CN105411831B - A kind of tracking massage robot - Google Patents

A kind of tracking massage robot Download PDF

Info

Publication number
CN105411831B
CN105411831B CN201610013140.1A CN201610013140A CN105411831B CN 105411831 B CN105411831 B CN 105411831B CN 201610013140 A CN201610013140 A CN 201610013140A CN 105411831 B CN105411831 B CN 105411831B
Authority
CN
China
Prior art keywords
fixed
vertical
leading screw
motor
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610013140.1A
Other languages
Chinese (zh)
Other versions
CN105411831A (en
Inventor
王文东
何丽晶
史仪凯
邹英杰
姜沁沁
袁小庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwestern Polytechnical University
Original Assignee
Northwestern Polytechnical University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CN201610013140.1A priority Critical patent/CN105411831B/en
Publication of CN105411831A publication Critical patent/CN105411831A/en
Application granted granted Critical
Publication of CN105411831B publication Critical patent/CN105411831B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H23/00Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006Percussion or tapping massage
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H23/00Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H39/00Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/04Devices for pressing such points, e.g. Shiatsu or Acupressure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H7/00Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/002Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
    • A61H7/004Devices 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors

Abstract

A kind of tracking massage robot, including longitudinal motion mechanism, transverse motion mechanism, vertically movable mechanism, support, mechanical arm and massage head.Support is located at the upper surface of longitudinal motion mechanism.Transverse motion mechanism is located on the portal frame of support.Vertically movable mechanism is located in the vertical base plate in transverse motion mechanism.Massage head is fixed on the robotic arm, and mechanical arm is fixed on the connecting plate of vertically movable mechanism.The present invention be it is a kind of can multi-angle realize the tracking massage robot of the position such as back, neck massage manipulation, realize the massage operations such as fixed point knocking, traveling knocking and tracking massage, whole it can move back and forth, realize longitudinally, laterally, the regulation of vertical direction range of movement, to adapt to the demand of different building shape patient, and massage processes real-time force can be adjusted, to ensure that massage processes are safe and reliable, improve comfort level.

Description

A kind of tracking massage robot
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 one kind disclosed in 201010193262.6 innovation and creation Domestic back rubbing and massaging manipulator, mainly including framework, left/right movement device, reciprocating mechanism, elastic mechanism and preceding Chopping head mechanism is held, left/right movement device is arranged on the crossbeam of framework, and upper and lower two parts of reciprocating mechanism are attached separately to It is connected on upper lower guide rod and with the timing belt in left/right movement device, elastic mechanism is arranged on the sliding block of reciprocating mechanism On, 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, Under the conditions of whole machine balancing and mounting stability is met, stretching, stroke is short, and displacement is limited.Said apparatus is given a rubdown with a damp towel in realization During with massaging action, chopping head in front end can only realize pitching motion, and massage angle is limited, personalizes poor.
The content of the invention
To overcome the shortcomings of limited angle present in prior art, personalizing poor, the present invention proposes a kind of tracking Massage robot.
The present invention includes motion, support, mechanical arm and massage head, and described motion includes lengthwise movement machine Structure, transverse motion mechanism and vertically movable mechanism;Wherein:
The support is located at the upper surface of longitudinal motion mechanism.Longitudinal leadscrew and two guide rods in the longitudinal motion mechanism It is driven and coordinates with support, for realizing that support is moved along the longitudinal leadscrew integrated reciprocating, its moving direction is the Y in coordinate system Direction of principal axis.
Described transverse motion mechanism is located on the portal frame of support, and by the horizontal leading screw in the transverse motion mechanism and The two ends of two horizontal line slideways are separately fixed on the portal frame;Cross motor in transverse motion mechanism passes through the transverse direction Leading screw drives the vertical base plate being fixed on by horizontal leading screw nut seat on support, and transversely leading screw is moved back and forth, its moving direction For the X-direction in coordinate system.
The vertically movable mechanism is located in the vertical base plate in transverse motion mechanism, and by the vertically movable mechanism The two ends of vertical leading screw and two vertical straight line guide rails are separately fixed on the surface of the vertical base plate, pass through vertically movable mechanism In vertical leading screw drive with connecting plate fix mechanical arm and massage head together with along coordinate system Z axis move back and forth.Described Mechanical arm is fixed on connecting plate.
Described longitudinal motion mechanism includes horizontal base, longitudinal motor, longitudinal leadscrew and guide rod.Longitudinal leadscrew is fixed on The centre of horizontal base upper surface, two guide rods are separately fixed at horizontal base upper surface, and are located at the two of longitudinal leadscrew respectively Side position.Longitudinal motor is fixed in longitudinal motor fixed seat, and longitudinal motor fixed seat is fixed on a side surface of horizontal base. Longitudinal motor output end is connected with longitudinal leadscrew.Each guide rod hole and two guide rods respectively positioned at pedestal lower end both sides is coaxial Coordinate, the lead screw hole in the middle of pedestal lower end and the longitudinal leadscrew coaxial cooperation, the longitudinal motor pass through longitudinal silk Thick stick drives the support to be moved along the longitudinal leadscrew integrated reciprocating.
Described transverse motion mechanism includes cross motor, horizontal leading screw, two horizontal line slideways, vertical base plate and horizontal stroke To bearing fixation kit.The middle part of the side surface of portal frame one for being fixed on support of horizontal leading screw level.Two horizontal straight lines are led Rail is also horizontal to be fixed on the side surface of portal frame one of support, and makes the horizontal line slideways of described two respectively by laterally leading Rail screw is fixed on the both sides of the horizontal leading screw.
Cross motor is connected with one end of the horizontal leading screw;The horizontal leading screw coordinates with horizontal leading screw nut to be driven, band Transversely leading screw is moved back and forth vertical base plate on dynamic support;Horizontal leading screw nut is set with and is fixed in the horizontal leading screw;It is horizontal To feed screw nut cover for seat on the horizontal leading screw nut, and it is fixed on the middle part on one surface of vertical base plate.Two transverse directions Guide rail slide block is separately fixed on the surface of vertical base plate, and is located at the both sides of horizontal leading screw nut seat respectively.Described two The chute of cross slide way slide block is installed on described two horizontal line slideways respectively.It is perpendicular by the horizontal line slideway support Straight motion, mechanical arm and massage head, and to the motion guide of transverse motion mechanism.
Described cross motor is fixed on support by cross motor fixed seat;The cross motor fixed seat is ladder The bending plate of shape.There is the through hole coordinated with cross motor on the plate of the cross motor fixed seat one end.It is solid in the cross motor The mounting hole affixed with support is distributed with the plate of the reservation other end;The plate phase for being located at cross motor fixed seat two ends respectively It is mutually parallel.
Described vertically movable mechanism includes vertical motor, vertical leading screw, two vertical straight line guide rails and connecting plate.Vertically Leading screw is fixed in vertical base plate vertically, and two vertical straight line guide rails are fixed in vertical base plate and positioned at the vertical leading screw Both sides.Connecting plate is connected with two vertical straight line guide rails by upright guide rail sliding block.Vertical leading screw passes through vertical feed screw nut It is fixed on vertical leading screw nut seat on connecting plate;Vertical motor is fixed on vertical base plate one end.Vertical motor output end is with erecting Raw silk rings thick stick is coaxially connected, so as to drive the mechanical arm fixed with connecting plate to be moved back and forth along vertical leading screw.
Described mechanical arm includes large arm and small arm mechanism;It is affixed between the large arm and small arm mechanism.Described forearm Mechanism includes the first forearm, the second forearm and wrist joint;Forearm motor, the output of forearm motor are fixed with the inside of first forearm End is connected with the second forearm, drives the second forearm to rotate by forearm motor.The center of described second forearm one end is provided with Wrist motor and wrist motor coupler;The second forearm other end end face center has axially projecting connecting rod, by this Second forearm is connected by connecting rod with forearm shaft coupling.The carpal fixed seat passes through wrist screw and the second forearm shell Body end face is connected.
The wrist joint includes wrist motor, fixed seat, fixed plate, first bevel gear, second bevel gear, the first connection Axle, the second connecting shaft, the 3rd connecting shaft and end cap.The wrist motor, which is located at, to be fixed inside the second forearm.The wrist motor is defeated Shaft is connected with connecting shaft;The other end of the connecting shaft loads in the central shaft hole of first bevel gear.The first cone tooth Wheel is located in fixed seat, and the mounting hole for making the installation sleeve of the first bevel gear one end load on the vertical plate of the fixed seat It is interior, realize that wrist motor drives first bevel gear to rotate by the connecting shaft.
One end of first connecting shaft is arranged on the level board of the fixed seat;The other end of first connecting shaft with It is spirally connected positioned at the second connecting shaft;The other end of second connecting shaft is connected with the 3rd connecting shaft.3rd connecting shaft it is another One end loads in the through hole in fixed plate;One end of the fixed plate is fixed on the end face of the vertical plate of the fixed seat of " L " shape. The level board of first connecting shaft and fixed seat coordinates one end and the 3rd connecting shaft to coordinate one end to be mounted on end with fixed plate Lid, the axial float of first connecting shaft and the 3rd connecting shaft is limited by two end caps.The second bevel gear is sleeved on In first connecting shaft, and engaged with the first bevel gear.
Massage head uses crank block slider structure, including knocking motor, decelerator, eccentric wheel, rocking bar, roller and massage head to connect Fitting.
Eccentric wheel is arranged on the decelerator.Rocking bar be located at massage head connector connecting seat inner surface, and with Auricle hinge joint on the connecting seat;The rocking bar is that the connecting rod for having on " u "-shaped structure, one of bar and stating on eccentric wheel coordinates Chute.Force snesor is fixed on the lower surface of the rocking bar lower end flat board, and the roller fixture of " u "-shaped is fixed on the described power and passed The lower surface of sensor.Roller is fixed in roller fixture by roller shaft, and can freely be rotated.In the roller fixture Both sides inner surface be respectively fixed with tracking sensor fixture, and the tracking sensor fixture is located at the upper of the roller Side.The tracking sensor fixture is arc, and with the roller is concentric places.In each tracking sensor fixture front end with admittedly Determine bolt and fix three tracking sensors, for gathering routing information.
The massage head connector is L-shaped, and two pieces of orthogonal planks are respectively connecting seat and installing plate.Described There are a pair of auricles being connected with second connecting shaft outer surface of connecting seat;There is baffle plate in the inner surface of the connecting seat;It is described Auricle is each perpendicular to the connecting seat with baffle plate.There is mounting hole on the installing plate and baffle plate.On the output shaft of knocking motor It is connected with decelerator;One end of the knocking motor loads in the mounting hole on installing plate, and one end of decelerator loads on baffle plate In mounting hole.
The primary and foremost purpose of the present invention is to propose that one kind can realize the position such as back, neck massage manipulation with multi-angle Tracking massage robot, realize that fixed point knocking, traveling knocking and tracking such as are massaged at the massage operation.The further object of the present invention It is the characteristics of realizing above-mentioned massage robot functional diversities, the easy to control and high degree that personalizes.
Tracking massage robot of the present invention whole can be moved back and forth, and also short distance can back and forth be run as needed.The present invention Provided with longitudinally, laterally, vertically movable controlled motor, it is possible to achieve longitudinally, laterally, the regulation of the direction range of movement such as vertical, with Adapt to the demand of different building shape patient.The present invention installs force snesor, and massage processes real-time force can be adjusted, to ensure Massage processes are safe and reliable, while comfort level can be improved.The design is also equipped with tracking sensor, can be affixed on back or The massage track set of neck is tracked, while fixed point massage can also be carried out to the acupuncture point of setting.Massaging track can Because of different building shape or patient's design planning of symptom and adjustment, to realize targetedly massage operation, improve it and be generally applicable Property and massage effect.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention;
Fig. 2 is longitudinal motion mechanism structural representation;
Fig. 3 is Fig. 2 side view;
Fig. 4 is the structural representation of transverse motion mechanism;
Fig. 5 is the structural representation of horizontal line slideway;
Fig. 6 is the structural representation of horizontal leading screw;
Fig. 7 is the structural representation of vertically movable mechanism;
Fig. 8 is mechanical arm and the structural representation of massage head;
Fig. 9 is the structural representation of massage head;
Figure 10 is the second forearm and carpal A-A sectional views.In figure:
1. longitudinal motion mechanism;2. transverse motion mechanism;3. vertically movable mechanism;4. mechanical arm;5. massage head;6. level Base;7. longitudinal bearing fixation kit;8. guide rod;9. support;10. longitudinal leadscrew;11. longitudinal motor fixed seat;12. longitudinal direction electricity Machine;13. longitudinal motor bolt;14. longitudinal motor shaft coupling;15. cross motor fixed seat;16. vertical base plate;17. lateral shaft Hold fixation kit;18. horizontal nut seat screw;19. transverse slider screw;20. horizontal line slideway;21. cross motor bolt; 22. cross motor;23. cross motor shaft coupling;24. cross slide way slide block;25. horizontal leading screw nut seat;26 horizontal leading screws;27 Cross slide way screw;28. horizontal nut seat screw;29. horizontal leading screw nut;30 upright guide rail screws;31 vertical straight line guide rails; 32. connecting plate;33. upright slide block screw;34. upright guide rail sliding block;35. vertical motor bolt;36 vertical motors;37 vertical electricity Machine fixed seat;38 vertical motor couplers;39. vertical feed screw nut;40 vertical nut screws;41. vertical leading screw nut seat; 42. vertical nut seat screw;43. vertical leading screw;44. vertical bearing fixation kit;45. the first forearm;46. forearm motor;47. Forearm shaft coupling;48. the second forearm;49. installing plate;50. fixed plate;51 connecting seats;52. end cap;53. vertical plate;54. fix Pin;55. rocking bar;56. connecting rod;57. eccentric wheel;58. decelerator;59. baffle plate;60. knocking motor;61. level board;62 second cones Gear;63. first bevel gear;64. forearm motor fixing seat;65. screwed hole;66 large arm;67. force snesor;68. roller shaft; 69. roller;70. tracking sensor fixture;71. tracking sensor;72 fixing bolts;73. roller fixture;74. wrist is electric Machine;75. wrist motor screw;76. wrist motor coupler;77. connecting shaft;78. wrist screw;79. the first connecting shaft;80. Second connecting shaft;81. the 3rd connecting shaft.
Embodiment
The present embodiment is a kind of tracking massage robot, including support 9, longitudinal motion mechanism 1, transverse motion mechanism 2, perpendicular Straight motion 3, mechanical arm 4 and massage head 5.Wherein:The support 9 is located at the upper surface of longitudinal motion mechanism 1.This is longitudinally transported Longitudinal leadscrew 10 and two guide rods 8 in motivation structure 1 are driven with support 9 to be coordinated, for realizing support 9 along the longitudinal leadscrew 10 Integrated reciprocating is moved, and its moving direction is the Y direction in coordinate system.
Described transverse motion mechanism 2 is located on the portal frame of support 9, and by the transverse wire in the transverse motion mechanism 2 The two ends of thick stick 26 and two horizontal line slideways 20 are separately fixed on the portal frame;Cross motor in transverse motion mechanism 2 22 are driven by the horizontal leading screw 26 and are fixed on vertical base plate 16 on support transversely leading screw by horizontal leading screw nut seat 25 26 move back and forth, and its moving direction is the X-direction in coordinate system.
The vertically movable mechanism 3 is located in the vertical base plate 16 in transverse motion mechanism 2, and by the vertically movable mechanism The two ends of vertical leading screw 43 and two vertical straight line guide rails 31 in 3 are separately fixed on the surface of the vertical base plate 16, are passed through Along coordinate system together with the mechanical arm 4 and massage head 5 that vertical leading screw 43 in vertically movable mechanism 3 is driven with connecting plate 32 is fixed Z axis is moved back and forth.
As shown in figures 2-3, described longitudinal motion mechanism 1 includes horizontal base 6, longitudinal motor 12, the and of longitudinal leadscrew 10 Guide rod 8.Longitudinal leadscrew 10 is fixed on the centre position of horizontal base upper surface, two guide rods 8 by longitudinal bearing fixation kit 7 The upper surface of horizontal base 6 is fixed on by longitudinal bearing fixation kit respectively, and is located at two side positions of longitudinal leadscrew 10 respectively.
Longitudinal motor 12 is fixed in longitudinal motor fixed seat 11 by longitudinal motor bolt 13, longitudinal motor fixed seat 11 It is fixed on a side surface of horizontal base.Longitudinal motor output end is connected by longitudinal motor shaft coupling 14 with longitudinal leadscrew 10. Respectively positioned at each guide rod hole and two guide rods 8 coaxial cooperation, the silk in the middle of the lower end of support 9 of the lower end both sides of support 9 Thick stick hole and the coaxial cooperation of longitudinal leadscrew 10, the longitudinal motor 12 drive the support along the longitudinal direction by the longitudinal leadscrew Leading screw integrated reciprocating is moved, and its moving direction is the Y direction in coordinate system.
As shown in Figures 4 and 5, described transverse motion mechanism 2 is straight including cross motor 22, horizontal leading screw 26, two transverse directions Line guide rail 20, vertical base plate 16 and horizontal bearing fixation kit 17.
Horizontal bearing fixation kit 17 is installed at the two ends of the horizontal leading screw 26, passes through the horizontal bearing fixation kit 17, by the middle part of the side surface of portal frame one for being fixed on support 9 of horizontal leading screw level.Two horizontal line slideways 20 also level Be fixed on the side surface of portal frame one of support, and make described two horizontal line slideways respectively by cross slide way screw 27 It is fixed on the both sides of the horizontal leading screw.
Cross motor fixed seat 15 is installed in one end of the horizontal leading screw 26, and the cross motor fixed seat is consolidated It is scheduled on a side surface of support;Cross motor 22 is fixed in the cross motor fixed seat by cross motor bolt 21.It is horizontal It is connected to the output end of motor 22 by cross motor shaft coupling 23 with one end of horizontal leading screw 26;The horizontal leading screw and transverse direction Feed screw nut 29, which coordinates, to be driven, and transversely leading screw 26 is moved back and forth the vertical base plate 16 on drive support 9, and its moving direction is seat X-direction in mark system.
Horizontal leading screw nut 29 is sleeved in the horizontal leading screw, and is fixed on horizontal leading screw spiral shell by horizontal nut screw 28 In female seat 25;Horizontal leading screw nut seat 25 is sleeved on the horizontal leading screw nut 29, and solid by horizontal nut seat screw 18 It is scheduled on the middle part on 16 1 surfaces of vertical base plate.
Two cross slide way slide blocks 24 are fixed on the surface of vertical base plate 16 by transverse slider screw 19 respectively, and point Not Wei Yu horizontal leading screw nut seat both sides.The chute of two described cross slide way slide blocks is installed on described two transverse directions respectively On line slideway 20.Vertically movable mechanism 3, mechanical arm 4 and massage head 5 are supported by the horizontal line slideway 20, and to horizontal stroke To the motion guide of motion.
Described cross motor fixed seat 15 is stair-stepping bending plate.Have on the plate of the cross motor fixed seat one end The through hole coordinated with cross motor 22.The installation affixed with support is distributed with the plate of the cross motor fixed seat other end Hole;The plate respectively positioned at cross motor fixed seat two ends is parallel to each other.
The horizontal bearing fixation kit 17 is rectangular block shape.There is the transverse wire of insertion on the horizontal bearing fixation kit Thick stick mounting hole;There is the bolt hole of insertion in the upper surface of the horizontal bearing fixation kit and lower surface;Described transverse wire The axial space of the axis of thick stick mounting hole and described bolt hole is mutually perpendicular to.
Led as shown in fig. 6, described vertically movable mechanism 3 includes vertical motor 36, vertical leading screw 43, two vertical straight lines Rail 31 and connecting plate 32.Vertical leading screw 43 is fixed on up and down the two of vertical base plate 16 by vertical bearing fixation kit 44 vertically End, two vertical straight line guide rails 31 are fixed on the both sides of vertical leading screw 43 in vertical base plate 16 by upright guide rail screw 30.Even Fishplate bar 32 is connected with two vertical straight line guide rails 31 by upright guide rail sliding block 34, and connecting plate 32 and upright guide rail sliding block 34 Fixed by upright slide block screw 33;The described 31 support load-bearing of vertical straight line guide rail and guide effect.Connecting plate 32 with it is vertical It is connected between leading screw 43 by vertical feed screw nut 39, vertical leading screw nut seat 41, and connecting plate 32 and vertical feed screw nut Seat 41 is fixed by vertical nut seat screw 42, and vertical nut is passed through between vertical feed screw nut 39 and vertical leading screw nut seat 41 Screw 40 is connected.Vertical motor 36 is fixed with vertical motor fixing seat 37 by vertical motor bolt 35, and vertical motor Fixed seat 37 is fixed on the one end of vertical base plate 16.The vertical output end of motor 36 passes through vertical motor coupler 38 and vertical leading screw 43 Coaxially connected, so as to drive the mechanical arm 4 fixed with connecting plate 32 to be moved back and forth along vertical leading screw 43, its moving direction is coordinate Z-direction in system.
When the present invention carries out massage operation, according to demand of the patient to massage position, control respectively longitudinal motor 12, Cross motor 22 and vertical motor 36.The longitudinal motor 12, cross motor 22 and the vertical selection stepper motor of motor 36 are watched Motor is taken, the factors such as precision and price, the present embodiment selection stepper motor is considered.
As shown in figs. 7-9, described mechanical arm 4 is fixed on connecting plate 32 by screwed hole 65.Mechanical arm 4 includes big Arm 66 and small arm mechanism, it is affixed by steady pin 54 between the two.
Described small arm mechanism includes the first forearm 45, the second forearm 48 and wrist joint, and the inner side of the first forearm 45 is by small Arm motor fixing seat 64 fixes forearm motor 46, and the output end of forearm motor 46 is connected by forearm shaft coupling 47 with the second forearm 48 Connect, drive the second forearm 48 to rotate by forearm motor 46.There is stepped blind hole at the center of described one end of second forearm 48, is used for Wrist motor 74 and wrist motor coupler 76 are installed;The other end end face center of second forearm 48 has axially projecting connection Bar, by the connecting rod, second forearm is connected with forearm shaft coupling 47.The carpal fixed seat passes through wrist screw 78 and second forearm housing end face be connected.
The wrist joint includes wrist motor 74, fixed seat, fixed plate 50, first bevel gear 63, second bevel gear 62, the One connecting shaft 79, the second connecting shaft 80, the 3rd connecting shaft 81 and end cap 52.
The wrist motor 74 is located to be fixed inside the second forearm 48, and by wrist motor screw 75.Wrist electricity The output shaft of machine 74 is connected by wrist motor coupler 76 with the connecting shaft 77 for fixing first bevel gear 63;The connection The other end of axle loads in the central shaft hole of first bevel gear 63.The first bevel gear 63 is located in fixed seat, and make this The installation sleeve of one bevel gear one end loads in the mounting hole on the vertical plate 53 of the fixed seat, is realized by the connecting shaft Wrist motor 74 drives first bevel gear 63 to rotate.
One end of first connecting shaft 79 is arranged on the level board 61 of the fixed seat;First connecting shaft 79 it is another One end and the screw hole positioned at the end face of the second connecting shaft 80;The other end of second connecting shaft 80 loads the 3rd connecting shaft In the blind hole of 81 end faces, and interference engagement between second connecting shaft and the 3rd connecting shaft.3rd connecting shaft 81 it is another One end loads in the through hole in fixed plate 50;One end of the fixed plate is fixed on the end of the vertical plate 53 of the fixed seat of " L " shape Face.One end and the 3rd connecting shaft is coordinated to coordinate one end to pacify with fixed plate in the level board 61 of first connecting shaft and fixed seat Equipped with end cap 52, the axial float of first connecting shaft and the 3rd connecting shaft is limited by two end caps.The second cone tooth Wheel 62 is sleeved in the first connecting shaft 79, and is engaged with the first bevel gear.
In the present embodiment, the selection large arm forearm structure of mechanical arm 4 is a kind of structure design personalized, it is therefore an objective to which raising is pressed Rub effect.And the first forearm 45 and the second forearm 48 are designed as in forearm, mainly realize the revolution free degree of forearm, make by Rub action multi-angle, multi-faceted.
As shown in Fig. 7~8, massage head 5 uses crank block slider structure, including knocking motor 60, decelerator 58, eccentric wheel 57th, rocking bar 55, roller 69 and massage head connector.
The massage head connector is L-shaped, and two pieces of orthogonal planks are respectively connecting seat 51 and installing plate 49. There are a pair of auricles being connected with second connecting shaft 80 outer surface of the connecting seat;There is baffle plate in the inner surface of the connecting seat 59;The auricle is each perpendicular to the connecting seat with baffle plate.There is mounting hole on the installing plate and baffle plate.Knocking motor 60 Decelerator 58 is connected with output shaft;One end of the knocking motor loads in the mounting hole on installing plate, one end dress of decelerator Enter in the mounting hole on baffle plate.
Described forearm motor 46, wrist motor 74 and knocking motor 60 selects stepper motor.
Eccentric wheel 57 is arranged on the decelerator.Rocking bar 55 is located at the interior table in the connecting seat 51 of massage head connector Face, and linked with the auricle on the connecting seat;The rocking bar is to have and state on eccentric wheel on " u "-shaped structure, one of bar The chute that connecting rod 56 coordinates.During work, eccentric wheel 57 is rotated with the connecting rod 56 on movable eccentric wheel 57, and makes the connecting rod on rocking bar Chute in slide, so as to drive rocking bar 55 to swing.
The flat board of rocking bar lower end is used to install force snesor 67.Force snesor is fixed on the following table of the rocking bar lower end flat board Face, the roller fixture 73 of " u "-shaped is fixed by screws in the lower surface of the force snesor.Roller 69 passes through roller shaft 68 It is fixed in roller fixture, and can freely rotates.The material of roller 69 selects the softer rubber of material.It is solid in the roller The both sides inner surface for determining part is respectively fixed with tracking sensor fixture 70, and the tracking sensor fixture is located at the rolling The top of wheel.The tracking sensor fixture 70 is arc, and with the roller is concentric places.In each tracking sensor fixture 70 front end fixing bolts 72 fix three tracking sensors 71, for gathering routing information.
The effect of tracking sensor 71 is detection massage head motion path, selection gray-scale sensor, color sensor or red Outer sensor, it is considered to sensitivity and response speed factor, the present embodiment selection infrared sensor is used as tracking sensor 71.Due to Infrared sensor is 10mm~120mm to the effective depth of detection object, will to meet accuracy of detection, sensitivity and detection range Ask, infrared sensor is arranged on the top of roller 69 by the present embodiment selection.Meanwhile, to improve to the accurate of trail change detection Property, the present embodiment selects three infrared sensors, is respectively used to the detection left side, middle and right trace sideline, prevent massage head Off-track.
When the present embodiment carries out massage operation, the need for actual massage angle, the forearm motor on mechanical arm 4 46 can drive the second forearm 48 to rotate to an angle.And wrist motor 74 is matched somebody with somebody by first bevel gear 63 and second bevel gear 62 Close transmission and cause the pitching certain angle of massage head 5, roller 69 is reached correct position.The knocking motor 60 of massage head 5 leads to The crank block slider structure crossed decelerator 58 and be made up of eccentric wheel 57, connecting rod 56 and rocking bar 55 realizes that roller 69 is swung up and down, complete Into hammer action.Roller structure can realize knocking in Chinese traditional massage gimmick, rolling massage action, meet patient to massaging hand The demand of method.

Claims (4)

1. a kind of tracking massage robot, it is characterised in that including motion, support, mechanical arm and massage head, described fortune Motivation structure includes longitudinal motion mechanism, transverse motion mechanism and vertically movable mechanism;Wherein:
The support is located at the upper surface of longitudinal motion mechanism;Longitudinal leadscrew and two guide rods and branch in the longitudinal motion mechanism Frame transmission coordinates, for realizing that support is moved along the longitudinal leadscrew integrated reciprocating, and its moving direction is the Y-axis side in coordinate system To;
Described transverse motion mechanism is located on the portal frame of support, and by the horizontal leading screw in the transverse motion mechanism and two The two ends of horizontal line slideway are separately fixed on the portal frame;Cross motor in transverse motion mechanism passes through the horizontal leading screw Driving the vertical base plate being fixed on by horizontal leading screw nut seat on support, transversely leading screw is moved back and forth, and its moving direction is seat X-direction in mark system;
The vertically movable mechanism is located in the vertical base plate in transverse motion mechanism, and will be vertical in the vertically movable mechanism The two ends of leading screw and two vertical straight line guide rails are separately fixed on the surface of the vertical base plate, by vertically movable mechanism Vertical leading screw drives to be moved back and forth together with mechanical arm and massage head that connecting plate is fixed along the Z axis of coordinate system;Described machinery Arm is fixed on connecting plate;
Described mechanical arm includes large arm and small arm mechanism;It is affixed between the large arm and small arm mechanism;Described small arm mechanism Including the first forearm, the second forearm and wrist joint;Be fixed with forearm motor on the inside of first forearm, forearm motor output end with Second forearm is connected, and drives the second forearm to rotate by forearm motor;The center of described second forearm one end is provided with wrist Motor and wrist motor coupler;The second forearm other end end face center has axially projecting connecting rod, passes through the connection Second forearm is connected by bar with forearm shaft coupling;Carpal " L " the shape fixed seat passes through wrist screw and the second forearm Housing end face is connected;
The wrist joint includes wrist motor, " L " shape fixed seat, fixed plate, first bevel gear, second bevel gear, the first connection Axle, the second connecting shaft, the 3rd connecting shaft and end cap;The wrist motor is fixed on inside the second forearm;The wrist motor it is defeated Shaft is connected with one end of connecting shaft;The other end of the connecting shaft loads in the central shaft hole of first bevel gear;Described One bevel gear is located in " L " shape fixed seat, and makes " L " shape fixed seat described in the installation sleeve loading of the first bevel gear one end In mounting hole on vertical plate, realize that wrist motor drives first bevel gear to rotate by the connecting shaft;
One end of first connecting shaft is arranged on the level board of described " L " shape fixed seat;The other end of first connecting shaft It is spirally connected with one end of the second connecting shaft;The other end of second connecting shaft is connected with one end of the 3rd connecting shaft;Described 3rd The other end of connecting shaft loads in the through hole in fixed plate;One end of the fixed plate is fixed on " vertical plates of L " shape fixed seats End face;First connecting shaft with " level boards of L " shape fixed seats coordinates one end and the 3rd connecting shaft to coordinate with fixed plate One end is mounted on end cap, and the axial float of first connecting shaft and the 3rd connecting shaft is limited by two end caps;Described Plug tap gear set is engaged in the first connecting shaft, and with the first bevel gear;
Massage head uses crank block slider structure, including knocking motor, decelerator, eccentric wheel, rocking bar, roller and massage head connection Part;
Eccentric wheel is arranged on the decelerator;Rocking bar is located at the inner surface of the connecting seat of massage head connector, and is connected with this Auricle hinge joint on seat;The rocking bar is to have the chute coordinated with the connecting rod on the eccentric wheel on " u "-shaped structure, the rocking bar; Force snesor is fixed on the lower surface of the rocking bar lower end flat board, and the roller fixture of " u "-shaped is fixed on the lower end of the force snesor Face;Roller is fixed in roller fixture by roller shaft, and can freely be rotated;It is fixed with and follows in the roller fixture Mark sensor fixture, and make the tracking sensor fixture positioned at the top of the roller;The tracking sensor fixture For arc, and with the roller is concentric places;Three tracking sensings are fixed with fixing bolt in the tracking sensor fixture front end Device, for gathering routing information.
2. tracking massage robot as claimed in claim 1, it is characterised in that described longitudinal motion mechanism includes horizontal base Seat, longitudinal motor, longitudinal leadscrew and guide rod;Longitudinal leadscrew is fixed on the centre of horizontal base upper surface, and two guide rods are solid respectively Horizontal base upper surface is scheduled on, and is located at two side positions of longitudinal leadscrew respectively;Longitudinal motor is fixed on longitudinal motor fixed seat On, longitudinal motor fixed seat is fixed on a side surface of horizontal base;Longitudinal motor output end is connected with longitudinal leadscrew;Difference position Each guide rod hole and two guide rod coaxial cooperations in pedestal lower end both sides, lead screw hole in the middle of pedestal lower end with it is described Longitudinal leadscrew coaxial cooperation, the longitudinal motor drives the support to be moved along the longitudinal leadscrew integrated reciprocating by the longitudinal leadscrew It is dynamic.
3. tracking massage robot as claimed in claim 1, it is characterised in that described transverse motion mechanism includes laterally electricity Machine, horizontal leading screw, two horizontal line slideways, vertical base plate and horizontal bearing fixation kit;Horizontal leading screw level is fixed on The middle part of the side surface of portal frame one of support;Two horizontal line slideways also horizontal portal frame side table for being fixed on support Face, and described two horizontal line slideways is fixed on the both sides of the horizontal leading screw by cross slide way screw respectively;
Cross motor is connected with one end of the horizontal leading screw;The horizontal leading screw coordinates with horizontal leading screw nut to be driven, and drives branch Transversely leading screw is moved back and forth vertical base plate on frame;Horizontal leading screw nut is set with and is fixed in the horizontal leading screw;Transverse wire Thick stick nut seat is sleeved on the horizontal leading screw nut, and is fixed on the middle part on one surface of vertical base plate;Two cross slide ways Sliding block is separately fixed on the surface of vertical base plate, and is located at the both sides of horizontal leading screw nut seat respectively;Two described transverse directions The chute of guide rail slide block is installed on described two horizontal line slideways respectively;Pass through the horizontal vertical fortune of line slideway support Motivation structure, mechanical arm and massage head, and to the motion guide of transverse motion mechanism.
4. tracking massage robot as claimed in claim 1, it is characterised in that described vertically movable mechanism includes vertical electricity Machine, vertical leading screw, two vertical straight line guide rails and connecting plate;Vertical leading screw is fixed in vertical base plate vertically, and two vertical straight Line guide rail is fixed in vertical base plate and positioned at the both sides of the vertical leading screw;Connecting plate and two vertical straight line guide rails pass through perpendicular Straight guide sliding block is connected;Vertical leading screw is fixed on connecting plate by vertical feed screw nut and vertical leading screw nut seat;Vertically Motor is fixed on vertical base plate one end;Vertical motor output end and vertical leading screw are coaxially connected, are fixed so as to drive with connecting plate Mechanical arm moved back and forth along vertical leading screw.
CN201610013140.1A 2016-01-10 2016-01-10 A kind of tracking massage robot Active CN105411831B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610013140.1A CN105411831B (en) 2016-01-10 2016-01-10 A kind of tracking massage robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610013140.1A CN105411831B (en) 2016-01-10 2016-01-10 A kind of tracking massage robot

Publications (2)

Publication Number Publication Date
CN105411831A CN105411831A (en) 2016-03-23
CN105411831B true CN105411831B (en) 2017-10-27

Family

ID=55490693

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610013140.1A Active CN105411831B (en) 2016-01-10 2016-01-10 A kind of tracking massage robot

Country Status (1)

Country Link
CN (1) CN105411831B (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105943336A (en) * 2016-05-12 2016-09-21 安徽波浪岛游乐设备有限公司 Electric massaging equipment
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
CN106038258A (en) * 2016-07-07 2016-10-26 重庆市宝富鑫科技开发有限公司 Complete intelligent physiotherapy blood pressure-reducing health care robot
CN106074142A (en) * 2016-07-15 2016-11-09 重庆市宝富鑫科技开发有限公司 Full intelligent physical therapy blood pressure lowering body-care physiotherapy bed
CN106667733A (en) * 2016-12-07 2017-05-17 上海电机学院 Simulated hand and shoulder massaging device
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
CN107595587A (en) * 2017-10-23 2018-01-19 毛杰 A kind of waist and back massage equipment
CN108210283A (en) * 2017-10-23 2018-06-29 韦龙生 Beat massage apparatus in a kind of back
CN107929024A (en) * 2017-12-08 2018-04-20 韩元元 A kind of posture adjustable type medical treatment arm-massage machine people
CN108852678A (en) * 2018-07-17 2018-11-23 遵义医学院附属医院 A kind of nursing bed for neurosurgery
CN109394501B (en) * 2018-10-17 2021-02-12 西安理工大学 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

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6730051B2 (en) * 2002-01-28 2004-05-04 Chun-Kuang Lin Rotating and vibrating massage shower nozzle
CN2808040Y (en) * 2005-06-28 2006-08-23 舒放 Bracket type electric back-scrubbing massaging bathing device
CN101862144A (en) * 2010-06-03 2010-10-20 东南大学 Domestic back rubbing and massaging manipulator
CN102283765B (en) * 2010-06-16 2013-03-20 山东康泰实业有限公司 Rectangular coordinate and joint type combined traditional Chinese massage robot
CN102319168B (en) * 2011-08-01 2013-01-09 山东康泰实业有限公司 Massaging device with multiple massaging manipulations
CN102389364B (en) * 2011-08-01 2013-08-28 山东康泰实业有限公司 Gantry Chinese medical massaging robot
CN202236153U (en) * 2011-10-12 2012-05-30 北京航空航天大学 Traditional Chinese medicine massage robot
CN102641200A (en) * 2012-02-28 2012-08-22 山东建筑大学 Massage robot and realization of massage manipulation thereof
CN202960320U (en) * 2012-11-28 2013-06-05 朱富贵 Back-rubbing message bathing machine capable of changing terminal executer
CN104161649A (en) * 2014-08-21 2014-11-26 上海中医药大学附属岳阳中西医结合医院 Pressing and swinging massage simulation device

Also Published As

Publication number Publication date
CN105411831A (en) 2016-03-23

Similar Documents

Publication Publication Date Title
CN105896347B (en) A kind of power distribution cabinet with oriented heat dissipating function
CN102149360B (en) Back massage device provided to chair type massage machine and chair type massage machine with same
CN104352343B (en) A kind of outdoor body-building claps back of the body machine
CN201787966U (en) Serial-parallel connection combined adjusting mechanism with six degrees of freedom
KR101163903B1 (en) Robot shoulder appratus for stroke patients rehabilitation
CN104287940B (en) A kind of lower limbs joint recovered image training robot
CN104905936B (en) Rehabilitation chair for upper limbs and lower limbs
CN102716001B (en) Rehabilitative training machine for fingers
JP2004357944A (en) Massage machine
US20160000633A1 (en) Upper limb rehabilitation robot
CN201127756Y (en) Electric up-down infusion rack
CN203303313U (en) Multi-movement whole-course massage armchair
CN105619042B (en) A kind of mechanism of achievable large-scale workpiece six degree of freedom adjustment
CN103505342A (en) External skeleton type gait rehabilitation training device
US20120265112A1 (en) Force sensing mechansim of a massage machine
CN103263338A (en) Upper limb rehabilitation robot
CN204684102U (en) A kind of twin axle knee joint drawing-off training devices
CN204233392U (en) Joint of vertebral column massage treatment device
CN107537136B (en) A kind of rehabilitation training device and method
CN103934823B (en) A kind of 6-PTRT type parallel robot with self calibrating function
CN205415217U (en) Intelligence stone polishing machine
CN205097207U (en) A series connection elastic drive ware for robot joint
CN201066323Y (en) Integrated performance testing table of railway oil pressure vibration reducer
CN104127300B (en) A kind of large arm swings device for healing and training
CN104708623B (en) A kind of adjustable robot of trimming moment

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant