CN100357070C - Serial-parallel TCM massage robot - Google Patents
Serial-parallel TCM massage robot Download PDFInfo
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- CN100357070C CN100357070C CNB200510094463XA CN200510094463A CN100357070C CN 100357070 C CN100357070 C CN 100357070C CN B200510094463X A CNB200510094463X A CN B200510094463XA CN 200510094463 A CN200510094463 A CN 200510094463A CN 100357070 C CN100357070 C CN 100357070C
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Abstract
The present invention relates to a medical machine which can meet the requirements of kinematics and kinetics of a plurality of predominant manuductions of Chinese medicine manipulation treatment. The present invention uses a two-translation one-rotation parallel mechanism as a main body, and a virtual fixed platform of the parallel mechanism is simultaneously connected with a machine frame by a moving pair; if a 'manipulating hand' is arranged on a moveable platform, the manuductions of rolling, pushing, vibrating, massaging, rapping, rubbing, beating, etc. can be achieved. A revolving pair which is perpendicular to the moveable platform is arranged on the moveable platform; if a 'massaging hand' is arranged on a shaft of the revolving pair, the manuductions of massaging, pressing, kneading, etc. in Chinese medicine manipulation can be achieved. The present invention is assisted by a sensor, a control system, and auxiliary means of heating, magnetism, infrared rays, etc. of the manipulating hand and the massaging hand which are arranged at the moveable platform in the parallel mechanism, and thus, the present invention can be used for Chinese medicine manipulation treatment. The present invention has the advantages of high rigidity, good dynamic characteristic, high rotary mobility, rapid and flexible actions, good decoupling performance, and easy realization of real-time control.
Description
Technical field
The present invention relates to medical machinery, refer in particular in conjunction with the new type series-parallel connected traditional Chinese massage of the class robot that utilizes serial mechanism and parallel institution characteristics to form, can satisfy kinematics and dynamics requirement that traditional Chinese massage treatment youngster plants the main flow gimmick, " hand " portion that this robot is aided with sensor, control system and is installed on the parallel institution moving platform is aided with " heat ", " magnetic " reaches supplementary means such as " infrared rays " and can be used for the traditional Chinese massage treatment, belongs to tandem-in-space robot, parallel robot, robot control and the modern research field of traditional medical apparatus.
Background technology
Traditional Chinese massage claims massage again, is a kind of physical treatment method.It with theory of traditional Chinese medical science particularly meridian theory be guidance, emphasize that body surface is by existing organic inner link between channels and collaterals, acupuncture point and the internal organ---internal organ are ill can be reflected to body surface by channels and collaterals.The traditional Chinese massage treatment is a wonderful work in China's treating trauma, and is of long standing and well established, and long history is arranged.But even to this day, the clinical treatment of various big hospital is still manually carried out by experienced masseur, and the muscle power that the masseur paid of getting off course of treatment is very huge, and it is a unusual heavy manual labor.In addition, the curative effect of massage and masseur's horizontal experience closely related (size of the application of force, direction, position, acupuncture point, frequency etc. are very big to the result of treatment influence).
Along with going deep into of parallel robot mechanism research, its application aspect medical more and more widely.It has been applied to aspects such as medical bed, operation, medical rehabilitation, but the application of parallel robot mechanism aspect traditional Chinese massage yet there are no report.Nowadays, the instrument that has also occurred some similar simulation massage manipulations on the market, resemble utilize electromagnetic force be used for the analog vibration gimmick physiotherapy equipment and the simulation each massage manipulation massage armchair, have the treatment each single position massager: cardiac massage device, foot massager, cervical massager, face's massager, chest massager etc.As patented product " Massage chair " (patent announcement number: 2049125) and " massager " all can only play loose muscle, stimulate circulation, alleviate myalgia, eliminate function tired, body building and weight reducing; Patent publication No. CN2057587U " bionical far infrared low-frequency vibration masseur " can simulate mechanical mode of vibration action, and patent publication No. CN1032737A " a kind of bed for treating spinal disease " adopts serial mechanism can carry out the simulation of simple plane action.Because the gimmick that can simulate of these instruments is single, lack suitable executing agency and finish simulation the main flow massage manipulation, all can only play the effect of loosening, keep healthy, alleviating and eliminate fatigue, it is undesirable often not reach the purpose or the curative effect for the treatment of disease.Patented product in addition: the medical massage robot of the novel traumatological department of TCM of a class, adopt three translations two to rotate the five-freedom parallel structure and realize the traditional Chinese massage gimmick, its five branches that are connected in parallel institution fixed platform and moving platform are respectively: four same branches adopt a secondary moving sets one ball auxiliary structure of ball, and middle different branch adopts Hooke's hinge or various schemes such as parallel-crank mechanism or cylindrical pair.This robot utilizes parallel institution can finish several main flow gimmicks of traditional Chinese massage, but exists decoupling poor, the control difficulty, and working space is little to be waited not enough with rotation not too flexibly.
Along with science and technology development, utilize parallel institution, serial mechanism works out the robot that can satisfy the massage manipulation needs in conjunction with modern control technology, electromechanical integration technology becomes possibility, simultaneously also has huge market potential, for useful exploration is made in the modernization of Chinese traditional treatment technology.
Summary of the invention
The objective of the invention is to require from the kinematics and the dynamics of traditional Chinese medical science massage manipulation, in conjunction with the characteristics of serial mechanism and parallel institution, provide a kind of nine kinds of main flow gimmicks can finishing the medical massage of the traditional Chinese medical science (roll method, by method, rub method, pushing manipulation, the method for shaking, palm-rubbing technique, bat method, embrocation, striking) series-parallel robot be used for the medical massage treatment of the traditional Chinese medical science.
The technical solution used in the present invention is:
The medical massage robot of the connection in series-parallel traditional Chinese medical science is made up of with the moving sets E that is connected in virtual fixed platform of parallel institution and frame 3-freedom parallel mechanism, and wherein the moving direction of moving sets E is parallel with the axis direction of revolute pair B, revolute pair C.
3-freedom parallel mechanism is made up of virtual fixed platform of triangle ABC and isosceles triangle A ' B ' C ' moving platform and three side chains connecting between virtual fixed platform and the moving platform, wherein A kinematic pair, A on the side chain " kinematic pair, A ' kinematic pair have two kinds of configuration modes: a kind ofly be R//R//C; another kind is R//R//R 4r; B kinematic pair, B on the side chain " kinematic pair, B ' kinematic pair be R R//R//R, C kinematic pair, C on the side chain " kinematic pair, C ' kinematic pair be S-S-R.According to mechanism's configuration mode, by analyzing the motion feature of each side chain, the moving platform of this parallel institution has 3 frees degree with respect to virtual fixed platform: 2 are moved and 1 rotation.
The virtual fixed platform of 3-freedom parallel mechanism is rotated in above-mentioned two translations one to link to each other with frame by moving sets E, and the guide rail line direction of moving sets E is parallel with the axis direction of revolute pair B, revolute pair C, like this, moving platform has three translations one and rotates four frees degree, can finish gimmicks such as the method for rolling in the traditional Chinese massage gimmick, pushing manipulation, the method for shaking, palm-rubbing technique, bat method, embrocation, striking if directly fix one " Massage apparatus " on moving platform.
The vertical revolute pair F that installs on the moving platform of above-mentioned parallel institution installs one " massage hand " on the axle of this revolute pair F in addition, can finish the palm-rubbing technique of traditional Chinese massage, by method with rub gimmick such as method.
Its also can adopt at " the massage hand " of being satisfied with the parallel institution moving platform and " Massage apparatus " portion be aided with " heat ", " magnetic " reaches auxiliary treatment means such as " infrared rays ", to expect further to improve result of treatment.
For improving the power performance of robot moving platform, the above-mentioned power that vertically is installed on the revolute pair F of moving platform is provided by the flexible shaft transmission by the motor that is fixed in virtual fixed platform.
The invention has the beneficial effects as follows
(1) the present invention adopts and five-freedom parallel device people of the prior art to be changed into revolute pair F is in series on Three Degree Of Freedom (two translations one are rotated) parallel institution and moving guide rail E and the moving platform.Entire mechanism belongs to the series parallel type type that two kinds of types of series, parallel combine, and can satisfy the kinematics and the dynamics requirement of nine kinds of main flow massage manipulations of traditional Chinese massage.This robot mechanism makes full use of the advantage of serial mechanism and parallel institution, and decoupling is good, is convenient to realize real-time control;
(2) the revolute pair rotational freedom that is installed on moving platform has very big flexibility, is active in one's movements rapidly; Adopt moving guide rail that virtual fixed platform is linked to each other with frame, increased the working space of robot; To provide the motor and the control element that are fixed in moving platform revolute pair power to be fixed in virtual fixed platform, the middle flexible shaft that adopts connects, and has improved the power performance of moving platform.(3) increased auxiliary treatment means such as heat, magnetic, infrared ray at Massage apparatus hand place, Massage apparatus and massage hand are combined with supplemental treatment, further improving the traditional Chinese massage gimmick is not only the motion of massaging, in the hope of producing better result of treatment.
Description of drawings
A kind of 3-freedom parallel mechanism that Fig. 1 adopts for the present invention.Triangle ABC is virtual fixed platform, isosceles triangle A ' B ' C ' is a moving platform, A kinematic pair, A on the side chain " kinematic pair, A ' kinematic pair be R//R//C; B kinematic pair, B on the side chain " kinematic pair, B ' kinematic pair be R R//R//R, C kinematic pair, C on the side chain " kinematic pair, C ' kinematic pair be S-S-R.The axis of revolute pair B is parallel with the axis of revolute pair C, and vertical with the guide rail line of cylindrical pair A.
Fig. 2 is the structural representation of the embodiment of the invention 1.The virtual fixed platform of 3-freedom parallel mechanism shown in Figure 1 is linked to each other with moving sets E with frame, and the guide rail line direction of moving sets E is parallel with the axis direction of revolute pair B, revolute pair C.Dispose a revolute pair F perpendicular to this platform again on moving platform, its power is provided by the flexible shaft transmission by the motor that is fixed in virtual fixed platform.
The another kind of 3-freedom parallel mechanism that Fig. 3 adopts for the present invention.Triangle ABC is virtual fixed platform, isosceles triangle A ' B ' C ' is a moving platform, A kinematic pair, A on the side chain " kinematic pair, A ' kinematic pair be R//R//R 4r; B kinematic pair, B on the side chain " kinematic pair, B ' kinematic pair be R R//R//R, C kinematic pair, C on the side chain " kinematic pair, C ' kinematic pair be S-S-R.The axis of revolute pair B is parallel with the axis of revolute pair C.
Fig. 4 is the structural representation of the embodiment of the invention 2.The virtual fixed platform of 3-freedom parallel mechanism shown in Figure 1 is linked to each other with moving sets E with frame, and the guide rail line direction of moving sets E is parallel with the axis direction of revolute pair B, revolute pair C.Dispose a revolute pair perpendicular to this platform again on moving platform, its power is provided by the flexible shaft transmission by the motor that is fixed in virtual fixed platform.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
Embodiment 1
Fig. 1 3-freedom parallel mechanism is by virtual triangle fixed platform ABC and isosceles triangle moving platform A ' B ' C ' and three side chain AA being connected virtual fixed platform and moving platform " A ', BB " B ', CC " C ' forms.Side chain AA wherein " A ' is R//R//C, side chain B B " B ' is R R//R//R, side chain C C " C ' is S-S-R.The axis of revolute pair B is parallel with the axis of revolute pair C, and vertical with the guide rail line of cylindrical pair A.Set up coordinate system as shown in the figure: moving coordinate system is located on the moving platform A ' B ' C ', initial point O ' is positioned at the mid point of A ' B ', Y ' axle is selected on the A ' B ' axis, Z ' axle is perpendicular to moving platform, and position fixing system is located on the virtual fixed platform ABC, and Y-axis is selected on the guide rail AB line, and make OA equal O ' A ', the Z axle is perpendicular to upper mounting plate, and X ' axle is determined X-axis and connecting rod CC with X-axis by right-hand rule " rotational plane meet at the D point.According to mechanism's configuration mode, by analyzing the motion feature of each side chain, the moving platform of being not difficult to draw this parallel institution has 3 frees degree with respect to fixed platform: 2 are moved and 1 rotation, are respectively that in the O-YZ plane two move and around the rotation of Y ' axle.Mechanism is chosen in the moving sets of cylindrical pair A of identical platform (fixed platform) and revolute pair B, revolute pair C as driving pair.
Connection in series-parallel traditional Chinese massage robot mechanism as shown in Figure 2.The virtual fixed platform ABC of 3-freedom parallel mechanism is linked to each other with frame by moving sets E, and the track of moving sets E is parallel with the pivot center of revolute pair B, revolute pair C, and parallel institution integral body is moved along X-direction.If being installed, one " Massage apparatus " can finish gimmicks such as the method for rolling in the traditional Chinese massage gimmick, pushing manipulation, the method for shaking, bat method, embrocation, striking on this robot moving platform.The configuration one revolute pair F perpendicular to this platform on moving platform in addition if on the axle of this revolute pair one " massage hand " is installed, can finish the palm-rubbing technique of traditional Chinese massage, by method with rub gimmick such as method.This robot can satisfy required kinematics of traditional Chinese massage gimmick and dynamics requirement.
Embodiment 2
3-freedom parallel mechanism is by virtual triangle fixed platform ABC and isosceles triangle moving platform A ' B ' C ' and be connected and fixed platform and three side chain AA of moving platform " A ', BB " B ', CC " C ' forms.Side chain AA wherein " A ' is R//R//R 4r (4r is a parallel-crank mechanism); Side chain B B " B ' is R R//R//R; Side chain C C " C ' is S-S-R.Four revolute pair 4r of parallel-crank mechanism and the axis of revolute pair B are parallel with the axis of revolute pair C.According to mechanism's configuration mode, by analyzing the motion feature of each side chain, the moving platform that draws this parallel institution has 3 frees degree with respect to fixed platform: 2 are moved and 1 rotation.
Connection in series-parallel traditional Chinese massage robot mechanism as shown in Figure 4.The virtual fixed platform ABC of 3-freedom parallel mechanism shown in Figure 3 is linked to each other with frame by moving sets E, and the track of moving sets E is parallel with the pivot center of revolute pair B, revolute pair C, and parallel institution integral body is moved along X-direction.If being installed, one " Massage apparatus " can finish gimmicks such as the method for rolling in the traditional Chinese massage gimmick, vertebra method, the method for shaking, bat method, embrocation, striking on this robot moving platform.The configuration one revolute pair F perpendicular to this platform on moving platform in addition if on the axle of this revolute pair F one " massage hand " is installed, can finish the palm-rubbing technique of traditional Chinese massage, by method with rub gimmick such as method.This robot can satisfy required kinematics of traditional Chinese massage gimmick and dynamics requirement.
Claims (3)
1, the new type series-parallel connected traditional Chinese massage of class robot, it is characterized in that moving one by two rotates 3-freedom parallel mechanism and be connected in the virtual fixed platform of parallel institution and the moving sets E of frame is formed, wherein the moving direction of moving sets E is parallel with the axis direction of revolute pair B, revolute pair C; Wherein 3-freedom parallel mechanism is made up of the virtual fixed platform of triangle ABC and isosceles triangle A ' B ' C ' moving platform and three side chains connecting between virtual fixed platform and the moving platform, and wherein A A " A kinematic pair, A on A ' side chain " kinematic pair, A ' kinematic pair are taked one of dual mode: R//R//C or R//R//R ⊥ 4R; B B " B kinematic pair, B on B ' side chain " kinematic pair, B ' kinematic pair are R ⊥ R//R//R, and C C " C kinematic pair, C on C ' side chain " kinematic pair, C ' kinematic pair are S-S-R; Fix one " Massage apparatus " on isosceles triangle A ' B ' C ' moving platform, revolute pair F vertically is installed on A ' B ' C ' moving platform, on the axle of revolute pair F one " massage hand " is installed.
2, the new type series-parallel connected traditional Chinese massage of a class according to claim 1 robot is characterized in that " massage hand " and " Massage apparatus " portion are aided with " heat ", " magnetic " reaches " infrared ray " auxiliary treatment means.
3, the new type series-parallel connected traditional Chinese massage of a class according to claim 1 robot, the power that it is characterized in that vertically being installed on the revolute pair F of moving platform is provided by the flexible shaft transmission by the motor that is fixed in virtual fixed platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200510094463XA CN100357070C (en) | 2005-09-20 | 2005-09-20 | Serial-parallel TCM massage robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200510094463XA CN100357070C (en) | 2005-09-20 | 2005-09-20 | Serial-parallel TCM massage robot |
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| CN1743143A CN1743143A (en) | 2006-03-08 |
| CN100357070C true CN100357070C (en) | 2007-12-26 |
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| CNB200510094463XA Expired - Fee Related CN100357070C (en) | 2005-09-20 | 2005-09-20 | Serial-parallel TCM massage robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100391699C (en) * | 2006-06-28 | 2008-06-04 | 江苏工业学院 | Bifreedon space parallel mechanism used for parallel motion equipment |
| CN102552019A (en) * | 2011-12-29 | 2012-07-11 | 大连佳林设备制造有限公司 | Massaging robot |
| CN103381602B (en) * | 2013-07-10 | 2015-09-16 | 燕山大学 | A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure |
| CN104015185B (en) * | 2014-06-12 | 2015-10-21 | 常州大学 | A kind of weak coupling three transfer parallel robot mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN108670754B (en) * | 2018-05-09 | 2023-08-11 | 吉林大学 | Integrated bionic massage robot based on flexible driving |
| CN110074964A (en) * | 2019-05-31 | 2019-08-02 | 重庆大学 | Head massager and head massage method based on 3-freedom parallel mechanism |
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| CN1342547A (en) * | 2001-04-10 | 2002-04-03 | 中国石化集团金陵石油化工有限责任公司 | Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine |
| CN2574851Y (en) * | 2002-11-12 | 2003-09-24 | 上海大学 | Hand pipe-cutting knife |
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN1513644A (en) * | 2003-07-18 | 2004-07-21 | 江苏大学 | Massage robot for traumatological department of traditional chinese medicine |
| CN1586805A (en) * | 2004-10-14 | 2005-03-02 | 江苏工业学院 | Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot |
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2005
- 2005-09-20 CN CNB200510094463XA patent/CN100357070C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1342547A (en) * | 2001-04-10 | 2002-04-03 | 中国石化集团金陵石油化工有限责任公司 | Parallel 2D translation mechanism for numerally controlled machine-tool with virtual axle and coordinate measuring machine |
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN2574851Y (en) * | 2002-11-12 | 2003-09-24 | 上海大学 | Hand pipe-cutting knife |
| CN1513644A (en) * | 2003-07-18 | 2004-07-21 | 江苏大学 | Massage robot for traumatological department of traditional chinese medicine |
| CN1586805A (en) * | 2004-10-14 | 2005-03-02 | 江苏工业学院 | Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot |
Non-Patent Citations (1)
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| 新型两平移一转动并联机器人机构精度分析与仿真 余顺年，马履中.机械设计，第22卷第6期 2005 * |
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| CN1743143A (en) | 2006-03-08 |
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