CN103932865A - Digital-control humanized massager - Google Patents

Abstract

The invention discloses a digitally controlled anthropomorphic massage machine. A massage platform is arranged on a machine platform; Axial movement; a control unit can automatically or manually control the massage action path of the three-axis movement unit to drive a massage seat, and set a digital displacement limit distance and a mechanical movement limit distance, so as to ensure that the third movement seat The distance to move upward and downward on the third axis will not be too large, and a decibel meter is installed to monitor whether a sound exceeds the set decibel value, and an emergency stop switch is provided for manual stop; in order to use the above-mentioned safety mechanism to immediately Control the three-axis moving unit to stop and return to its original position to ensure the safety of users.

Description

A digitally controlled anthropomorphic massage machine

technical field

The invention relates to a massage machine, in particular to an automatic massage machine capable of simulating the massage effect of an actual real person and having multiple safety monitoring mechanisms.

Background technique

At present, in order to relieve fatigue and relieve body pain, most people will perform massage treatment, but because each masseur's technique and strength will vary from person to person, and even the physical condition of the masseur is different every day, so As a result, the standard of massage will not be the same, and it is impossible to maintain a consistent massage effect. Every time you meet a different masseur, you must re-establish a new massage standard or habit, and adapt again, so that the massaged person troubled.

In the prior art, there is a programmable digital massage machine, which discloses that it has a long platform that includes a platform reference for people to lie flat on it, and a group of driving components are arranged on the side of the platform, and the moving parts of the driving component can be It is driven on the platform to move and rotate in a three-dimensional space. In addition, there is a set of massage components that can be infrared irradiation, wind pressure, massage stick vibration or a combination thereof, and on the side of the platform. Set up a programmable digital control unit that controls the actuation of the drive unit and the massage unit. With this combination, people can carry the program disk that records personal body type data and input it into the local massage machine. The data controls the displacement of the massage head of the massage component, and precisely exerts massage on specific parts of the human body. But it does not have any safety protection mechanism. Once the input data is wrong, or a malfunction occurs during use, causing the downward massage stroke to be too large, it will cause great harm to the user.

There is also a massage system with video interaction function, which discloses: a massage device that can be driven to perform massage actions, a control device for driving the massage device to massage, and an image capture device electrically connected to the control device and An input device, the image capture device captures the image of the human body and transmits the image data to the control device for processing, the input device is used to input control signals to the control device to drive the massage devices and the image capture device; The input device can be used for interactive input control, and the image capture device captures the human body image, and after image comparison and processing by the control device, it can accurately locate the position of the user's acupoints, so as to drive the massage device to accurately User's desired location for massage. Although there is a way to identify the acupoints by using video to confirm the correct position of the acupoints during massage, it still does not have any safety protection mechanism during massage, so it is quite unsatisfactory in use.

Contents of the invention

In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a digitally controlled anthropomorphic massage machine.

Technical scheme of the present invention comprises:

A digital control anthropomorphic massage machine, which includes a machine platform, the machine platform is provided with a massage platform, and the massage platform is provided with a through hole;

A three-axis moving unit, which is arranged on the machine platform, and the three-axis moving unit is respectively provided with a first moving seat, a second moving seat and a third moving seat, and the first moving seat is carried out relative to the massage platform. A movement in the first axial direction, the second moving seat moves in a second axial direction relative to the massage platform, the third moving seat moves in a third axial direction relatively perpendicular to the massage platform, and the third moving seat moves in a third axial direction relative to the massage platform. an axis, the second axis and the third axis are perpendicular to each other;

A massage seat, which is arranged on the third moving seat of the three-axis moving unit, the massage seat is provided with at least one massage head;

A control unit, which is arranged on the machine table and connected to the three-axis moving unit by signal, the control unit is used for inputting an automatic massage data, so as to automatically control the three-axis moving unit to drive the massage seat on the first axis To, the second axis and the third axis generate a massage action path, and the control unit sets a digital displacement limit distance, and the control unit monitors the movement of the third moving seat on the third axis A first safety distance, when the first safety distance exceeds the digital displacement limit distance, the three-axis moving unit is immediately controlled to stop and return to its original position, and the control unit is provided with an emergency stop switch for manual control The three-axis mobile unit stops and returns to its original position;

A decibel meter, which is installed on the machine table, and is located at the position below the through hole of the massage platform, the signal of the decibel meter is connected to the control unit, so as to monitor a sound exceeding a set decibel value, and then control it immediately The three-axis mobile unit stops and returns to its original position;

A micro switch, which is arranged on the three-axis moving unit, and is located at a limit position of the third moving seat on the massage action path on the third axis, the signal of the micro switch is connected to the control unit, and the first The three movable seats move a second safety distance upward on the third axis, and the end point of the second safety distance is the aforementioned extreme position.

The digital control anthropomorphic massage machine, wherein, the three-axis moving unit is provided with a first driving member, the first driving member is power-linked with a first screw rod, the first moving seat is arranged on the first screw rod, the The rotation of the first screw drives the first moving seat to move along the first axial direction on the two first guide rods, and a second driving member is provided on the first moving seat, and the second driving member is dynamically linked to a second screw, the second moving seat is set on the second screw, and the second screw rotates to drive the second moving seat to move along the second axial direction on the two second guide rods, and the second moving seat is provided with There is a third driving member, the third driving member is power-linked with a third screw rod, the third moving seat is arranged on the third screw rod, and the rotation of the third screw rod drives the third moving seat to move along the third axial direction .

In the digitally controlled anthropomorphic massage machine, the first driving part, the second driving part and the third driving part are stepping motors respectively.

The digital control anthropomorphic massage machine, wherein, a fourth driving member is provided in the third moving seat, and the massage seat is power-linked with the fourth driving member, so that the fourth driving member drives the massage seat relative to The third mobile base rotates.

In the digitally controlled anthropomorphic massage machine, the fourth driving member is a stepping motor.

In the digitally controlled anthropomorphic massage machine, a heating element is installed in the massage head, so as to automatically heat and control the temperature of the massage head.

The digital control anthropomorphic massage machine, wherein, the control unit is provided with a manual control unit, so as to manually control the movement of the three-axis moving unit to establish a massage point, and link the coordinate position of each massage point into The massage action path, and record and store the massage action path to establish the automatic massage data.

In the digitally controlled anthropomorphic massage machine, the second safety distance is greater than the first safety distance.

The present invention has the following advantages:

1. This invention can manually set the massage action path first, and record and store the coordinate position of each massage point in the massage action path, so as to establish an automatic massage data, which will be used as the control reference for future automatic massage .

2. In the present invention, a digital displacement limit distance is set by a program, and a mechanical movement limit distance is constructed by a micro switch, so that the movement distance of the third movable seat in the third axis can be monitored at any time. The three-axis shift setting has a first safety distance and a second safety distance, wherein the first safety distance must be equal to or less than the digital displacement limit distance, and the second safety distance must be equal to or less than the mechanical movement limit distance, thereby Avoid the movement distance of the downward massage beyond the range, so that the pressing pressure is too large, causing injury to the user.

3. The present invention is equipped with a decibel meter to monitor whether the sound emitted by the user during massage exceeds the set decibel value, so that the three-axis moving unit can be immediately controlled to stop and return to its original position.

4. The present invention can re-modify the coordinate position of the massage point according to the needs of the user, as well as the applied force, the number of times, frequency, interval time and the shape of the massage head used, so as to achieve the most comfortable Massage effect and ensure the same massage quality every time.

5. The massage head of the present invention can choose to replace the massage head with different shapes according to the needs, and the massage action, in addition to the up and down, left and right massage methods, can also be set to draw a circle-shaped massage method, or press and knead, etc. In this way, it can simulate the massage techniques of actual real people and achieve a fully anthropomorphic massage effect.

6. The massage head of the present invention can be heated automatically, so as to not only produce the massage effect, but also have the effect of hot compress.

7. After the massage coordinates and path are programmed, it is a customized massage program. When performing the massage program in the future, you can choose "Normal Mode" to repeat the program to obtain an optimized massage effect; you can also choose "Slight Mode" to keep the massage path and position unchanged, but the third movement The downward stroke of the seat is slightly reduced to obtain a lighter massage effect; in addition, you can also choose the "Aggravated Mode", the massage path and massage position remain unchanged, but the downward stroke of the third movable seat is slightly increased to obtain a stronger massage effect. Great massage effect.

Description of drawings

Fig. 1 is the perspective view of the present invention;

Fig. 2 is a three-dimensional appearance view of another viewing angle of the present invention;

Fig. 3 is a schematic diagram of the use of the present invention;

Fig. 4 is a schematic diagram of three-point positioning of the cervical spine, coccyx and soles of the user's body according to the present invention;

Fig. 5 is a schematic diagram of the decibel meter of the present invention detecting the user's voice;

Fig. 6 is a schematic diagram of the third moving seat of the present invention moving downwards and touching the micro switch;

Among them, 1 is the machine table, 11 is the massage platform, 12 is the through hole, 2 is the three-axis moving unit, 21 is the first driving member, 211 is the first screw, 212 is the first guide rod, 22 is the first moving seat , 23 is the second drive member, 231 is the second screw rod, 232 is the second guide rod, 24 is the second moving seat, 25 is the third drive member, 251 is the third screw rod, 252 is the third guide rod, 26 is The third mobile seat, 27 is the fourth driving member, 3 is the massage seat, 31 is the massage head, 32 is the heating assembly, 4 is the control unit, 41 is the manual control assembly, 42 is the emergency stop switch, 5 is the decibel meter, 6 is the micro switch, A is the user, A1 is the user's cervical spine, A2 is the user's tail spine, A3 is the user's sole, Y is the second axis, X is the first axis, and Z is the third axis.

Detailed ways

The present invention provides a digitally controlled anthropomorphic massage machine. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail below. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

First, please refer to Fig. 1 and Fig. 2, the embodiment of the present invention includes an organic table 1, a three-axis moving unit 2, a massage seat 3, a control unit 4, a decibel meter 5 and a micro switch 6, wherein:

The machine table 1 is provided with a massage platform 11 for the user to lie down on. The massage platform 11 is provided with a through hole 12 for accommodating the user's face. The through hole 12 also has a function for the user to lie down. Finally, it serves as the positioning point at the beginning of the massage to help confirm whether the user's lying position is correct.

Three-axis moving unit 2, which is arranged on the machine platform 1, this three-axis moving unit 2 is provided with a first driving member 21, and this first driving member 21 is a stepping motor, and this first driving member 21 is power-linked A first screw rod 211, the first screw rod 211 is provided with a first moving seat 22, and the first screw rod 211 rotates to drive the first moving seat 22 on the two first guide rods 212 relative to the massage platform 11 for the first time. The movement of the axis X, the direction of the first axis X is defined as a user lying on the massage platform 11, which is parallel to the axial direction of the user's head and feet, and the first moving seat 22 A second driving member 23 is provided on the top, and the second driving member 23 is a stepping motor, and the second driving member 23 is dynamically connected to a second screw rod 231, and a second moving seat 24 is provided on the second screw rod 231. The rotation of the second screw 231 drives the second moving seat 24 to move on the two second guide rods 232 relative to the massage platform 11 in the second axis Y, and the second axis Y is perpendicular to the first axis X , and the second moving base 24 is provided with a third driving member 25, the third driving member 25 is a stepping motor, and the third driving member 25 is dynamically connected to a third screw rod 251, on which the third screw rod 251 A third moving seat 26 is provided, and the third screw rod 251 rotates to drive the third moving seat 26 to move in the third axis Z on the two third guide rods 252 relatively perpendicular to the massage platform 11. The third axis Z is respectively perpendicular to the first axis X and the second axis Y, and a fourth driving member 27 is disposed inside the third moving seat 26 , and the fourth driving member 27 is a stepping motor.

The massage seat 3 is arranged on the third moving seat 26 of the three-axis moving unit 2, and is power-linked with the fourth driving member 27, so that the fourth driving member 27 is used to drive the massage seat 3 relative to the third The moving seat 26 rotates, and the massaging seat 3 is provided with a plurality of radially arranged massage heads 31. These massage heads 31 can be set in different shapes, such as circular, pointed, convex or convex. In addition, these massage heads 31 can be provided with heating elements 32, so as to automatically heat and control the temperature, so that the temperature of the massage heads 31 can reach between 40°C and 50°C, so as to produce the effect of hot compress.

Control unit 4, it is arranged on this machine platform 1, and signal is connected to this three-axis mobile unit 2, and this control unit 4 can be used for inputting an automatic massage data, thereby can automatically control this three-axis mobile unit 2 in this first A massage action path is generated on the axial X, the second axial Y and the third axial Z, and the control unit 4 is provided with a manual control assembly 41 and an emergency stop switch 42, so that the manual control assembly 41 can be used for Manually control the movement of the three-axis mobile unit 2 to establish the coordinate position of each massage point, link the coordinate position of each massage point into the massage action path, and record and store the massage action path so as to establish the automatic massage data. In addition, the control unit 4 is set with a digital displacement limit distance. After the three-axis movement unit 2 establishes the massage action path, it automatically moves on the third moving seat according to the coordinate position of each massage point. 26 sets a first safety distance for downward movement along the third axis Z. Once the distance that the third moving seat 26 moves downward exceeds the digital displacement limit distance, the control unit 4 immediately controls the three The axis moving unit 2 stops and returns to its original position, so as to prevent the third moving seat 26 from continuing to press downward on the third axis Z, so as to ensure the safety during massage.

The decibel meter 5 is located on the machine platform 1 and is located at the position below the through hole 12 of the massage platform 11. The signal of the decibel meter 5 is connected to the control unit 4 so as to receive the sound sent by the user, When the sound exceeds a set decibel value, it means that the user may feel pain or discomfort. At this time, the control unit 4 immediately controls the three-axis moving unit 2 to stop and return to its original position, so as to ensure the smoothness of massage. Safety.

Micro switch 6, which is located on the three-axis moving unit 2, and is located at a limit position of the massage action path of the third moving seat 26 on the third axis Z, the micro switch 6 signal connection To the control unit 4, a second safety distance for downward movement is set on the third moving seat 26 along the third axis Z, and the end point of the second safety distance is where the aforementioned micro switch 6 is located. extreme position. When the third movable seat 26 moves downwards once it touches the micro switch 6, it means that the distance moved downward by the third movable seat 26 has exceeded the second safety distance set by the mechanical movement limit. The micro switch 6 will send a signal to the control unit 4, and the control unit 4 will immediately control the three-axis moving unit 2 to stop and return to its original position, so as to ensure the safety during massage.

When the present invention starts the automatic massage, an automatic massage data must be manually established first, as shown in Figure 3, the user A is lying on the massage platform 11, and the face of the user A is placed on the massage platform 11 through the hole 12, so as to serve as a massage initial positioning point, and then the masseur through the manual control unit 41 of the control unit 4, so as to be able to manually control the three-axis moving unit 2 to drive the massage seat 3 on the The first axis X, the second axis Y and the third axis Z move.

When it is necessary to drive the massage seat 3 to move on the first axis X, the first driving member 21 can be started to rotate, and when the first driving member 21 is used to rotate, the first screw rod 211 can be driven to rotate, so the first The first moving seat 22 on a screw rod 211 can move linearly on the two first guide rods 212 relative to the first screw rod 211, so as to control the first axial movement of the massage seat 3 relative to the massage platform 11. For the movement of X, if it is necessary to drive the massage seat 3 to move on the second axis Y or the third axis Z, the second drive member 23 or the third drive member 25 can be started to rotate, and the second drive member 25 can be used to rotate. 23 or the third driving member 25 rotates, it can drive the second screw 231 or the third screw 251 to rotate, so that the second moving seat 24 on the second screw 231 can move relative to the second screw 231 on the second screw 231. Move linearly on the second guide rods 232, or the third moving seat 26 on the third screw rod 251 can move linearly on the two third guide rods 252 relative to the third screw rod 251, so as to control the massage seat 3. Move in the second axis Y or the third axis Z relative to the massage platform 11.

The masseuse can manipulate the three-axis moving unit 2 to drive the massage seat 3 to move on the first axis X, the second axis Y and the third axis Z according to the positions of different acupoints on the body of the user A. When any massage head 31 of the massage seat 3 touches the acupoints of the user A, it becomes a massage point, and the control unit 4 records the coordinate position of the massage point in the three-dimensional space, wherein on the third axis Z is Take the highest massage point as the origin, and then control the massage head 31 to move downwards to simulate the strength of the massage. Since the massage point is set as the origin, the distance it presses down is a negative value. The movement distance of -0.05mm can be increased once, and the maximum value allowed when pressing is the first safety distance and the second safety distance set by the digital displacement limit distance and the mechanical movement limit, which are respectively- 0.30mm, and the pressing force increases or decreases depending on the strength that each person can bear, and relatively relaxes or shortens the first safety distance and the second safety distance. In this way, the masseur first uses manual methods to establish user A’s The coordinate position of each massage point, and including the force applied, that is, the distance moved downward in the third axis Z, as well as the number, frequency, interval time and shape of the massage head used for up and down massage, can be Manually operate, and then link the coordinate position of each massage point into the massage action path, and record and store the massage action path, so as to establish an automatic massage data.

When starting the automatic massage for the second time, as shown in Figure 4, the user A also lies on the massage platform 11, and the face of the user A is placed in the through hole 12 of the massage platform 11, In order to use it as a rough positioning point at the beginning of the massage, then the control unit 4 will first perform precise positioning correction according to the automatic massage data previously established manually, which first controls the three-axis moving unit 2 to drive the massage seat 3 Test and press three massage points on user A's body to perform three-point correction. For example, move to the three massage points on user A's body, such as cervical spine A1, tail spine A2 and sole A3, and use the cervical spine A1, Massage points on the three parts of the tailbone A2 and the sole of the foot A3, and then apply the previously recorded pressing coordinate position and force to correct whether there is any error. If there is an error, it is necessary to move the user A to lie down position, or modify the automatic massage data, and repeat the calibration until it completely matches the previously established automatic massage data.

When the calibration is completely error-free, the automatic massage can be started, and the control unit 4 will automatically manipulate the three-axis moving unit 2 to drive the massage seat 3 again according to the automatic massage data manually established before, according to the established Automatic massage data, execute the massage action path on the first axis X, the second axis Y and the third axis Z, so as to achieve the effect of automatic massage. During the massage process, according to the user's needs, Re-modify the coordinate position of the set massage point, as well as the applied force, the number of up and down massages, frequency, interval time and the massage head used, so as to achieve the most comfortable massage effect and ensure that each time has the same massage quality.

And in the massage process, in order to ensure the safety of the user, as shown in Figure 5, if the position or force of the pressing is wrong, causing the user to make a sound due to pain, the sound will be located on the massage platform 11. Detected by the decibel meter 5 at the position below the through hole 12, when the sound exceeds the set decibel value, for example, it is set to 65 decibels, as long as the sound emitted by user A exceeds 65 decibels, the decibel The instrument 5 will send a signal to the control unit 4, so that the control unit 4 can immediately control the three-axis moving unit 2 to stop and return to its original position, so as to ensure the safety of the massage. If the user wants to stop the massage in the middle of the massage , and can also shout out loudly, so as to control the three-axis moving unit 2 to stop through the decibel meter 5 .

Or the third moving seat 26 of the three-axis moving unit 2, when the first safety distance of moving downward in the third axis Z exceeds the set digital shift limit distance, that is, the distance moved downward has been reached. If it exceeds 0.30mm, the control unit 4 also immediately controls the three-axis moving unit 2 to stop and return to its original position, so as to ensure the safety of the massage.

Or the third moving seat 26 of the three-axis moving unit 2, as shown in FIG. The second safety distance has exceeded the set mechanical movement limit, that is, the distance of its downward movement has exceeded 0.30mm, then the control unit 4 also immediately controls the three-axis movement unit 2 to stop and return to its original position, so as to ensure massage Time is safe.

Or when the user is suddenly unconscious and unable to make a sound, then others can immediately press the emergency stop switch 42 upon seeing the situation to control the three-axis moving unit 2 to stop and return to its original position, so as to ensure the safety of the massage.

In addition, the present invention utilizes the heating element 32 to heat automatically, so that the temperature of the massage head 31 can reach between 40°C and 50°C, so as to produce massage and have the effect of hot compress; and the massage head 31 can be selected according to needs. Replace the massage heads 31 of different shapes, and the massage action, in addition to the up and down, left and right massage methods, can also be set to draw a circle-shaped massage method, or press and knead, so as to simulate the actual massage effect of a real person. Can achieve fully anthropomorphic massage effect.

The above description is only one of the embodiments of the present invention, and should not limit the scope of patent protection of the present invention, all simple equivalent changes and replacements made according to the scope of patent application of the present invention and the contents of the description should still be It belongs to the scope of protection covered by the patent scope of the present invention application.

Claims (8)

1. A digital control anthropomorphic massage machine, which comprises a machine platform, the machine platform is provided with a massage platform, and the massage platform is provided with a through hole; A three-axis moving unit, which is arranged on the machine platform, and the three-axis moving unit is respectively provided with a first moving seat, a second moving seat and a third moving seat, and the first moving seat is carried out relative to the massage platform. A movement in the first axial direction, the second moving seat moves in a second axial direction relative to the massage platform, the third moving seat moves in a third axial direction relatively perpendicular to the massage platform, and the third moving seat moves in a third axial direction relative to the massage platform. an axis, the second axis and the third axis are perpendicular to each other; A massage seat, which is arranged on the third moving seat of the three-axis moving unit, the massage seat is provided with at least one massage head; A control unit, which is arranged on the machine table and connected to the three-axis moving unit by signal, the control unit is used for inputting an automatic massage data, so as to automatically control the three-axis moving unit to drive the massage seat on the first axis To, the second axis and the third axis generate a massage action path, and the control unit sets a digital displacement limit distance, and the control unit monitors the movement of the third moving seat on the third axis A first safety distance, when the first safety distance exceeds the digital displacement limit distance, the three-axis moving unit is immediately controlled to stop and return to its original position, and the control unit is provided with an emergency stop switch for manual control The three-axis mobile unit stops and returns to its original position; A decibel meter, which is installed on the machine table, and is located at the position below the through hole of the massage platform, the signal of the decibel meter is connected to the control unit, so as to monitor a sound exceeding a set decibel value, and then control it immediately The three-axis mobile unit stops and returns to its original position; A micro switch, which is arranged on the three-axis moving unit, and is located at a limit position of the third moving seat on the massage action path on the third axis, the signal of the micro switch is connected to the control unit, and the first The three movable seats move a second safety distance upward on the third axis, and the end point of the second safety distance is the aforementioned extreme position. 2. The digital control anthropomorphic massage machine according to claim 1, characterized in that, the three-axis moving unit is provided with a first driving member, and the first driving member is power-linked with a first screw rod, and the first moving seat is provided with On the first screw rod, the rotation of the first screw rod drives the first moving seat to move along the first axial direction on the two first guide rods, and a second driving member is provided on the first moving seat, the first moving seat The two driving parts are power-linked with a second screw rod, the second moving seat is arranged on the second screw rod, and the rotation of the second screw rod drives the second moving seat to move along the second axial direction on the two second guide rods, Also, a third driving member is provided on the second moving base, and the third driving member is power-linked with a third screw rod. The third moving base is arranged on the third screw rod, and the rotation of the third screw rod drives the third moving base. Move along the third axis. 3 . The digitally controlled anthropomorphic massage machine according to claim 1 , wherein the first driving member, the second driving member and the third driving member are stepping motors respectively. 4 . 4. The digital control anthropomorphic massage machine according to claim 1, characterized in that, a fourth driving member is arranged in the third moving seat, and the massage seat is power-linked with the fourth driving member, so as to utilize the fourth The driving member drives the massage seat to rotate relative to the third moving seat. 5 . The digitally controlled anthropomorphic massage machine according to claim 4 , wherein the fourth driving member is a stepping motor. 6 . The digitally controlled anthropomorphic massage machine according to claim 1 , wherein a heating element is installed in the massage head, so as to automatically heat and control the temperature of the massage head. 7 . 7. The digital control anthropomorphic massage machine according to claim 1, characterized in that, the control unit is provided with a manual control assembly, so as to manually control the movement of the three-axis moving unit to establish a massage point, and each The coordinate positions of the massage points are linked into the massage action path, and the massage action path is recorded and stored to establish the automatic massage data. 8. The digitally controlled anthropomorphic massage machine according to claim 1, wherein the second safety distance is greater than the first safety distance.