CN106963616A - A kind of wheel massage robot - Google Patents
A kind of wheel massage robot Download PDFInfo
- Publication number
- CN106963616A CN106963616A CN201710251079.9A CN201710251079A CN106963616A CN 106963616 A CN106963616 A CN 106963616A CN 201710251079 A CN201710251079 A CN 201710251079A CN 106963616 A CN106963616 A CN 106963616A
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- CN
- China
- Prior art keywords
- massage
- motor
- connecting rod
- massage head
- base
- 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.)
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Classifications
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Robotics (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention discloses a kind of wheel massage robot, it is made up of rolling mechanism, hammer mechanism, Detection ＆ Controling device.Robot is moved using roller type, motor output shaft connection massage wheels, and by motor positive and inverse bidirectional walking, roll and massage function is realized using integrally-built deadweight while walking.Massage wheel case in massage wheels equipped with that can increase friction and with softness, comfortableness is massaged to improve it.Massage head motor drives crank connecting link to rotate, and the sliding block on connecting rod is done therewith up and down reciprocatingly to move along a straight line, and realizes the function of hammering massage.Detection ＆ Controling device is used for implementation pattern and adjusted and edge detection feature；The ambulation massage of robot and hammering massage are adjusted by user command and change the speed of travel and hammering massage frequency.Rim detection judges whether robot reaches the edge of human body back by the perception of sensor on control panel, it is to avoid it drops from human body back.Massage robot is simple in construction, compact, be easy to carry.
Description
Technical field
The present invention relates to rehabilitation medical and care appliance field, specifically, it is related to a kind of autonomous massager in wheeled back
Device people.
Background technology
In recent years, increasing people be in long-term sitting live and work pattern, cause a series of cervical vertebras, back,
The a variety of diseases of shoulder, while the mid-aged population with similar chronic disease is more and more.Massage machine has certain alleviation flesh
The function of meat fatigue, is gradually favored by mid-aged population.
Patent of invention 201610013140.1 discloses " a kind of tracking massage robot ", and the robot is by lengthwise movement machine
Structure, transverse motion mechanism, vertically movable mechanism, support, mechanical arm and massage head composition；Support is located at the upper of longitudinal motion mechanism
Surface, transverse motion mechanism is located on the portal frame of support, and vertically movable mechanism is located at the vertical base plate in transverse motion mechanism
On.Massage head is fixed on the robotic arm, and mechanical arm is fixed on the connecting plate of vertically movable mechanism.Tracking massage robot can be more
Angle realizes the massage operations such as the knocking at each position in back, neck, traveling knocking and tracking massage, but its complicated, volume
Greatly, be inconvenient to carry, promoting the use of for it is limited significantly.A kind of " portable hammer is disclosed in patent of invention CN101791263A
Hit health care massage belt ", including electromagnetism hammering device and one can carry on the back piggyback, or the flexible fabric band being trapped among on waist, electromagnetic hammer
Device is hit to be located in the heart-shaped horizontal branch band on flexible fabric band.The hammering health care massage belt realizes hammering using electromagnetic induction principle
Gimmick, with the characteristics of cost is low, light structure is portable.But its can not autonomous, and massage part is restricted.
The content of the invention
In order to avoid the deficiency that prior art is present, the volume for overcoming existing apparatus to exist is big, or can not autonomous
Problem, the present invention proposes a kind of wheel massage robot, and the robot is moved using roller type, can moved freely in human body back
Massage, without dropping, while massage head hammers downwards massage, realizes the overall massage effect in back.
The technical solution adopted for the present invention to solve the technical problems is:Including shell, base, upper connecting rod, lower connection
Bar, rolling mechanism, hammer mechanism, Detection ＆ Controling device, shell are fastened with base, the upper connecting rod and base of shell inner top
On lower connecting rod it is corresponding, and be connected by double threaded screw, lower connecting rod is located at the corner of base, four groups of motor mounts point
It is not fixed on the inside of the lower connecting rod on base, upper connecting rod, lower connecting rod corresponding position are provided with internal thread；
The rolling mechanism includes motor mount, massage turbin generator, massage wheels motor fixing seat, massage wheels, massage wheels
Motor is fixed on base at motor mount by massage wheels motor fixing seat, and massage wheels were with massage wheels motor output shaft
It is full of cooperation, massage wheels is set with massage wheels and are covered for directly being contacted with human body back, massage wheels are positive and negative by massaging turbin generator
Turn to realize bidirectional walking, realize roll and massage using integrally-built deadweight when walking；
The hammer mechanism include massage head, massage head motor, motor fixing seat, crank, crank pin, connecting rod, major axis,
Slide bar, massage head motor installation base, massage head motor installation base are located at the middle part of base, and massage head motor passes through electricity
Machine fixed seat is arranged at massage head motor installation base, and two slide bar mounting seats, which are separately fixed on base, is located at massage head electricity
Slide mounting hole is arranged at the both sides of machine mounting seat, slide bar mounting seat top, and massage head motor is that twin shaft exports DC speed-reducing,
Massage head motor output shaft is connected with two crank one end respectively, and the crank other end is hinged with connecting rod one end by crank pin,
The other end of major axis through connecting rod is connected with slide bar one end, and the slide bar other end and massage head are connected positioned at the slide bar of slide bar mounting seat
In mounting hole, massage head motor, which is rotated, drives the crank connecting link being connected on motor shaft to rotate, and the slide bar of the connecting rod other end is with pressing
The head that rubs up and down reciprocatingly moves along a straight line, and synchronously completes hammering action, realizes to hammer human body back and massages；
The Detection ＆ Controling device includes sensor, power pack and control panel, and power pack is located at before massage head motor
In end seat, power pack is built with rechargeable battery, implementation pattern regulation and rim detection；Power pack is fixed on control
Plate, control panel includes mode tuning module, edge detection module, and the remote control of mode tuning module uses IR remote controller, or
Using radio communication remote control, the sensor of edge detection module uses inclination sensor；Mode tuning is ambulation massage and hammer
Massage is hit, the speed of travel and hammering massage frequency are changed by user command regulation；Rim detection passes through sensor on control panel
Perception judge whether reach human body back edge, to avoid dropping from human body back.
The massage head connecting hole of slide bar and the massage head connecting shaft of massage head coordinate, and junction is circular or square, massage
The massage contact head of head uses hemispherical, massage contact head parcel resilient material set, or is made of elastomeric material.
Massage turbin generator is DC speed-reducing.
Beneficial effect
The invention discloses a kind of wheel massage robot, by rolling mechanism, hammer mechanism, Detection ＆ Controling device group
Into.Robot is moved using roller type, motor output shaft connection massage wheels, by motor positive and inverse bidirectional walking, in walking
Simultaneously roll and massage function is realized using integrally-built deadweight.It is equipped with to increase to rub in massage wheels and there is softness again
Wheel case is massaged, comfortableness is massaged to improve it.Above and below slide bar on the drive crank connecting link rotation of massage head motor, connecting rod is done therewith
Linear reciprocating motion, realizes the function of hammering massage.Detection ＆ Controling device is used for implementation pattern and adjusted and edge detection feature；
The ambulation massage of robot and hammering massage are adjusted by user command and change the speed of travel and hammering massage frequency.Examine at edge
Survey and judge whether robot reaches the edge of human body back by the perception of sensor on control panel, it is to avoid it is from human body back
Drop.Massage robot is simple in construction, compact, be easy to carry.
Brief description of the drawings
A kind of wheel massage robot of the invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is overall schematic outside wheel massage robot of the present invention.
Fig. 2 is the shell mechanism schematic diagram of wheel massage robot of the present invention.
Fig. 3 is the understructure schematic diagram of wheel massage robot of the present invention.
Fig. 4 is the internal structure top view of wheel massage robot of the present invention.
Fig. 5 is the internal structure shaft side figure of wheel massage robot of the present invention.
Fig. 6 is the crank structure schematic diagram of wheel massage robot of the present invention.
Fig. 7 is the sliding block and massage head structure schematic diagram of wheel massage robot of the present invention.
In figure
The slide bar of 7. lower connecting rod of the hole 8. 1. upper connecting rod 6. of 4. base of shell 2. massage wheels, 3. massage head 5. charges
The power supply fixing hole 13. of 11. mounting seat bolt hole of mounting hole 9. slide bar mounting seat, 10. massage head motor installation base 12.
The screw of 18. nut of massage turbin generator 15. motor fixing seat, 16. massage head motor, 17. bolt of motor mount 14. 19.
20. 25. crank of massage wheels motor fixing seat 21. slide bar, 22. major axis, 23. connecting rod, 24. massage head motor output shaft 26. is bent
The crank-pin axis hole of 30. massage head motor output shaft hole of handle bearing pin 27. power pack, 28. control panel, 29. double threaded screw 31.
32. the long massage head connecting shaft 35. of 33. massage head connecting hole of axis hole 34. massages contact head
Embodiment
The present embodiment is a kind of wheel massage robot.
Refering to Fig. 1~Fig. 7, the present embodiment wheel massage robot, by shell 1, base 4, upper connecting rod 5, lower connecting rod
7th, rolling mechanism, hammer mechanism, Detection ＆ Controling device composition, shell 1 are fastened with base 4, the upper connecting rod of the inner top of shell 1
5 is corresponding with the lower connecting rod 7 on base 4, is connected by double threaded screw 29, and lower connecting rod 7 is located at the corner of base 4, four groups
Motor mount 13 is separately fixed at the inner side of lower connecting rod 7 on base 4, and there is interior spiral shell upper connecting rod 5, the corresponding position of lower connecting rod 7
Line.
Rolling mechanism includes motor mount 13, massage turbin generator 14, massage wheels motor fixing seat 20, massage wheels 2, massage
Turbin generator 14 is fixed on base 4 at motor mount 13 by massage wheels motor fixing seat 20, massage wheels 2 and massage turbin generator
Output shaft is interference fit, and massage wheels are set with massage wheels 2 and are covered for directly being contacted with human body back, massage wheels 2 by by
Bidirectional walking is realized in the rotating of turbin generator 14 that rubs, and realizes roll and massage using integrally-built deadweight when walking.
Hammer mechanism includes massage head 3, massage head motor 16, motor fixing seat 15, crank 25, crank pin 26, connecting rod
23rd, major axis 22, slide bar 21, massage head motor installation base 10, massage head motor installation base 10 are located at the pars intermedia of base 4
Position, massage head motor 16 is arranged at massage head motor installation base 10 by motor fixing seat 15 and screw 19, massage head electricity
The rotating speed of machine 16 determines the frequency of hammering massage, according to Chinese traditional massage experience, hammers the 0-5 times/second of frequency.Two slide bars are installed
Seat 9 is separately fixed on base 4, and positioned at the both sides of massage head motor installation base 10, slide bar installation is arranged at slide bar mounting seat top
Hole 8.Massage head motor 16 be twin shaft export DC speed-reducing, massage head motor output shaft 24 respectively with two one end of crank 25
Connection, the other end of crank 25 is hinged with the one end of connecting rod 23 by crank pin 26；The other end and cunning of the major axis 22 through connecting rod 23
The one end of bar 21 is connected, and the other end of slide bar 21 and massage head 3 are connected in the slide mounting hole 8 of slide bar mounting seat 9.Massage head electricity
Machine 16, which is rotated, drives the crank connecting link being connected on motor shaft to rotate, and the slide bar and massage head 3 of the other end of connecting rod 23 are up and down reciprocatingly
Linear motion, synchronously completes hammering action, realizes to hammer human body back and massages.The massage head connecting hole 33 of slide bar 21 and massage
First 3 massage head connecting shaft 34 coordinates, and junction is circular or square, and connected mode is threaded connection or tight fit connection.Press
The first 3 massage contact head 35 of rubbing uses hemispherical, and the jacket layer of parcel resilient material, or is made of elastomeric material.Massage wheels
Motor is DC speed-reducing.
Detection ＆ Controling device includes sensor, power pack 27 and control panel 28, and power pack 27 is located at massage head motor 16
Leading section base 4 on, power pack 27 is built with rechargeable battery；Power pack 27 is fixed on for controlling entirely to massage machine
The control panel 28 of people, control panel 28 includes mode tuning module, edge detection module, and the remote control of mode tuning module uses red
Outer remote control, or use radio communication remote control；The sensor of edge detection module uses inclination sensor；Mode tuning is row
Massage and hammering massage are walked, the speed of travel and hammering massage frequency are changed by user command regulation；Rim detection passes through control
The perception of sensor judges whether to reach the edge of human body back on plate, to avoid it from being dropped from human body back.
There are three kinds of massage modes in the present embodiment:Fixing point hammer mode, rolling pattern, side rolls limit hammer mode, three
The pattern of kind can free switching.
Fixing point hammer mode:
When robot needs to be operated in fixing point hammer mode, wheel massage robot is placed on specifying for back first
Position, then sends the user command of fixing point hammer mode by operating handset APP or remote control.In this mode, massage
Head motor 16 starts to rotate, and then drives crank 25, connecting rod 23 and slide bar 21, makes massage head constantly motion about 3, realizes in people
The fixing point hammering massage at body back.
Rolling pattern:
When robot needs to be operated in rolling pattern, wheel massage robot is placed on back optional position first, so
The user command of rolling gimmick pattern is sent by operating handset APP or remote control afterwards, robot is controlled by internal processes
Realize rolling pattern in back.Under rolling pattern, four massage turbin generators 14 directly drive four massage wheels 2 to move, using certainly
The gravity of body, realizes the roll and massage in human body back.
Side rolls limit hammer mode:
When robot needs to be operated under the rolls limit hammer mode of side, wheel massage robot is placed on back first and appointed
Meaning position, then sends the user command of side rolls limit hammer mode by operating handset APP or remote control.Side hammer is rolled on side
Under blow mode, worked simultaneously equivalent to fixing point hammer mode and rolling pattern.
User can change the rolling of robot by operating handset APP or remote control according to the real experiences situation of itself
Press speed and hammering frequency.The sensor of robot built-in can detect human body back edge, prevent it from being dropped from back, completely real
Autonomous massage functions are showed.
Claims (3)
1. a kind of wheel massage robot, it is characterised in that:Including shell, base, upper connecting rod, lower connecting rod, rolling mechanism,
Hammer mechanism, Detection ＆ Controling device, shell are fastened with base, the lower connecting rod on the upper connecting rod and base of shell inner top
It is corresponding, and be connected by double threaded screw, lower connecting rod is located at the corner of base, and four groups of motor mounts are separately fixed at base
On lower connecting rod on the inside of, upper connecting rod, lower connecting rod corresponding position are provided with internal thread；
The rolling mechanism includes motor mount, massage turbin generator, massage wheels motor fixing seat, massage wheels, massages turbin generator
It is fixed on by massage wheels motor fixing seat on base at motor mount, massage wheels are matched somebody with somebody with massage wheels motor output shaft for interference
Close, massage wheels are set with massage wheels and are covered for directly being contacted with human body back, massage wheels are real by massage wheels motor positive and inverse
Existing bidirectional walking, realizes roll and massage using integrally-built deadweight when walking；
The hammer mechanism includes massage head, massage head motor, motor fixing seat, crank, crank pin, connecting rod, major axis, cunning
Bar, massage head motor installation base, massage head motor installation base are located at the middle part of base, and massage head motor passes through motor
Fixed seat is arranged at massage head motor installation base, and two slide bar mounting seats, which are separately fixed on base, is located at massage head motor
Slide mounting hole is arranged at the both sides of mounting seat, slide bar mounting seat top, and massage head motor is that twin shaft exports DC speed-reducing, is pressed
A motor output shaft that rubs is connected with two crank one end respectively, and the crank other end is hinged with connecting rod one end by crank pin, long
The other end of axle through connecting rod is connected with slide bar one end, and the slide bar other end and massage head are connected positioned at the slide bar peace of slide bar mounting seat
Fill in hole, massage head motor, which is rotated, drives the crank connecting link being connected on motor shaft to rotate, the slide bar of the connecting rod other end and massage
Head up and down reciprocatingly moves along a straight line, and synchronously completes hammering action, realizes to hammer human body back and massages；
The Detection ＆ Controling device includes sensor, power pack and control panel, and power pack is located at the leading section of massage head motor
On base, power pack is built with rechargeable battery, implementation pattern regulation and rim detection；Power pack is fixed on control panel, control
Making sheet includes mode tuning module, edge detection module, and the remote control of mode tuning module uses IR remote controller, or uses nothing
Line communication remote control, the sensor of edge detection module uses inclination sensor；Mode tuning is that ambulation massage and hammering are massaged,
The speed of travel and hammering massage frequency are changed by user command regulation；Rim detection is sentenced by the perception of sensor on control panel
The disconnected edge for whether reaching human body back, to avoid dropping from human body back.
2. wheel massage robot according to claim 1, it is characterised in that:The massage head connecting hole and massage head of slide bar
Massage head connecting shaft coordinate, junction is circular or square, and the massage contact head of massage head uses hemispherical, massages contact head
Resilient material set is wrapped up, or is made of elastomeric material.
3. wheel massage robot according to claim 1, it is characterised in that:Massage turbin generator is DC speed-reducing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251079.9A CN106963616B (en) | 2017-04-18 | 2017-04-18 | A kind of wheel massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251079.9A CN106963616B (en) | 2017-04-18 | 2017-04-18 | A kind of wheel massage robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106963616A true CN106963616A (en) | 2017-07-21 |
| CN106963616B CN106963616B (en) | 2019-09-24 |
Family
ID=59332961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710251079.9A Expired - Fee Related CN106963616B (en) | 2017-04-18 | 2017-04-18 | A kind of wheel massage robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106963616B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309740A (en) * | 2018-02-12 | 2018-07-24 | 西北工业大学 | A kind of movable type back massage robot |
| CN111973429A (en) * | 2020-08-09 | 2020-11-24 | 陈保柱 | Magnetic drive type back massage robot |
| CN113304030A (en) * | 2021-06-09 | 2021-08-27 | 西北工业大学 | Small-size wheel hammer cooperation formula back massage dolly |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201370737Y (en) * | 2009-02-24 | 2009-12-30 | 李洪旺 | Healthcare back pounding device |
| CN104840347A (en) * | 2015-06-18 | 2015-08-19 | 洛阳慧宁文化传播有限公司 | Massage robot |
| CN105342826A (en) * | 2015-11-18 | 2016-02-24 | 西北工业大学 | Electromagnetic induction type massage robot massage head |
-
2017
- 2017-04-18 CN CN201710251079.9A patent/CN106963616B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201370737Y (en) * | 2009-02-24 | 2009-12-30 | 李洪旺 | Healthcare back pounding device |
| CN104840347A (en) * | 2015-06-18 | 2015-08-19 | 洛阳慧宁文化传播有限公司 | Massage robot |
| CN105342826A (en) * | 2015-11-18 | 2016-02-24 | 西北工业大学 | Electromagnetic induction type massage robot massage head |
Non-Patent Citations (1)
| Title |
|---|
| WENDONG WANG ET AL: "Path Planning Algorithm of a Novel Massage Robot", 《2016 9TH INTERNATIONAL CONGRESS ON IMAGE AND SIGNAL PROCESSING, BIOMEDICAL ENGINEERING AND INFORMATICS(CISP-BMEI 2016)》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309740A (en) * | 2018-02-12 | 2018-07-24 | 西北工业大学 | A kind of movable type back massage robot |
| CN108309740B (en) * | 2018-02-12 | 2019-10-18 | 西北工业大学 | A kind of movable type back massage robot |
| CN111973429A (en) * | 2020-08-09 | 2020-11-24 | 陈保柱 | Magnetic drive type back massage robot |
| CN113304030A (en) * | 2021-06-09 | 2021-08-27 | 西北工业大学 | Small-size wheel hammer cooperation formula back massage dolly |
| CN113304030B (en) * | 2021-06-09 | 2023-06-13 | 西北工业大学 | Small-size wheel hammer cooperation formula back massage dolly |
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| Publication number | Publication date |
|---|---|
| CN106963616B (en) | 2019-09-24 |
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