CN109512647A - A kind of self contained force feedback multidimensional massage robot system - Google Patents
A kind of self contained force feedback multidimensional massage robot system Download PDFInfo
- Publication number
- CN109512647A CN109512647A CN201811634267.0A CN201811634267A CN109512647A CN 109512647 A CN109512647 A CN 109512647A CN 201811634267 A CN201811634267 A CN 201811634267A CN 109512647 A CN109512647 A CN 109512647A
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- Prior art keywords
- massage
- forearm
- kneading
- multidimensional
- robot system
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Percussion Or Vibration Massage (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a kind of self contained force feedback multidimensional massage robot systems, it include massage control section and massage execution part, it massages control section and sends signal for human-computer interaction and to massage execution part, massage execution part can be performed massaging action and collected signal is fed back to massage control section；Massaging control section includes mouse type controller and liquid crystal display；Massaging execution part includes hammer mechanism, kneading mechanism, image acquisition mechanism and dynamics feedback mechanism.The present invention controls the massaging action of hammer mechanism, kneading mechanism by mouse type controller, image acquisition mechanism and dynamics feedback mechanism can feed back to relevant information on the liquid crystal display of massage control section, further improve the control ability to hammer mechanism, kneading mechanism, vibrator in mouse type controller can provide the real-time massage force dynamic interaction of massage operation, improve the navigability and comfort level of massage robot system.
Description
Technical field
The invention belongs to robot device's technical fields, and in particular to a kind of self contained force feedback multidimensional massage robot system
System.
Background technique
With the height division of laborization of today's society, long-term sitting state is needed when having higher a part of crowd work, or
Person is to keep a kind of posture for a long time, these can all make muscle of back impaired, will cause biggish injury to body for a long time.
Have many methods at present to alleviate the muscular fatigue at back and ache, can substantially be classified as two kinds, one is pass through
Topical administration, another kind are to achieve the purpose that relieve the soreness by common mechanical massage arm.Two ways exist compared with
Big disadvantage, medicinal treatment is larger to human body side effect, and existing mechanical arm malfunction at present, dynamics are difficult to control,
The tools such as massage armchair are then expensive, and autonomous control is poor, are still difficult to meet the back massage demand of people.Especially because back
Portion is in manpower and can not directly exert a force the position of touching, thus existing back massage is required to other people and assists, and cannot achieve only
Self contained back massage can be independently performed by paddling one's own canoe.
Summary of the invention
The purpose of the present invention is to provide a kind of self contained force feedback multidimensional massage robot systems, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of self contained force feedback multidimensional massage robot
System, includes massage control section and massage execution part, and the massage control section for human-computer interaction and holds massage
Row part sends signal, and the massage execution part can be performed massaging action and collected signal is fed back to massage control unit
Point；
The massage control section includes mouse type controller and liquid crystal display, the appearance of the mouse type controller
It is provided with operation panel on face, microcontroller and photoelectric sensor, the microcontroller are installed in the mouse type controller
It is electrically connected liquid crystal display, operation panel and photoelectric sensor；
The massage execution part includes hammer mechanism, kneading mechanism, image acquisition mechanism and dynamics feedback mechanism, institute
It states hammer mechanism, kneading mechanism, image acquisition mechanism and dynamics feedback mechanism and is electrically connected microcontroller.
Preferably, vibrator is also equipped in the mouse type controller, the vibrator is electrically connected microcontroller；
The vibrator can change according to the dynamic dynamics of dynamics feedback mechanism to provide corresponding vibration, make operator real
When perception massage operation when strength.
Preferably, the hammer mechanism includes portal frame, is fixedly connected with the one of large arm by screw on the portal frame
End, the other end of the large arm are equipped with large arm motor, and the output end of the large arm motor connects one end of the first forearm, described
The other end of first forearm is equipped with the first forearm motor, and the output end of the first forearm motor connects the one of the second forearm
End, the other end of second forearm are equipped with hammering motor, and the output end of the hammering motor is connected with hammering head.
Preferably, the other end of second forearm is also equipped with the second forearm motor, the second forearm motor it is defeated
Outlet connects one end of connecting rod, and the other end of the connecting rod is connected with kneading motor, and the output end of the kneading motor connects
It is connected to kneading finger.
Preferably, the bottom of the portal frame is provided with pedestal, and lead screw gear, the silk are provided on the pedestal
The screw rod of thick stick transmission device is driven by lead screw motor to be rotated, and the bottom of the portal frame matches connection with screw rod.
Preferably, described image collecting mechanism includes portal frame camera and the first forearm camera, the portal frame
Camera is fixedly mounted on the top of portal frame, and the first forearm camera is fixedly mounted on the medium position of the first forearm.
Preferably, the dynamics feedback mechanism includes hammering pressure sensor and kneading pressure sensor, the hammering
Pressure sensor is fixedly mounted on hammering head, and the kneading pressure sensor is fixedly mounted on kneading finger.
Preferably, the material of the hammering head and kneading finger is toughened plastic, and surface is covered with silica gel.
Preferably, the massage control section further includes having backing plate, and the mouse type controller and liquid crystal display are all provided with
It sets on backing plate.
Preferably, loudspeaker and microphone are additionally provided on the backing plate, the loudspeaker and microphone are electrically connected
Microcontroller.
The utility model has the advantages that
(1) a kind of self contained force feedback multidimensional massage robot system of the invention, is controlled by mouse type controller
Relevant information can be fed back to massage by the massaging action of hammer mechanism, kneading mechanism, image acquisition mechanism and dynamics feedback mechanism
On the liquid crystal display of control section, the control ability to hammer mechanism, kneading mechanism is further improved, vibrator can provide
The real-time massage force dynamic interaction for massaging operation, improves the navigability and comfort level of massage robot system, thus real
Self contained force feedback massage operation is showed.
(2) a kind of self contained force feedback multidimensional massage robot system of the invention, the phase of hammer mechanism and kneading mechanism
In conjunction with design, massaging action is enriched, so that the available better massage experience of user.
(3) a kind of self contained force feedback multidimensional massage robot system of the invention, hammers head and kneading finger passes through
Multiple mechanical arms and motor drive, and may be implemented that multidimensional is mobile, operation control flexibly, cooperates image acquisition mechanism and dynamics anti-
Mechanism is presented, the control precision of massaging action is improved.
Detailed description of the invention
Fig. 1 is structure of the invention block diagram.
Fig. 2 is present invention massage execution part structural schematic diagram.
Fig. 3 is that portal frame and lead screw gear cooperate schematic diagram in the present invention.
Fig. 4 is present invention massage control section structural schematic diagram.
In figure: 1- massages control section, 11- mouse type controller, 12- liquid crystal display, 13- operation panel, 14- pad
Plate, 2- massage execution part, 21- hammer mechanism, 211- portal frame, 212- large arm, the first forearm of 213-, the second forearm of 214-,
215- hammers motor, and 216- hammers head, 22- kneading mechanism, 221- connecting rod, 222- kneading motor, 223- kneading finger, 23-
Pedestal, 24- lead screw gear, 25- portal frame camera, 26- the first forearm camera.
Specific embodiment
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
As shown in Figs 1-4, a kind of self contained force feedback multidimensional massage robot system includes massage 1 He of control section
Execution part 2 is massaged, the massage control section 1 sends signal, the massage for human-computer interaction and to massage execution part 2
Execution part 2 can be performed massaging action and collected signal fed back to massage control section 1；
The massage control section 1 includes mouse type controller 11 and liquid crystal display 12, the mouse type controller
It is provided with operation panel 13 on 11 outer surface, microcontroller and photoelectric sensor are installed in the mouse type controller 11,
The microcontroller is electrically connected liquid crystal display 12, operation panel 13 and photoelectric sensor；
The massage execution part 2 includes hammer mechanism 21, kneading mechanism 22, image acquisition mechanism and dynamics feedback machine
Structure, the hammer mechanism 21, kneading mechanism 22, image acquisition mechanism and dynamics feedback mechanism are electrically connected microcontroller.
Vibrator is also equipped in the mouse type controller 11, the vibrator is electrically connected microcontroller；
The vibrator can change according to the dynamic dynamics of dynamics feedback mechanism to provide corresponding vibration, make operator real
When perception massage operation when strength.
The hammer mechanism 21 includes portal frame 211, is fixedly connected with large arm 212 by screw on the portal frame 211
One end, the other end of the large arm 212 is equipped with large arm motor, and the output end of the large arm motor connects the first forearm 213
One end, the other end of first forearm 213 is equipped with the first forearm motor, the output end connection of the first forearm motor
One end of second forearm 214, the other end of second forearm 214 are equipped with hammering motor 215, the hammering motor 215
Output end is connected with hammering head 216；Can the back to user carry out hammering massaging action.
The other end of second forearm 214 is also equipped with the second forearm motor, the output end of the second forearm motor
One end of connecting rod 221 is connected, the other end of the connecting rod 221 is connected with kneading motor 222, the kneading motor 222
Output end is connected with kneading finger 223；Kneading massage movement can be carried out to the back of user.
The bottom of the portal frame 211 is provided with pedestal 23, and lead screw gear 24 is provided on the pedestal 23, described
The screw rod of lead screw gear 24 is driven by lead screw motor to be rotated, and the bottom of the portal frame 211 matches connection with screw rod；It can
To realize the transverse shifting of portal frame 211, and mobile accuracy is high.
Described image collecting mechanism includes portal frame camera 25 and the first forearm camera 26, the portal frame camera shooting
First 25 are fixedly mounted on the top of portal frame 211, and the first forearm camera 26 is fixedly mounted on the middle part of the first forearm 213
Position；Acquired image information can be sent to microcontroller, and in liquid crystal display screen display, improve user to massage
The control ability of execution part 2 improves massage precision.
The dynamics feedback mechanism includes hammering pressure sensor and kneading pressure sensor, the hammering pressure sensing
Device is fixedly mounted on hammering head 216, and the kneading pressure sensor is fixedly mounted on kneading finger 223；It can will hammer head
216, the contact force size information of kneading finger 223 and human body back is sent to microcontroller.
Hammering pressure sensor and the collected dynamics information of kneading pressure sensor are sent to microcontroller, and vibrator can
It using microvibration motor array, allows operator to perceive in a manner of vibration frequency size, hammers head 216,223 and of kneading finger
The pressure that human body back generates when contacting is bigger, and the vibration frequency of vibrating motor is higher.
The material of the hammering head 216 and kneading finger 223 is toughened plastic, and surface is covered with silica gel；Intensity is high, and
With human contact's softness, massage comfort level is improved.
The massage control section 1 further includes having backing plate 14, and the mouse type controller 11 and liquid crystal display 12 are all provided with
It sets on backing plate 14；
Loudspeaker and microphone are additionally provided on the backing plate 14, the loudspeaker and microphone are electrically connected microcontroller
Device；User can not operate mouse type controller 11, only be interacted by voice mode and machine, the person of being convenient to use behaviour
Make.
The working principle of the present embodiment: for user's back surface to massage execution part 2, portal frame camera 25 and first is small
Arm camera 26 acquires image information, and is sent to microcontroller, and microcontroller sends liquid crystal display for image information again
On 12, so that user can intuitively see the location information of hammer mechanism 21, kneading mechanism 22 and oneself back.User
By mobile mouse type controller 11, or operation panel 13 is used, or use loudspeaker and microphone, to massage execution part
2 each motor sends signal, so that hammering head 216 or kneading finger 223 are moved to suitable position to massage back,
Hammering pressure sensor and kneading pressure sensor can send contact force information to microcontroller, and contact force size information can be
It is shown on liquid crystal display 12, or allows user to perceive in such a way that mouse type controller 11 internal vibration device vibrates, and right
Contact force size is adjusted, and improves comfort level.
A kind of self contained force feedback multidimensional massage robot system of the invention, hammer is controlled by mouse type controller 11
Hit the massaging action of mechanism 21, kneading mechanism 22, image acquisition mechanism and dynamics feedback mechanism relevant information can be fed back to by
It rubs on the liquid crystal display 12 of control section 1, further improves the control ability to hammer mechanism 21, kneading mechanism 22, shake
Dynamic device can provide the real-time massage force dynamic interaction of massage operation, improve the navigability of massage robot system and comfortable
Degree, to realize self contained force feedback massage operation.
A kind of self contained force feedback multidimensional massage robot system of the invention, the phase of hammer mechanism 21 and kneading mechanism 22
In conjunction with design, massaging action is enriched, so that the available better massage experience of user.
It is logical to hammer head 216 and kneading finger 223 to a kind of self contained force feedback multidimensional massage robot system of the invention
Multiple mechanical arms and motor are crossed to drive, multidimensional movement may be implemented, flexibly, image acquisition mechanism and dynamics are fed back for operation control
Mechanism improves the control precision of massaging action.
Specific embodiments of the present invention are described in detail above, but it is merely an example, the present invention is simultaneously unlimited
It is formed on above description specific embodiment.To those skilled in the art, the equivalent modifications and replace that any couple of present invention carries out
In generation, is also all among scope of the invention.Therefore, without departing from the spirit and scope of the invention made by equal transformation and repair
Change, all covers within the scope of the present invention.
Claims (10)
1. a kind of self contained force feedback multidimensional massage robot system, it is characterised in that:
It include massage control section (1) and massage execution part (2), the massage control section (1) is used for human-computer interaction simultaneously
Signal is sent to massage execution part (2), the executable massaging action of the massage execution part (2) is simultaneously anti-by collected signal
It feeds and massages control section (1)；
The massage control section (1) includes mouse type controller (11) and liquid crystal display (12), the mouse type control
It is provided on the outer surface of instrument (11) operation panel (13), microcontroller and photoelectricity is installed in the mouse type controller (11)
Sensor, the microcontroller are electrically connected liquid crystal display (12), operation panel (13) and photoelectric sensor；
The massage execution part (2) includes hammer mechanism (21), kneading mechanism (22), image acquisition mechanism and dynamics feedback
Mechanism, the hammer mechanism (21), kneading mechanism (22), image acquisition mechanism and dynamics feedback mechanism are electrically connected microcontroller
Device.
2. a kind of self contained force feedback multidimensional massage robot system according to claim 1, it is characterised in that:
Vibrator is also equipped in the mouse type controller (11), the vibrator is electrically connected microcontroller；
The vibrator can change according to the dynamic dynamics of dynamics feedback mechanism to provide corresponding vibration, and operator is allowed to feel in real time
Know strength when massage operation.
3. a kind of self contained force feedback multidimensional massage robot system according to claim 1, it is characterised in that:
The hammer mechanism (21) includes portal frame (211), is fixedly connected with large arm by screw on the portal frame (211)
(212) one end, the other end of the large arm (212) are equipped with large arm motor, the output end connection first of the large arm motor
One end of forearm (213), the other end of first forearm (213) are equipped with the first forearm motor, the first forearm motor
Output end connection the second forearm (214) one end, the other end of second forearm (214) be equipped with hammering motor (215),
The output end of hammering motor (215) is connected with hammering head (216).
4. a kind of self contained force feedback multidimensional massage robot system according to claim 3, it is characterised in that:
The other end of second forearm (214) is also equipped with the second forearm motor, and the output end of the second forearm motor connects
The other end of one end of extension bar (221) in succession, the connecting rod (221) is connected with kneading motor (222), the kneading motor
(222) output end is connected with kneading finger (223).
5. a kind of self contained force feedback multidimensional massage robot system according to claim 3, it is characterised in that:
The bottom of the portal frame (211) is provided with pedestal (23), is provided with lead screw gear (24) on the pedestal (23),
The screw rod of the lead screw gear (24) is driven by lead screw motor to be rotated, the bottom of the portal frame (211) and screw rod
With connection.
6. a kind of self contained force feedback multidimensional massage robot system according to claim 3, it is characterised in that:
Described image collecting mechanism includes portal frame camera (25) and the first forearm camera (26), the portal frame camera shooting
Head (25) is fixedly mounted on the top of portal frame (211), and the first forearm camera (26) is fixedly mounted on the first forearm
(213) medium position.
7. a kind of self contained force feedback multidimensional massage robot system according to claim 4, it is characterised in that:
The dynamics feedback mechanism includes hammering pressure sensor and kneading pressure sensor, and the hammering pressure sensor is solid
In hammering head (216), the kneading pressure sensor is fixedly mounted on kneading finger (223) for Dingan County.
8. a kind of self contained force feedback multidimensional massage robot system according to claim 4, it is characterised in that:
The material of hammering head (216) and kneading finger (223) is toughened plastic, and surface is covered with silica gel.
9. a kind of self contained force feedback multidimensional massage robot system according to claim 1, it is characterised in that:
The massage control section (1) further includes having backing plate (14), the mouse type controller (11) and liquid crystal display (12)
It is arranged on backing plate (14).
10. a kind of self contained force feedback multidimensional massage robot system according to claim 1, it is characterised in that:
It is additionally provided with loudspeaker and microphone on the backing plate (14), the loudspeaker and microphone are electrically connected microcontroller
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634267.0A CN109512647A (en) | 2018-12-29 | 2018-12-29 | A kind of self contained force feedback multidimensional massage robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634267.0A CN109512647A (en) | 2018-12-29 | 2018-12-29 | A kind of self contained force feedback multidimensional massage robot system |
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|---|---|
| CN109512647A true CN109512647A (en) | 2019-03-26 |
Family
ID=65798161
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| CN201811634267.0A Pending CN109512647A (en) | 2018-12-29 | 2018-12-29 | A kind of self contained force feedback multidimensional massage robot system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998880A (en) * | 2019-05-10 | 2019-07-12 | 陈刚 | A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor |
| CN111135035A (en) * | 2020-01-17 | 2020-05-12 | 浙江清华柔性电子技术研究院 | Flexible massage robot |
| CN111890360A (en) * | 2020-07-10 | 2020-11-06 | 重庆工程职业技术学院 | Automatic massage manipulator and control system thereof |
| CN112741523A (en) * | 2021-01-18 | 2021-05-04 | 华南理工大学 | Bathing device and bathing method for old people |
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Application publication date: 20190326 |