CN105411831A - Massage robot in tracking mode - Google Patents
Massage robot in tracking mode Download PDFInfo
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- CN105411831A CN105411831A CN201610013140.1A CN201610013140A CN105411831A CN 105411831 A CN105411831 A CN 105411831A CN 201610013140 A CN201610013140 A CN 201610013140A CN 105411831 A CN105411831 A CN 105411831A
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- Prior art keywords
- vertical
- motor
- fixed
- leading screw
- horizontal
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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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
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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
- 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
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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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
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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
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
- A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
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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
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
Abstract
The invention provides a massage robot in a tracking mode. The massage robot comprises a longitudinal movement mechanism, a transverse movement mechanism, a vertical movement mechanism, a support, a mechanical arm and a massage head. The support is located on the upper surface of the longitudinal movement mechanism. The transverse movement mechanism is located on a portal frame of the support. The vertical movement mechanism is located on a vertical bottom plate in the transverse movement mechanism. The massage head is fixed to the mechanical arm, and the mechanical arm is fixed to a connection plate of the vertical movement mechanism. By means of the massage robot in the tracking mode, naprapathy can be conducted on the back, the neck and other portions from multiple angles, massage operation such as fixed-point knocking, advancing knocking and naprapathy in the tracking mode are achieved, reciprocating movement can be conducted in the whole course, adjustment of the movement range in the longitudinal direction, the transverse direction and the vertical direction is achieved so that requirements of patients of different body types can be met, the real-time force in the massage process can be adjusted so that it can be guaranteed that the massage process is safe and reliable, and the comfort level is improved.
Description
Technical field
The present invention relates to a kind of tracking massage robot, belong to rehabilitation medical and healthcare field.
Background technology
Current existing massage machine, if China Patent No. is a kind of domestic back rubbing and massaging manipulator disclosed in the innovation and creation of 201010193262.6, mainly comprise framework, left/right movement device, reciprocating mechanism, elastic mechanism and front end chopping head mechanism, left/right movement device is arranged on the crossbeam of framework, upper and lower two parts of reciprocating mechanism to be contained in respectively on lower guide rod and to be connected with the Timing Belt in left/right movement device, elastic mechanism is arranged on the slide block of reciprocating mechanism, and front end chopping head mechanism is arranged in elastic mechanism.The elastic mechanism of foregoing invention is arranged on and moves up and down front end, and meeting under whole machine balancing and installation stability condition, flexible stroke is short, and displacement is limited.Said apparatus is when realizing giving a rubdown with a damp towel with massaging action, and chopping head in front end can only realize pitching motion, and massage angle is limited, personalizes poor.
Summary of the invention
For overcome exist in prior art limited angle, personalize poor deficiency, the present invention proposes a kind of tracking massage robot.
The present invention includes motion, support, mechanical arm and massage head, described motion comprises longitudinal motion mechanism, transverse motion mechanism and vertical motion mechanism; Wherein:
Described support is positioned at the upper surface of longitudinal motion mechanism.Longitudinal leadscrew in this longitudinal motion mechanism and two guide rods coordinate with support transmission, and move along described longitudinal leadscrew integrated reciprocating for realizing support, its moving direction is the Y direction in coordinate system.
Described transverse motion mechanism is positioned on the portal frame of support, and is separately fixed on this portal frame by the two ends of the horizontal leading screw in this transverse motion mechanism and two horizontal line slideways; Cross motor in transverse motion mechanism by this horizontal leading screw drive by horizontal leading screw nut seat be fixed on vertical base plate on support transversely leading screw move back and forth, its moving direction is the X-direction in coordinate system.
Described vertical motion mechanism is arranged in the vertical base plate of transverse motion mechanism, and the two ends of the vertical leading screw in this vertical motion mechanism and two vertical line slideways are separately fixed on the surface of this vertical base plate, driven by the vertical leading screw in vertical motion mechanism and move back and forth along the Z axis of coordinate system together with massage head with the mechanical arm that connecting plate is fixed.Described mechanical arm is fixed on connecting plate.
Described longitudinal motion mechanism comprises horizontal base, longitudinal motor, longitudinal leadscrew and guide rod.Longitudinal leadscrew is fixed on the centre of horizontal base upper surface, and two guide rods are separately fixed at horizontal base upper surface, and lays respectively at two side positions of longitudinal leadscrew.Longitudinal motor is fixed in longitudinal motor fixing seat, and longitudinal motor fixing seat is fixed on a side surface of horizontal base.Longitudinal motor output end is connected with longitudinal leadscrew.Lay respectively at each guide rod hole of pedestal lower end both sides and described two guide rod coaxial cooperation, be positioned at the lead screw hole in the middle of pedestal lower end and described longitudinal leadscrew coaxial cooperation, described longitudinal motor drives described support to move along this longitudinal leadscrew integrated reciprocating by this longitudinal leadscrew.
Described transverse motion mechanism comprises cross motor, horizontal leading screw, two horizontal line slideways, vertical base plate and horizontal bearing fixation kits.The middle part of portal frame one side surface being fixed on support of horizontal leading screw level.Portal frame one side surface being fixed on support of two horizontal line slideways also level, and make two described horizontal line slideways be fixed on the both sides of described horizontal leading screw respectively by cross slide way screw.
Cross motor is connected with one end of described horizontal leading screw; This horizontal leading screw and the transmission of horizontal leading screw nut screw connection, the vertical base plate on drive support transversely leading screw moves back and forth; Horizontal screw nut sleeve fills and is fixed on this horizontal leading screw; Horizontal leading screw nut seat is sleeved on described horizontal feed screw nut, and is fixed on the surperficial middle part of vertical base plate one.Two cross slide way slide blocks are separately fixed on the surface of vertical base plate, and lay respectively at the both sides of horizontal leading screw nut seat.The chute of two described cross slide way slide blocks is installed on described two horizontal line slideways respectively.Vertical motion mechanism, mechanical arm and massage head is supported by described horizontal line slideway, and the motion guide to transverse motion mechanism.
Described cross motor is fixed on support by cross motor holder; Described cross motor holder is stair-stepping bending plate.The plate of this cross motor holder one end there is the through hole coordinated with cross motor.The plate of this cross motor holder other end is distributed with the installing hole affixed with support; The described plate laying respectively at cross motor holder two ends is parallel to each other.
Described vertical motion mechanism comprises vertical motor, vertically leading screw, two vertical line slideways and connecting plate.Vertical leading screw is vertically fixed in vertical base plate, and two vertical line slideways to be fixed in vertical base plate and to be positioned at the both sides of described vertical leading screw.Connecting plate is connected by upright guide rail slide block with two vertical line slideways.Vertical leading screw is fixed on connecting plate by vertical feed screw nut and vertical leading screw nut seat; Vertical motor is fixed on vertical base plate one end.Vertical motor output end is coaxially connected with vertical leading screw, thus drives the mechanical arm fixing with connecting plate to move back and forth along vertical leading screw.
Described mechanical arm comprises large arm and little arm mechanism; Affixed between described large arm and little arm mechanism.Described little arm mechanism comprises the first forearm, the second forearm and carpal joint; Be fixed with forearm motor inside described first forearm, forearm motor output end is connected with the second forearm, is rotated by forearm driven by motor second forearm.The center of described second forearm one end is provided with wrist motor and wrist motor coupler; There is the connecting rod axially protruded at described second forearm other end end face center, and is connected by this second forearm by this connecting rod with forearm shaft coupling.Described carpal holder is connected by wrist screw and the second forearm housing end face.
Described carpal joint comprises wrist motor, holder, fixing head, the first bevel gear, the second bevel gear, the first connecting axle, the second connecting axle, the 3rd connecting axle and end cap.Described wrist motor is positioned at fixes the second forearm inside.This wrist motor output shaft is connected with connecting axle; The other end of described connecting axle loads in the central shaft hole of the first bevel gear.Described first bevel gear is positioned at holder, and makes the installing sleeve of this first bevel gear one end load in the installing hole on the vertical plate of described holder, realizes wrist driven by motor first bevel gear rotate by described connecting axle.
One end of described first connecting axle is arranged on the horizontal plate of described holder; The other end of this first connecting axle be positioned at the second connecting axle and be spirally connected; The other end of described second connecting axle is connected with the 3rd connecting axle.The other end of described 3rd connecting axle loads in the through hole on fixing head; One end of described fixing head is fixed on the end face of the vertical plate of the holder of " L " shape.Coordinate one end and the 3rd connecting axle to coordinate one end all end cap to be installed with fixing head at described first connecting axle with the horizontal plate of holder, limited the axial float of described first connecting axles and the 3rd connecting axle by two end caps.Described second bevel gear is sleeved on the first connecting axle, and engages with described first bevel gear.
Massage head adopts crank block structure, comprises knocking motor, decelerator, eccentric, rocking bar, roller and massage head connector.
Eccentric is arranged on described decelerator.Rocking bar is located at the inner surface of the Connection Block of massage head connector, and links with the auricle on this Connection Block; Described rocking bar is " U " shape structure, one of them bar has the chute coordinated with the connecting rod stated on eccentric.Force transducer is fixed on the lower surface of this rocking bar lower end flat board, and the roller fixture of " U " shape is fixed on the lower surface of this force transducer described.Roller is fixed in roller fixture by roller shaft, and can freely rotate.Be fixed with tracking sensor fixture respectively at the both sides inner surface of described roller fixture, and make this tracking sensor fixture be positioned at the top of described roller.Described tracking sensor fixture is arc, and places with this roller is concentric.In each tracking sensor fixture front end, set bolt fixes three tracking sensors, for gathering routing information.
Described massage head connector is L-shaped, and two pieces of orthogonal planks are respectively Connection Block and installing plate.The auricle be connected with described second connecting axle for a pair is had at the outer surface of described Connection Block; Baffle plate is had at the inner surface of this Connection Block; Described auricle and baffle plate are all perpendicular to this Connection Block.Described installing plate and baffle plate all there is installing hole.The output shaft of knocking motor is connected with decelerator; One end of this knocking motor loads in the installing hole on installing plate, and one end of decelerator loads in the installing hole on baffle plate.
Primary and foremost purpose of the present invention is to propose a kind ofly multi-angle to realize the tracking massage robot of the position such as back, cervical region massage manipulation, realizes the massage operations such as fixed point knocking, knocking of advancing and tracking massage.A further object of the present invention realizes the high feature of above-mentioned massage robot functional diversities, control convenience and the degree that personalizes.
Tracking massage robot of the present invention can omnidistancely move back and forth, and also can short distance back and forth run as required.The present invention is provided with longitudinal direction, transverse direction, vertical motion control motor, can realize the adjustment of the direction range of movement such as longitudinal, horizontal, vertical, to adapt to the demand of different building shape patient.Installing force sensor of the present invention, can adjust massage processes real-time force, to ensure that massage processes is safe and reliable, can improve comfort level simultaneously.The design is also provided with tracking sensor, can follow the trail of the massage track set being affixed on back or cervical region, also can carry out fixed point massage to the acupuncture point of setting simultaneously.Massage track because of patient's design planning of different building shape or symptom and adjustment, can realize massage operation targetedly, improves its general applicability and massage effect.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is longitudinal motion mechanism structural representation;
Fig. 3 is the side view of Fig. 2;
Fig. 4 is the structural representation of transverse motion mechanism;
Fig. 5 is the structural representation of horizontal line slideway;
Fig. 6 be horizontal leading screw structural representation;
Fig. 7 is the structural representation of vertical motion mechanism;
Fig. 8 is the structural representation of mechanical arm and massage head;
Fig. 9 is the structural representation of massage head;
Figure 10 is the second forearm and carpal A-A sectional view.In figure:
1. longitudinal motion mechanism; 2. transverse motion mechanism; 3. vertical motion mechanism; 4. mechanical arm; 5. massage head; 6. horizontal base; 7. longitudinal bearing fixation kit; 8. guide rod; 9. support; 10. longitudinal leadscrew; 11. longitudinal motor fixing seat; 12. longitudinal motors; 13. longitudinal motor bolts; 14. longitudinal motor couplers; 15. cross motor holders; 16. vertical base plate; 17. horizontal bearing fixation kits; 18. horizontal nut seat screws; 19. transverse slider screws; 20. horizontal line slideways; 21. cross motor bolts; 22. cross motors; 23. cross motor shaft couplings; 24. cross slide way slide blocks; 25. horizontal leading screw nut seats; 26 horizontal leading screws; 27 cross slide way screws; 28. horizontal nut seat screws; 29. horizontal feed screw nuts; 30 upright guide rail screws; 31 vertical line slideways; 32. connecting plates; 33. upright slide block screws; 34. upright guide rail slide blocks; 35. vertical motor bolts; 36 vertical motors; 37 vertical motor fixing seat; 38 vertical motor couplers; 39. vertical feed screw nuts; 40 vertical nut screw; 41. vertical leading screw nut seats; 42. vertical nut seat screws; 43. vertical leading screws; 44. vertical bearing fixation kits; 45. first forearms; 46. forearm motors; 47. forearm shaft couplings; 48. second forearms; 49. installing plates; 50. fixing heads; 51 Connection Blocks; 52. end caps; 53. vertical plates; 54. steady pins; 55. rocking bars; 56. connecting rods; 57. eccentrics; 58. decelerators; 59. baffle plates; 60. knocking motors; 61. horizontal plates; 62 second bevel gears; 63. first bevel gears; 64. forearm motor fixing seat; 65. screwed holes; 66 large arm; 67. force transducers; 68. roller shafts; 69. rollers; 70. tracking sensor fixtures; 71. tracking sensors; 72 set bolts; 73. roller fixtures; 74. wrist motors; 75. wrist motor screws; 76. wrist motor couplers; 77. connecting axles; 78. wrist screws; 79. first connecting axles; 80. second connecting axles; 81. the 3rd connecting axles.
Detailed description of the invention
The present embodiment is a kind of tracking massage robot, comprises support 9, longitudinal motion mechanism 1, transverse motion mechanism 2, vertical motion mechanism 3, mechanical arm 4 and massage head 5.Wherein: described support 9 is positioned at the upper surface of longitudinal motion mechanism 1.Longitudinal leadscrew 10 in this longitudinal motion mechanism 1 and two guide rods 8 coordinate with support 9 transmission, and move along described longitudinal leadscrew 10 integrated reciprocating for realizing support 9, its moving direction is the Y direction in coordinate system.
Described transverse motion mechanism 2 is positioned on the portal frame of support 9, and is separately fixed on this portal frame by the two ends of the horizontal leading screw 26 in this transverse motion mechanism 2 and two horizontal line slideways 20; Cross motor 22 in transverse motion mechanism 2 by this horizontal leading screw 26 drive by horizontal leading screw nut seat 25 be fixed on vertical base plate 16 on support transversely leading screw 26 move back and forth, its moving direction is the X-direction in coordinate system.
Described vertical motion mechanism 3 is arranged in the vertical base plate 16 of transverse motion mechanism 2, and the two ends of the vertical leading screw 43 in this vertical motion mechanism 3 and two vertical line slideways 31 are separately fixed on the surface of this vertical base plate 16, drive the mechanical arm 4 fixing with connecting plate 32 to move back and forth along the Z axis of coordinate system together with massage head 5 by the vertical leading screw 43 in vertical motion mechanism 3.
As shown in figures 2-3, described longitudinal motion mechanism 1 comprises horizontal base 6, longitudinal motor 12, longitudinal leadscrew 10 and guide rod 8.Longitudinal leadscrew 10 is fixed on the centre position of horizontal base upper surface by longitudinal bearing fixation kit 7, and two guide rods 8 are fixed on horizontal base 6 upper surface respectively by longitudinal bearing fixation kit, and lay respectively at two side positions of longitudinal leadscrew 10.
Longitudinal motor 12 is fixed in longitudinal motor fixing seat 11 by longitudinal motor bolt 13, and longitudinal motor fixing seat 11 is fixed on a side surface of horizontal base.Longitudinal motor output end is connected with longitudinal leadscrew 10 by longitudinal motor coupler 14.Lay respectively at each guide rod hole of both sides, support 9 lower end and described two guide rod 8 coaxial cooperation, be positioned at the lead screw hole in the middle of support 9 lower end and described longitudinal leadscrew 10 coaxial cooperation, described longitudinal motor 12 drives described support to move along this longitudinal leadscrew integrated reciprocating by this longitudinal leadscrew, and its moving direction is the Y direction in coordinate system.
As shown in Figures 4 and 5, described transverse motion mechanism 2 comprises cross motor 22, horizontal leading screw 26, two horizontal line slideways 20, vertical base plate 16 and horizontal bearing fixation kit 17.
At the two ends of described horizontal leading screw 26, horizontal bearing fixation kit 17 is installed, by this horizontal bearing fixation kit 17, by the middle part of portal frame one side surface being fixed on support 9 of horizontal leading screw level.Portal frame one side surface being fixed on support of two horizontal line slideways 20 also level, and make two described horizontal line slideways be fixed on the both sides of described horizontal leading screw respectively by cross slide way screw 27.
In one end of described horizontal leading screw 26, cross motor holder 15 is installed, and this cross motor holder is fixed on the side of support on the surface; Cross motor 22 is fixed on this cross motor holder by cross motor bolt 21.The outfan of cross motor 22 is connected by cross motor shaft coupling 23 one end with horizontal leading screw 26; This horizontal leading screw coordinates transmission with horizontal feed screw nut 29, and the vertical base plate 16 on drive support 9 transversely leading screw 26 moves back and forth, and its moving direction is the X-direction in coordinate system.
Horizontal feed screw nut 29 is sleeved on this horizontal leading screw, and is fixed on horizontal leading screw nut seat 25 by horizontal nut screw 28; Horizontal leading screw nut seat 25 is sleeved on described horizontal feed screw nut 29, and is fixed on the surperficial middle part of vertical base plate 16 1 by horizontal nut seat screw 18.
Two cross slide way slide blocks 24 are fixed on the surface of vertical base plate 16 respectively by transverse slider screw 19, and lay respectively at the both sides of horizontal leading screw nut seat.The chute of two described cross slide way slide blocks is installed on described two horizontal line slideways 20 respectively.Vertical motion mechanism 3, mechanical arm 4 and massage head 5 is supported by described horizontal line slideway 20, and the motion guide to transverse motion mechanism.
Described cross motor holder 15 is stair-stepping bending plate.The plate of this cross motor holder one end has the through hole coordinated with cross motor 22.The plate of this cross motor holder other end is distributed with the installing hole affixed with support; The described plate laying respectively at cross motor holder two ends is parallel to each other.
Described horizontal bearing fixation kit 17 is rectangular block shape.This horizontal bearing fixation kit there is through horizontal leading screw installing hole; Through bolt hole is all had at the upper surface of described horizontal bearing fixation kit and lower surface; The axis of described horizontal leading screw installing hole is mutually vertical with the axial space of described bolt hole.
As shown in Figure 6, described vertical motion mechanism 3 comprises vertical motor 36, vertically leading screw 43, two vertical line slideways 31 and connecting plate 32.Vertical leading screw 43 is vertically fixed on the two ends up and down of vertical base plate 16 by vertical bearing fixation kit 44, and two vertical line slideways 31 are fixed on the both sides of vertical leading screw 43 in vertical base plate 16 by upright guide rail screw 30.Connecting plate 32 is connected by upright guide rail slide block 34 with two vertical line slideways 31, and connecting plate 32 is fixed by upright slide block screw 33 with upright guide rail slide block 34; Described vertical line slideway 31 supports load-bearing and guide effect.Be connected by vertical feed screw nut 39, vertically leading screw nut seat 41 between connecting plate 32 with vertical leading screw 43, and connecting plate 32 is fixed by vertical nut seat screw 42 with vertical leading screw nut seat 41, is connected and fixed between vertical feed screw nut 39 and vertical leading screw nut seat 41 by vertical nut screw 40.Vertical motor 36 is fixed by vertical motor bolt 35 with vertical motor fixing seat 37, and vertically motor fixing seat 37 is fixed on vertical base plate 16 one end.Vertical motor 36 outfan is coaxially connected with vertical leading screw 43 by vertical motor coupler 38, thus drives the mechanical arm 4 fixing with connecting plate 32 to move back and forth along vertical leading screw 43, and its moving direction is the Z-direction in coordinate system.
When the present invention carries out massage operation, according to the demand of patient to massage position, control longitudinal motor 12, cross motor 22 and vertical motor 36 respectively.Described longitudinal motor 12, cross motor 22 and vertical motor 36 select motor or servomotor, and consider the factor such as precision and price, the present embodiment selects motor.
As shown in figs. 7-9, described mechanical arm 4 is fixed on connecting plate 32 by screwed hole 65.Mechanical arm 4 comprises large arm 66 and little arm mechanism, affixed by steady pin 54 between the two.
Described little arm mechanism comprises the first forearm 45, second forearm 48 and carpal joint, fix forearm motor 46 by forearm motor fixing seat 64 inside first forearm 45; forearm motor 46 outfan is connected with the second forearm 48 by forearm shaft coupling 47, drive the second forearm 48 to rotate by forearm motor 46.There is stepped blind hole at the center of described second forearm 48 one end, for installing wrist motor 74 and wrist motor coupler 76; There is the connecting rod axially protruded at described second forearm 48 other end end face center, and by this connecting rod, is connected by this second forearm with forearm shaft coupling 47.Described carpal holder is connected by wrist screw 78 and the second forearm housing end face.
Described carpal joint comprises wrist motor 74, holder, fixing head 50, first bevel gear 63, second bevel gear 62, first connecting axle 79, second connecting axle 80, the 3rd connecting axle 81 and end cap 52.
It is inner that described wrist motor 74 is located at the second forearm 48, and fixed by wrist motor screw 75.This wrist motor 74 output shaft is connected with the connecting axle 77 for fixing the first bevel gear 63 by wrist motor coupler 76; The other end of described connecting axle loads in the central shaft hole of the first bevel gear 63.Described first bevel gear 63 is positioned at holder, and makes the installing sleeve of this first bevel gear one end load in the installing hole on the vertical plate 53 of described holder, realizes wrist motor 74 drive the first bevel gear 63 to rotate by described connecting axle.
One end of described first connecting axle 79 is arranged on the horizontal plate 61 of described holder; The other end and the screw hole being positioned at the second connecting axle 80 end face of this first connecting axle 79; The other end of described second connecting axle 80 loads in the blind hole of the 3rd connecting axle 81 end face, and interference engagement between this second connecting axle and the 3rd connecting axle.The other end of described 3rd connecting axle 81 loads in the through hole on fixing head 50; One end of described fixing head is fixed on the end face of the vertical plate 53 of the holder of " L " shape.Coordinate one end and the 3rd connecting axle to coordinate one end that end cap 52 is all installed with fixing head at described first connecting axle with the horizontal plate 61 of holder, limited the axial float of described first connecting axles and the 3rd connecting axle by two end caps.Described second bevel gear 62 is sleeved on the first connecting axle 79, and engages with described first bevel gear.
In the present embodiment, mechanical arm 4 selects large arm forearm structure to be a kind of structural design personalized, and object improves massage effect.And in forearm, be designed to the first forearm 45 and the second forearm 48, mainly realize the revolution degree of freedom of forearm, make massaging action multi-angle, multi-faceted.
As shown in Fig. 7 ~ 8, massage head 5 adopts crank block structure, comprises knocking motor 60, decelerator 58, eccentric 57, rocking bar 55, roller 69 and massage head connector.
Described massage head connector is L-shaped, and two pieces of orthogonal planks are respectively Connection Block 51 and installing plate 49.The auricle be connected with described second connecting axle 80 for a pair is had at the outer surface of described Connection Block; Baffle plate 59 is had at the inner surface of this Connection Block; Described auricle and baffle plate are all perpendicular to this Connection Block.Described installing plate and baffle plate all there is installing hole.The output shaft of knocking motor 60 is connected with decelerator 58; One end of this knocking motor loads in the installing hole on installing plate, and one end of decelerator loads in the installing hole on baffle plate.
Described forearm motor 46, wrist motor 74 and knocking motor 60 all select motor.
Eccentric 57 is arranged on described decelerator.Rocking bar 55 is located at the inner surface of the Connection Block 51 of massage head connector, and links with the auricle on this Connection Block; Described rocking bar is " U " shape structure, one of them bar has the chute coordinated with the connecting rod 56 stated on eccentric.During work, eccentric 57 rotates with the connecting rod 56 on movable eccentric wheel 57, and makes to slide in the chute of this connecting rod on rocking bar, thus drives rocking bar 55 to swing.
The flat board of rocking bar lower end is used for installing force sensor 67.Force transducer is fixed on the lower surface of this rocking bar lower end flat board, and the roller fixture 73 of " U " shape is fixed by screws in the lower surface of this force transducer described.Roller 69 is fixed in roller fixture by roller shaft 68, and can freely rotate.The rubber that the Material selec-tion material of roller 69 is softer.Be fixed with tracking sensor fixture 70 respectively at the both sides inner surface of described roller fixture, and make this tracking sensor fixture be positioned at the top of described roller.Described tracking sensor fixture 70 is arc, and places with this roller is concentric.Three tracking sensors 71 are fixed, for gathering routing information at each tracking sensor fixture 70 front end set bolt 72.
The effect of tracking sensor 71 detects massage head motion path, selects gray-scale sensor, color sensor or infrared sensor, considers sensitivity and response speed factor, and the present embodiment selects infrared sensor as tracking sensor 71.Because the effective depth of infrared sensor to inspected object is 10mm ~ 120mm, for meeting accuracy of detection, sensitivity and detection range requirement, the present embodiment selects infrared sensor to be arranged on above roller 69.Meanwhile, for improving the accuracy to track change-detection, the present embodiment selects three infrared sensors, is respectively used to detect the left side, centre and right trace sideline, prevents massage head off-track.
When the present embodiment carries out massage operation, according to the needs of actual massage angle, the forearm motor 46 on mechanical arm 4 can drive the second forearm 48 to rotate to an angle.And wrist motor 74 coordinates transmission to make massage head 5 pitching certain angle by the first bevel gear 63 and the second bevel gear 62, roller 69 is finally made to arrive correct position.The knocking motor 60 of massage head 5 realizes roller 69 by decelerator 58 and the crank block structure that is made up of eccentric 57, connecting rod 56 and rocking bar 55 and swings up and down, and completes hammer action.Roller structure can realize knocking in Chinese traditional massage maneuver, roll extrusion massage action, meets the demand of patient to massage manipulation.
Claims (9)
1. a tracking massage robot, is characterized in that, comprises motion, support, mechanical arm and massage head, and described motion comprises longitudinal motion mechanism, transverse motion mechanism and vertical motion mechanism; Wherein:
Described support is positioned at the upper surface of longitudinal motion mechanism; Longitudinal leadscrew in this longitudinal motion mechanism and two guide rods coordinate with support transmission, and move along described longitudinal leadscrew integrated reciprocating for realizing support, its moving direction is the Y direction in coordinate system;
Described transverse motion mechanism is positioned on the portal frame of support, and is separately fixed on this portal frame by the two ends of the horizontal leading screw in this transverse motion mechanism and two horizontal line slideways; Cross motor in transverse motion mechanism by this horizontal leading screw drive by horizontal leading screw nut seat be fixed on vertical base plate on support transversely leading screw move back and forth, its moving direction is the X-direction in coordinate system;
Described vertical motion mechanism is arranged in the vertical base plate of transverse motion mechanism, and the two ends of the vertical leading screw in this vertical motion mechanism and two vertical line slideways are separately fixed on the surface of this vertical base plate, driven by the vertical leading screw in vertical motion mechanism and move back and forth along the Z axis of coordinate system together with massage head with the mechanical arm that connecting plate is fixed; Described mechanical arm is fixed on connecting plate.
2. tracking massage robot as claimed in claim 1, it is characterized in that, described longitudinal motion mechanism comprises horizontal base, longitudinal motor, longitudinal leadscrew and guide rod; Longitudinal leadscrew is fixed on the centre of horizontal base upper surface, and two guide rods are separately fixed at horizontal base upper surface, and lays respectively at two side positions of longitudinal leadscrew; Longitudinal motor is fixed in longitudinal motor fixing seat, and longitudinal motor fixing seat is fixed on a side surface of horizontal base; Longitudinal motor output end is connected with longitudinal leadscrew; Lay respectively at each guide rod hole of pedestal lower end both sides and described two guide rod coaxial cooperation, be positioned at the lead screw hole in the middle of pedestal lower end and described longitudinal leadscrew coaxial cooperation, described longitudinal motor drives described support to move along this longitudinal leadscrew integrated reciprocating by this longitudinal leadscrew.
3. tracking massage robot as claimed in claim 1, it is characterized in that, described transverse motion mechanism comprises cross motor, horizontal leading screw, two horizontal line slideways, vertical base plate and horizontal bearing fixation kits; The middle part of portal frame one side surface being fixed on support of horizontal leading screw level; Portal frame one side surface being fixed on support of two horizontal line slideways also level, and make two described horizontal line slideways be fixed on the both sides of described horizontal leading screw respectively by cross slide way screw;
Cross motor is connected with one end of described horizontal leading screw; This horizontal leading screw and the transmission of horizontal leading screw nut screw connection, the vertical base plate on drive support transversely leading screw moves back and forth; Horizontal screw nut sleeve fills and is fixed on this horizontal leading screw; Horizontal leading screw nut seat is sleeved on described horizontal feed screw nut, and is fixed on the surperficial middle part of vertical base plate one; Two cross slide way slide blocks are separately fixed on the surface of vertical base plate, and lay respectively at the both sides of horizontal leading screw nut seat; The chute of two described cross slide way slide blocks is installed on described two horizontal line slideways respectively; Vertical motion mechanism, mechanical arm and massage head is supported by described horizontal line slideway, and the motion guide to transverse motion mechanism.
4. tracking massage robot as claimed in claim 3, it is characterized in that, described cross motor is fixed on support by cross motor holder; Described cross motor holder is stair-stepping bending plate; The plate of this cross motor holder one end there is the through hole coordinated with cross motor; The plate of this cross motor holder other end is distributed with the installing hole affixed with support; The described plate laying respectively at cross motor holder two ends is parallel to each other.
5. tracking massage robot as claimed in claim 1, is characterized in that, described vertical motion mechanism comprises vertical motor, vertically leading screw, two vertical line slideways and connecting plate; Vertical leading screw is vertically fixed in vertical base plate, and two vertical line slideways to be fixed in vertical base plate and to be positioned at the both sides of described vertical leading screw; Connecting plate is connected by upright guide rail slide block with two vertical line slideways; Vertical leading screw is fixed on connecting plate by vertical feed screw nut and vertical leading screw nut seat; Vertical motor is fixed on vertical base plate one end; Vertical motor output end is coaxially connected with vertical leading screw, thus drives the mechanical arm fixing with connecting plate to move back and forth along vertical leading screw.
6. tracking massage robot as claimed in claim 1, it is characterized in that, described mechanical arm comprises large arm and little arm mechanism; Affixed between described large arm and little arm mechanism; Described little arm mechanism comprises the first forearm, the second forearm and carpal joint; Be fixed with forearm motor inside described first forearm, forearm motor output end is connected with the second forearm, is rotated by forearm driven by motor second forearm; The center of described second forearm one end is provided with wrist motor and wrist motor coupler; There is the connecting rod axially protruded at described second forearm other end end face center, and is connected by this second forearm by this connecting rod with forearm shaft coupling; Described carpal holder is connected by wrist screw and the second forearm housing end face.
7. tracking massage robot as claimed in claim 6, it is characterized in that, described carpal joint comprises wrist motor, holder, fixing head, the first bevel gear, the second bevel gear, the first connecting axle, the second connecting axle, the 3rd connecting axle and end cap; Described wrist motor is positioned at fixes the second forearm inside; This wrist motor output shaft is connected with connecting axle;
The other end of described connecting axle loads in the central shaft hole of the first bevel gear; Described first bevel gear is positioned at holder, and makes the installing sleeve of this first bevel gear one end load in the installing hole on the vertical plate of described holder, realizes wrist driven by motor first bevel gear rotate by described connecting axle;
One end of described first connecting axle is arranged on the horizontal plate of described holder; The other end of this first connecting axle be positioned at the second connecting axle and be spirally connected; The other end of described second connecting axle is connected with the 3rd connecting axle; The other end of described 3rd connecting axle loads in the through hole on fixing head; One end of described fixing head is fixed on the end face of the vertical plate of the holder of " L " shape; Coordinate one end and the 3rd connecting axle to coordinate one end all end cap to be installed with fixing head at described first connecting axle with the horizontal plate of holder, limited the axial float of described first connecting axles and the 3rd connecting axle by two end caps; Described second bevel gear is sleeved on the first connecting axle, and engages with described first bevel gear.
8. tracking massage robot as claimed in claim 1, is characterized in that, massage head adopts crank block structure, comprises knocking motor, decelerator, eccentric, rocking bar, roller and massage head connector;
Eccentric is arranged on described decelerator; Rocking bar is located at the inner surface of the Connection Block of massage head connector, and links with the auricle on this Connection Block; Described rocking bar is " U " shape structure, one of them bar has the chute coordinated with the connecting rod stated on eccentric; Force transducer is fixed on the lower surface of this rocking bar lower end flat board, and the roller fixture of " U " shape is fixed on the lower surface of this force transducer described; Roller is fixed in roller fixture by roller shaft, and can freely rotate; Be fixed with tracking sensor fixture respectively at the both sides inner surface of described roller fixture, and make this tracking sensor fixture be positioned at the top of described roller; Described tracking sensor fixture is arc, and places with this roller is concentric; In each tracking sensor fixture front end, set bolt fixes three tracking sensors, for gathering routing information.
9. tracking massage robot as claimed in claim, it is characterized in that, described massage head connector is L-shaped, and two pieces of orthogonal planks are respectively Connection Block and installing plate; The auricle be connected with described second connecting axle for a pair is had at the outer surface of described Connection Block; Baffle plate is had at the inner surface of this Connection Block; Described auricle and baffle plate are all perpendicular to this Connection Block; Described installing plate and baffle plate all there is installing hole; The output shaft of knocking motor is connected with decelerator; One end of this knocking motor loads in the installing hole on installing plate, and one end of decelerator loads in the installing hole on baffle plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610013140.1A CN105411831B (en) | 2016-01-10 | 2016-01-10 | A kind of tracking massage robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610013140.1A CN105411831B (en) | 2016-01-10 | 2016-01-10 | A kind of tracking massage robot |
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| CN105411831A true CN105411831A (en) | 2016-03-23 |
| CN105411831B CN105411831B (en) | 2017-10-27 |
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| CN201610013140.1A Expired - Fee Related CN105411831B (en) | 2016-01-10 | 2016-01-10 | A kind of tracking massage robot |
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| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN109953885A (en) * | 2019-03-20 | 2019-07-02 | 西北工业大学 | A kind of variation rigidity robot massage head based on magnetorheological fluid |
| CN110788872A (en) * | 2019-12-09 | 2020-02-14 | 哈尔滨理工大学 | Foot both sides reflecting region massage robot |
| CN110859736A (en) * | 2019-12-17 | 2020-03-06 | 东莞市慕思寝室用品有限公司 | Head massage device and massage armchair |
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| CN112568576A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
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| CN105943336A (en) * | 2016-05-12 | 2016-09-21 | 安徽波浪岛游乐设备有限公司 | Electric massaging equipment |
| CN106038190A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Medical arm massage robot |
| CN106038190B (en) * | 2016-05-22 | 2018-01-19 | 汕头大学医学院第一附属医院 | A kind of medical arm-massage machine people |
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| CN107041837A (en) * | 2017-04-01 | 2017-08-15 | 张振义 | A kind of apery hand is beaten automatically to be struck beating and loosens fitness massager |
| CN106945057A (en) * | 2017-05-22 | 2017-07-14 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN108210283A (en) * | 2017-10-23 | 2018-06-29 | 韦龙生 | Beat massage apparatus in a kind of back |
| CN107595587A (en) * | 2017-10-23 | 2018-01-19 | 毛杰 | A kind of waist and back massage equipment |
| CN107929024A (en) * | 2017-12-08 | 2018-04-20 | 韩元元 | A kind of posture adjustable type medical treatment arm-massage machine people |
| CN107972049A (en) * | 2018-01-18 | 2018-05-01 | 开封市平安电器有限公司 | For the manipulator massaged, hammered |
| CN107972049B (en) * | 2018-01-18 | 2023-07-28 | 开封市平安电器有限公司 | Manipulator for massaging and hammering |
| CN108288877A (en) * | 2018-03-27 | 2018-07-17 | 北京合锐清合电气有限公司 | Image automatic identification distribution terminal and control method for power equipment |
| CN108670760A (en) * | 2018-06-12 | 2018-10-19 | 莱州新迪电子科技有限公司 | A kind of massage mechanism of massage robot |
| CN108670760B (en) * | 2018-06-12 | 2023-06-16 | 莱州新迪电子科技有限公司 | Massage mechanism of massage robot |
| CN108852678A (en) * | 2018-07-17 | 2018-11-23 | 遵义医学院附属医院 | A kind of nursing bed for neurosurgery |
| CN109394501A (en) * | 2018-10-17 | 2019-03-01 | 西安理工大学 | A kind of massage nursing robot |
| CN109363910A (en) * | 2018-10-23 | 2019-02-22 | 深圳市歌尔泰克科技有限公司 | Method of adjustment, device and the massage seat of the massage force of massager core |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN109953885A (en) * | 2019-03-20 | 2019-07-02 | 西北工业大学 | A kind of variation rigidity robot massage head based on magnetorheological fluid |
| CN110788872A (en) * | 2019-12-09 | 2020-02-14 | 哈尔滨理工大学 | Foot both sides reflecting region massage robot |
| CN110859736A (en) * | 2019-12-17 | 2020-03-06 | 东莞市慕思寝室用品有限公司 | Head massage device and massage armchair |
| CN111493720A (en) * | 2020-04-29 | 2020-08-07 | 郑翔 | Intelligent bathing machine |
| CN112168302A (en) * | 2020-10-14 | 2021-01-05 | 商晓杰 | Heart color Doppler ultrasound positioning puncture device |
| CN112692551A (en) * | 2020-12-23 | 2021-04-23 | 西北工业大学 | Intelligent workpiece threading device and threading method based on visual positioning |
| CN112692551B (en) * | 2020-12-23 | 2022-11-25 | 西北工业大学 | Intelligent workpiece threading device and threading method based on visual positioning |
| CN112568576A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN112568574A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hand massage and hair washing machine |
| CN112568576B (en) * | 2021-01-04 | 2022-10-25 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN113192387A (en) * | 2021-04-25 | 2021-07-30 | 广西师范大学 | Intelligent hardware trolley teaching aid based on micro bit technology |
| CN113197755A (en) * | 2021-05-06 | 2021-08-03 | 上海大学 | Intelligent three-dimensional motion massage mechanical device |
| CN113288755A (en) * | 2021-05-14 | 2021-08-24 | 薛晓斌 | Psychiatric department is with massage physiotherapy device |
| CN113349658A (en) * | 2021-06-09 | 2021-09-07 | 张家港江苏科技大学产业技术研究院 | Power-assisted chair for assisting bathing and toileting |
| CN113304027A (en) * | 2021-06-30 | 2021-08-27 | 慧诚自动化技术(宁波)有限公司 | Flexible rapping device |
| CN113506604B (en) * | 2021-08-19 | 2022-07-12 | 遨博（北京）智能科技有限公司 | Massage track adjusting method |
| CN113506604A (en) * | 2021-08-19 | 2021-10-15 | 遨博（北京）智能科技有限公司 | Massage track adjusting method |
| CN113893086A (en) * | 2021-10-18 | 2022-01-07 | 河北赛宇隆辰科技有限公司 | Pulse treatment pseudomyopia's device |
| CN113893086B (en) * | 2021-10-18 | 2024-03-08 | 河北赛宇隆辰科技有限公司 | Device for treating pseudomyopia by pulse |
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