CN108030659A - A kind of medical massage bed - Google Patents

A kind of medical massage bed Download PDF

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Publication number
CN108030659A
CN108030659A CN201810081086.3A CN201810081086A CN108030659A CN 108030659 A CN108030659 A CN 108030659A CN 201810081086 A CN201810081086 A CN 201810081086A CN 108030659 A CN108030659 A CN 108030659A
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China
Prior art keywords
massage
mechanical gripper
bed
delta
turntable
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CN201810081086.3A
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Chinese (zh)
Inventor
井国宁
王梦梦
王灿灿
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Individual
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Individual
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Priority to CN201810081086.3A priority Critical patent/CN108030659A/en
Publication of CN108030659A publication Critical patent/CN108030659A/en
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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
    • 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
    • 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
    • A61H7/007—Kneading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0142—Beds
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back
    • 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
    • A61H2205/084—Chest
    • 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
    • A61H2205/10—Leg

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Dermatology (AREA)
  • Massaging Devices (AREA)

Abstract

A kind of medical massage bed is to be combined bed, delta 3-freedom parallel mechanisms and mechanical gripper, then coordinates control system to form.It is mainly made of lathe bed, sliding support, delta 3-freedom parallel mechanisms, turntable, driving mechanism, mechanical gripper and control system.Universal caster wheel is connected on the footpost of lathe bed, it can be achieved that the overall movement of medical massage bed.The sliding support can be moved along the length direction of lathe bed.The delta 3-freedom parallel mechanisms are installed on sliding support, it is with three translation freedoms in space, so as to adjust the position of massage.Turntable is installed, turntable can realize the rotation along Z-direction, so as to adjust the direction being affectedly bashful on the moving platform of delta 3-freedom parallel mechanisms.Spring and lead are installed, it can realize the compliant motion of mechanical gripper in z-direction between mechanical gripper and turntable.The medical massage bed can be achieved to hammer, rub pressure and apery hand is affectedly bashful action, have the advantages that massage track is big, and massage frequency is fast.

Description

A kind of medical massage bed
The present invention relates to health care intelligent machine field, more particularly to a kind of medical massage bed.
Background technology
Massage is to be rubbed back and forth with hand or apparatus, kneading or beat body surface privileged site to adjust organism physiology, disease Reason situation, reaches fatigue-relieving, the method for physical therapy purpose.
Health care of the massage at back, shirtfront and leg to people's health and usually all plays important work With still, massager form is broadly divided into small-sized coal massager and large-scale massager at present.The massage of small-sized coal massager Scope is small, can not cover whole back or shirtfront, and large-scale massager common at present is directed to back massage, preceding chest massage and leg Portion's massage is independent equipment, so that inconvenient to use.Existing massager usually has the function of to hammer or rubs pressure, it can not be real Now it is affectedly bashful action.In view of the above circumstances, the present invention provides a kind of medical massage bed.
The content of the invention
The present invention in view of the above-mentioned problems existing in the prior art, proposes a kind of medical massage bed.People is lain prone by lying low or putting down It can receive the hammering of back, shirtfront and leg at medical massage bed, rub pressure and be affectedly bashful massage.
A kind of mentality of designing of medical massage bed：Bed, delta 3-freedom parallel mechanisms and mechanical gripper are subjected to group Close, then coordinate control system, form a new medical bed.The medical massage bed can realize back, shirtfront and leg and hammer into shape Hit, rub pressure and apery hand is affectedly bashful action, have the advantages that massage track is big, massage frequency is fast.
The present invention is achieved through the following technical solutions：
A kind of medical massage bed is mainly by lathe bed, sliding support, delta 3-freedom parallel mechanisms, turntable, driving machine Structure, mechanical gripper and control system composition.
The universal caster wheel with latch functions is connected on the footpost of the lathe bed, it can be achieved that the overall shifting of medical massage bed It is dynamic.
The sliding support is installed on lathe bed by guide rail slide block mechanism and lead-screw drive mechanism, and the sliding support exists Driving can move under the drive of motor along the length direction of lathe bed.
The delta 3-freedom parallel mechanisms are installed on sliding support, and delta 3-freedom parallel mechanisms have sky Interior three translation freedoms, can drive its moving platform to carry out spatial translation, so as to adjust the position of massage and be hammered Action.
Turntable is installed on the moving platform of delta 3-freedom parallel mechanisms, by means of driving mechanism, turntable can be real Now along the rotation of Z-direction (vertical direction), so as to adjust the direction being affectedly bashful.
Mechanical gripper and the turntable flexible connection, is provided with spring and lead between mechanical gripper and turntable, It can realize the overall compliant motion in z-direction of mechanical gripper.The compliant motion of mechanical gripper can be prevented in massage processes Rigid collision, both improved the security of equipment, and prevented impact failure, but can improve by massage people comfort.
Pressure sensor is housed in the spring bottom, for detecting the power suffered by mechanical gripper, and the force feedback is returned Control system is to control the dynamics of massage.
Massage finger outer layer covers on the mechanical gripper have rubber or silica gel, to improve massage comfort.
The advantage of the invention is that：A kind of medical massage bed can be achieved to be directed to human body back, shirtfront and the hammer of leg Hit, rub pressure and apery hand is affectedly bashful action, and big with massage track, the advantages that massage frequency is fast.
Brief description of the drawings
A kind of medical massage bed overall structure diagrams of Fig. 1；
Fig. 2 sliding support structure diagrams；
Fig. 3 sliding support transmission system schematic diagrames；
Fig. 4 delta 3-freedom parallel mechanism schematic diagrams；
Fig. 5 delta 3-freedom parallel mechanisms and mechanical gripper connection diagram；
The moving platform structure diagram of Fig. 6 delta 3-freedom parallel mechanisms；
Fig. 7 rotary display stand structure schematic diagrames；
Fig. 8 mechanical gripper structure diagrams；
Fig. 9 mechanical grippers drive scheme of installation；
Reference numeral：1- lathe beds；101- universal caster wheels；102- guide rails；103- leading screws；104- servomotors；105- slide plates； 106- graduated scales；2- sliding supports；201- installing plates；202- sliding blocks；3-delta 3-freedom parallel mechanisms；301- fixed platforms； 302- moving platforms；303- revolute pairs；304- drive rods；305- ball pairs；The parallel subchains of 306-；307- servomotors；4- turntables； 5- driving mechanisms；501- servomotors；502- retarders；6- mechanical grippers；601- bottom plates；602- gear As；603- gear Bs； 604- connecting rods A；605- connecting rods B；606- massage fingers；607- rotary hinges；608- rotary hinges；609- rotary hinges；610- rotary hinges； 611- finger actuations mechanism；7- springs；8- leads；9- pressure sensors.
Embodiment
As shown in Figure 1, a kind of medical massage bed is mainly by lathe bed (1), sliding support (2), delta three-freedom parallels Structure (3), turntable (4), driving mechanism (5), mechanical gripper (6) and control system composition.
As shown in figures 1 and 3, be connected the universal caster wheel (101) with latch functions on the footpost of the lathe bed (1), can Realize the overall movement of medical massage bed.Graduated scale (106) is installed on four frames of lathe bed (1), for recording human body The position lain and crouched, it is convenient that automatic massage is completed by control system automated programming.
As shown in Fig. 2, sliding support (2) top is useful for the installation of installation delta 3-freedom parallel mechanisms (3) Plate (201), sliding support (2) lower part have for being engaged sliding block (202) with the guide rail (102) on lathe bed (1).
As shown in Figure 2, Figure 4 shows, the guide rail (102) is fixed on the both sides of lathe bed (1) length direction, the sliding support (2) can be moved by means of guide rail (102) and sliding block (202) along the length direction of lathe bed.
As shown in figure 3, the side of lathe bed (1) bottom is provided with leading screw (103) and servomotor (104), slide plate (105) one end and leading screw (103) coordinate, and the other end and sliding support (2) are connected.The rotation (104) of servomotor (104) drives Leading screw (103) rotates, so as to drive sliding support (2) to be slided along guide rail (102) by slide plate (105).
As shown in Figure 1, the delta 3-freedom parallel mechanisms (3) are installed on the installing plate (201) of sliding support (2) On.
Fig. 4 is the schematic diagram of delta 3-freedom parallel mechanisms (3), and composition includes fixed platform (301), moving platform (302) With for connecting two platforms, and three side chains of distribution in a center of symmetry.Each side chain again by a revolute pair (303), One drive rod (304) and parallel subchain (306) composition for including four ball pairs (305).The delta Three Degree Of Freedoms Parallel institution (3) has three degree of freedom, its moving platform (302) can carry out spatial translation.
Fig. 5 is delta 3-freedom parallel mechanisms and mechanical gripper connection diagram, is given in Fig. 5 in corresponding diagram 4 Fixed platform (301), moving platform (302), revolute pair (303), drive rod (304), ball in delta 3-freedom parallel mechanisms (3) The structure diagram of secondary (305).As shown in figure 5, parallel institution is driven to servomotor (307), pass through servomotor (307) The branch chain movement of parallel institution is driven, so as to drive moving platform (302) to carry out spatial translation, so as to adjust the position of massage.
Moving platform (302) structure diagram of delta 3-freedom parallel mechanisms is shown in Fig. 6.As shown in figure 5, turntable (4) It is connected through moving platform (302) with the driving mechanism (5) being fixed on moving platform (302).The driving mechanism (5) includes servo Motor (501) and retarder (502).Under the driving of driving mechanism (5), turntable (4) can be achieved along Z-direction (vertical direction) Rotation, so as to adjust the direction that mechanical gripper (6) is affectedly bashful.
As shown in Fig. 7, Fig. 8, Fig. 9, the mechanical gripper (6) and turntable (4) flexible connection, mechanical gripper (6) and rotation Spring (7) and lead (8) are installed, it can realize the overall flexible fortune in z-direction of mechanical gripper (6) between turntable (4) It is dynamic.The compliant motion of mechanical gripper (6) can prevent the rigid collision in massage processes, both improved the security of equipment, and prevented Impact failure, and can improve by the comfort of massage people.
Pressure sensor (9) is housed in the spring (7) bottom, for detecting the power suffered by mechanical gripper (6), and should Force feedback returns control system to control the dynamics of massage.
As shown in Figure 8, Figure 9, the mechanical gripper (6) is by bottom plate (601), gear A (602), gear B (603), connecting rod A (604), connecting rod B (605), massage finger (606) and finger actuation mechanism (611) composition.Gear A (602) and gear B (603) point It is not hinged on bottom plate (601), it can be around own axis, and gear A (602) and gear B (603) are intermeshed.Tooth Take turns and rotary hinge (607) is formed on A (602) and bottom plate (601).Connecting rod A (604) one end is fixedly connected with gear A (602), one end Rotary hinge (608) is hingedly formed with massage finger (606).Connecting rod B (605) one end and bottom plate (601) hingedly form rotary hinge (609), the other end and massage finger (606) hingedly form rotary hinge (610).
As shown in figure 9, bottom plate (601) back side of the mechanical gripper (6) is provided with finger actuation mechanism (611), finger Driving mechanism drive gear A (602) is rotated so as to drive massage finger (606) mutually opening and closing to be massaged.
Massage finger (606) outer layer covers on the mechanical gripper (6) have rubber or silica gel, comfortable to improve massage Property.
The control system controls the action of all servomotors as described above and finger actuation mechanism (611), so that Control a kind of massage operation of medical massage bed；Including but not limited to joystick, programming interactive system in the control system With program command memory element；People can operate massage bed by joystick, can also program and store system Middle carry out massage operation.
Graduated scale (106) is installed on four frames of lathe bed (1), the graduated scale (106) be used for record human body lie and Sleeping position, when the position that same person lies or crouches on massage bed, and before when the position lain or crouched on massage bed is identical, It can then run and program identical before, so that the time for reducing setting improves massage efficiency.
A kind of massaging action control strategy of the medical massage bed.First, delta 3-freedom parallel mechanism (3) band Dynamic mechanical gripper (6) moves up and down, it is possible to achieve hammering action；Second, delta 3-freedom parallel mechanism (3) drive machinery While handgrip (6) moves up and down, turntable (4) drives mechanical gripper (6) rotary motion, it is possible to achieve rubs and presses work；3rd, While delta 3-freedom parallel mechanisms (3) drive mechanical gripper (6) up and down motion, the finger actuation machine on mechanical gripper Structure (611) driving massage finger (606) is mutually opened and closed, it is possible to achieve is affectedly bashful action, and turntable (4) drives mechanical gripper (6) rotation Transhipment is dynamic, can adjust the direction being affectedly bashful.Delta 3-freedom parallel mechanisms (3) drive mechanical gripper (6) in the horizontal plane Two one-movement-freedom-degrees can be combined with three of the above control strategy, so that the position different to human body is massaged.
The advantage of the invention is that：
A kind of medical massage bed can be achieved for human body back, shirtfront and the hammering of leg, rub pressure and apery hand is taken The advantages that pinching is made, and big with massage track, and massage frequency is fast.
Every improvement without prejudice under the premise of principle of the present invention should be considered within the scope of protection of the present invention.

Claims (8)

  1. A kind of 1. medical massage bed, it is characterised in that a kind of medical massage bed mainly by lathe bed (1), sliding support (2), Delta 3-freedom parallel mechanisms (3), turntable (4), driving mechanism (5), mechanical gripper (6) and control system composition；
    The universal caster wheel (101) with latch functions is connected on the footpost of the lathe bed (1), it can be achieved that the entirety of medical massage bed It is mobile；
    Sliding support (2) top is useful for the installing plate (201) of installation delta 3-freedom parallel mechanisms (3), the cunning Dynamic stent (2) lower part has for being engaged sliding block (202) with the guide rail (102) on lathe bed (1)；
    The guide rail (102) is fixed on the both sides of lathe bed (1) length direction, the sliding support (2) by means of guide rail (102) and Sliding block (202) can be moved along the length direction of lathe bed；
    The side of lathe bed (1) bottom is provided with leading screw (103) and servomotor (104), slide plate (105) one end and leading screw (103) coordinate, the other end and sliding support (2) are connected；The rotation (104) of servomotor drives leading screw (103) to rotate, so that logical Crossing slide plate (105) drives sliding support (2) to be slided along guide rail (102)；
    The delta 3-freedom parallel mechanisms (3) are installed on the installing plate (201) of sliding support (2)；
    The turntable (4) is connected through moving platform (302) with the driving mechanism (5) being fixed on moving platform (302)；Driving Under the driving of mechanism (5), the rotation along Z-direction (vertical direction) can be achieved in turntable (4), so as to adjust mechanical gripper (6) direction being affectedly bashful.
  2. 2. a kind of medical massage bed according to claim 1, it is characterised in that the mechanical gripper (6) and turntable (4) Flexible connection, is provided with spring (7) and lead (8), it can realize mechanical gripper between mechanical gripper (6) and turntable (4) (6) overall compliant motion in z-direction.
  3. 3. a kind of medical massage bed according to claim 1, it is characterised in that pressure is housed in the spring (7) bottom Sensor (9), for detecting the power suffered by mechanical gripper (6), and returns control system to control the dynamics of massage by the force feedback.
  4. A kind of 4. medical massage bed according to claim 1, it is characterised in that bottom plate (601) back side of mechanical gripper (6) Finger actuation mechanism (611) is installed, finger actuation mechanism drive gear A (602) is rotated so as to drive massage finger (606) mutual Opening and closing is massaged.
  5. A kind of 5. medical massage bed according to claim 1, it is characterised in that the massage finger on the mechanical gripper (6) (606) outer layer covers have rubber or silica gel, to improve massage comfort.
  6. 6. a kind of medical massage bed according to claim 1, it is characterised in that the control system controls all servos The action of motor and finger actuation mechanism (611), so as to control a kind of massage operation of medical massage bed；In the control system Including but not limited to joystick, programming interactive system and program command memory element；People can be to massage by joystick Bed is operated, and can also be programmed and be stored massage operation is carried out in system.
  7. 7. a kind of medical massage bed according to claim 1, it is characterised in that installed on four frames of lathe bed (1) Have graduated scale (106), which is used to record the position that human body lies and crouches, lie on massage bed when same person or Sleeping position, and when the position lain or crouched on massage bed is identical, then can run and program identical before before, so as to subtract The time for having lacked setting improves massage efficiency.
  8. 8. a kind of medical massage bed according to claim 1, it is characterised in that a kind of massage of medical massage bed is moved Make control strategy：
    First, delta 3-freedom parallel mechanism (3) drive mechanical gripper (6) to move up and down, it is possible to achieve hammering action；
    While second, delta 3-freedom parallel mechanism (3) drive mechanical gripper (6) up and down motion, turntable (4) drives Mechanical gripper (6) rotary motion, it is possible to achieve rub and press work；
    While 3rd, delta 3-freedom parallel mechanism (3) drive mechanical gripper (6) up and down motion, the hand on mechanical gripper Refer to driving mechanism (611) driving massage finger (606) to be mutually opened and closed, it is possible to achieve be affectedly bashful action, and turntable (4) drives mechanical gripping Hand (6) rotary motion, can adjust the direction being affectedly bashful；
    Delta 3-freedom parallel mechanisms (3) drive mechanical gripper (6) two one-movement-freedom-degrees in the horizontal plane can with Upper three kinds of control strategies are combined, so that the position different to human body is massaged.
CN201810081086.3A 2018-01-28 2018-01-28 A kind of medical massage bed Pending CN108030659A (en)

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Cited By (10)

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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
CN108743369A (en) * 2018-07-06 2018-11-06 贺婷 A kind of automation acupuncture bed
CN108814924A (en) * 2018-07-09 2018-11-16 贺婷 A kind of health-care medical scraping bed
CN110433058A (en) * 2019-09-16 2019-11-12 湖南信息职业技术学院 A kind of massage bed based on thermotherapy treatment prolapse of lumbar intervertebral disc
CN111135035A (en) * 2020-01-17 2020-05-12 浙江清华柔性电子技术研究院 Flexible massage robot
CN111643351A (en) * 2020-04-25 2020-09-11 周志民 Specific massage unit, method and system based on acupuncture point recognition
CN111643352A (en) * 2020-04-25 2020-09-11 周志民 Specific cupping unit, method and system based on acupuncture point recognition
CN112819899A (en) * 2021-02-08 2021-05-18 燕山大学 Camera automatic calibration system based on series-parallel mechanism and camera automatic calibration method thereof
CN114766202A (en) * 2022-04-14 2022-07-22 华南农业大学 Tea leaf picking robot with nine degrees of freedom
EP4186485A1 (en) * 2020-04-30 2023-05-31 Tao Mining Co., Ltd. Device, body, method and system for health-care

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CN103240729A (en) * 2013-04-23 2013-08-14 天津大学 Telescopic space triple-translation parallel manipulator
CN204468616U (en) * 2015-02-06 2015-07-15 安徽理工大学 Three-freedom-degree hybrid formula Chinese massage robot
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CN102389364A (en) * 2011-08-01 2012-03-28 山东康泰实业有限公司 Gantry Chinese medical massaging robot
CN103128745A (en) * 2013-01-28 2013-06-05 常州大学 Parallel type mechanical grabbing arm mechanism
CN103240729A (en) * 2013-04-23 2013-08-14 天津大学 Telescopic space triple-translation parallel manipulator
CN204468616U (en) * 2015-02-06 2015-07-15 安徽理工大学 Three-freedom-degree hybrid formula Chinese massage robot
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
CN108743369B (en) * 2018-07-06 2020-05-26 许秋红 Automatic acupuncture bed
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Application publication date: 20180515