove, and threaded holes are formed in the support bases, and are used for connecting screws, and the first sensor, the second sensor or the third sensor is fixed on the support bases by screws.

7. The moxibustion therapy head with the inclination angle measuring function according to claim 5, wherein the support frame comprises a first bracket, the first bracket is fixedly arranged, and a plurality of ventilation holes are arranged on the first bracket;

the second support is detachably connected to the first support, and the measuring groove is formed in the second support.

8. The moxibustion therapy head with the inclination angle measuring function according to claim 7, wherein the outer contours of the first bracket and the second bracket are each set to be circular.

9. The moxibustion therapy head with the inclination angle measuring function according to any one of claims 1 to 8, wherein the first sensor, the second sensor and the third sensor are all infrared distance measuring sensors.

10. A physiotherapy robot comprising a control device, a robot arm provided on the control device, and the moxibustion physiotherapy head having an inclination angle measuring function according to any one of claims 1 to 9; the moxibustion physiotherapy head is connected on the arm.