CN108721104A - A kind of intelligent massaging robot - Google Patents

A kind of intelligent massaging robot Download PDF

Info

Publication number
CN108721104A
CN108721104A CN201710250602.6A CN201710250602A CN108721104A CN 108721104 A CN108721104 A CN 108721104A CN 201710250602 A CN201710250602 A CN 201710250602A CN 108721104 A CN108721104 A CN 108721104A
Authority
CN
China
Prior art keywords
human body
type massage
massage machine
hand
simulating type
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.)
Withdrawn
Application number
CN201710250602.6A
Other languages
Chinese (zh)
Inventor
武新平
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to CN201710250602.6A priority Critical patent/CN108721104A/en
Publication of CN108721104A publication Critical patent/CN108721104A/en
Withdrawn legal-status Critical Current

Links

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
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
    • 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
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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

Abstract

The invention discloses a kind of intelligent massaging robots, including movement guiding system, multi-joint mechanical arm, hand simulating type massage machine, protective device, pedestal and control unit.Wherein, movement guiding system acquires human body image by camera, and with the human acupoint data comparison in system, guiding hand simulating type massage machine reaches designated position.Multi-joint mechanical arm is responsible for hand simulating type massage machine being delivered to designated position.Hand simulating type massage machine carries out massaging action according to system command, simulation human hand.Pedestal can be it is fixed or mobile, can fixed placement or setting movable pulley.Protective device is duplicate protection, first again protection be dynamometry protective device, second again protection be Machine guarding；When device for measuring force fails, Machine guarding works, and touches emergency stop switch, cuts off the power, to protect human body to preserve from.Control unit is responsible for handling facility information, and control device is moved according to predetermined action.

Description

A kind of intelligent massaging robot
Technical field
The invention belongs to field in intelligent robotics, specifically a kind of intelligent massaging robot.
Background technology
Massage is a kind of health care mode that many people enjoy a lot, and traditional massage is largely manual massage.But by In time, the cost the problem of, many persons select massage instrument and massage.Traditional massage device, usually massage armchair, massage are draped over one's shoulders The equipment such as shoulder, that there are massage ranges is small, can not precisely problems, the massaging qualities such as massaging point it is generally not high.User expects There is a kind of massage apparatus, it can be comfortable as manual massage, safely, effectively；Massage parlor, which is also desirable for one kind, can replace people The equipment of work massage, reduces operating cost.
Invention content
It is an object of the invention to solve the problems, such as that above-mentioned traditional massage device exists, a kind of intelligence is provided, can be with accurate hand The intelligent massaging robot that method is massaged.
To achieve the above object, the present invention is achieved through the following technical solutions：
A kind of intelligent massaging robot, including movement guiding system, multi-joint mechanical arm, hand simulating type massage machine, protective device, Pedestal and control unit；Wherein, movement guiding system acquires human body image by camera, with the human acupoint data in system Comparison determines that the relative position of hand simulating type massage machine and human acupoint, guiding hand simulating type massage machine reach designated position.
Multi-joint mechanical arm is responsible for hand simulating type massage machine being delivered to designated position.
Hand simulating type massage machine carries out massaging action according to system command, simulation human hand.
Pedestal, which can be fixed either mobile fixed pedestal, can be fixed on bedside or place on the ground, mobile Movable pulley or crawler belt is arranged in formula pedestal, can easily move on the ground.
Protective device is duplicate protection, first again protection be dynamometry protective device, according to hand simulating type massage machine and human body Contact force size, the size of control action power on human body；Second again protection be Machine guarding, using spring or The overload protection arrangement of the components such as belt composition is as final protection, and when the power for acting on human body is bigger, and dynamometry is protected When failure of apparatus, by compressed spring or belt slippage, makes to act on the dangerous values that the power on human body is less than setting, prevent from setting It is standby that human body is damaged, and emergency stop switch can be touched, it cuts off the power, to protect human body to preserve from.
Control unit is responsible for handling facility information, and control device is moved according to predetermined action.
Beneficial effects of the present invention are：
This equipment uses bionic principle, movement guiding system to be equivalent to the eyes of people, and multi-joint mechanical arm is equivalent to the arm of people, Hand simulating type massage machine is equivalent to human hand, and protective device is equivalent to the tactile of people, under the control of the control unit of equipment, simulation The action of people is massaged；The position of real-time judge people, adjustment massage position and strength size, bring comfortably to user Massage experience.
Description of the drawings
Fig. 1 is a kind of structural map of intelligent massaging robot of the present invention；
Wherein：1 is movement guiding system, and 2 be multi-joint mechanical arm, and 3 be hand simulating type massage machine, and 4 be protective device, and 5 be bottom Seat, 6 units in order to control.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the construction of the present invention is：
The present invention is made of 6 parts：Move guiding system 1, multi-joint mechanical arm 2, hand simulating type massage machine 3, protective device 4, Pedestal 5 and control unit 6.
This device control cell 6 has prestored the human acupoint diagram data of standard, and movement guiding system 1 passes through camera The human body image of acquisition obtains after control unit 6 and human body acupuncture point figure data comparison by the accurate acupuncture point position of massage person, To control the specified altitude assignment above the arrival massage position of multi-joint mechanical arm 2, and controls hand simulating type massage machine 3 and specified The massage at position.Camera acquires human body attitude in real time in massage processes, and control unit 6 adjusts 2 He of multi-joint mechanical arm in real time The action of hand simulating type massage machine 3, massages human body.The sensor of protective device 4, part setting are massaged in hand simulating type It is that device for measuring force just carries out starting to massage when strength, which reaches, specifies size on device 3, specifies strength when strength is less than, adjust Whole output strength is required to specified；When strength is more than specified strength, the rapid output strength that adjusts is to specified desired minimum value.It protects The Machine guarding of protection unit 4 is arranged in the centre of multi-joint mechanical arm 2 and hand simulating type massage machine 3, it using spring or The overload protection arrangement of the components such as person's belt composition is as final protection, and when the power for acting on human body is bigger, and dynamometry is protected When protection unit fails, it can make to act on the dangerous values that the power on human body is less than setting by compressed spring or belt slippage, It prevents equipment from being damaged to human body, and at the same time touching emergency stop switch, cuts off the power, to protect human body not injured Evil.Pedestal, which can be fixed either mobile fixed pedestal, can be fixed on bedside or place on the ground, movable base Movable pulley or crawler belt are set, can easily be moved on the ground.

Claims (6)

1. a kind of intelligent massaging robot, including movement guiding system, multi-joint mechanical arm, hand simulating type massage machine, protection dress It sets, pedestal and control unit；Wherein, movement guiding system acquires human body image by camera, with the human acupoint in system Data comparison determines that the relative position of hand simulating type massage machine and human acupoint, guiding hand simulating type massage machine reach specific bit It sets.
2. a kind of intelligent massaging robot as described in claim 1, it is characterised in that：Multi-joint mechanical arm is responsible for hand simulating type Massage machine is delivered to designated position.
3. a kind of intelligent massaging robot as described in claim 1, it is characterised in that：Hand simulating type massage machine refers to according to system It enables, simulation human hand carries out massaging action.
4. a kind of intelligent massaging robot as described in claim 1, it is characterised in that：Pedestal can be fixed or mobile Formula, fixed pedestal can be fixed on bedside and either place movable base setting movable pulley or crawler belt on the ground, can be on ground It is easily moved on face.
5. a kind of intelligent massaging robot as described in claim 1, it is characterised in that：Protective device is duplicate protection, first Protection is dynamometry protective device again, and according to the size of the contact force of hand simulating type massage machine and human body, control action is on human body The size of power；Second protects again as Machine guarding, the overload protection arrangement formed using components such as spring or belts Pass through compressed spring or belt when the power for acting on human body is bigger, and dynamometry protective device fails as final protection It skids, makes to act on the dangerous values that the power on human body is less than setting, prevent equipment from being damaged to human body, and can touch urgent Shutdown switch is cut off the power, to protect human body to preserve from.
6. a kind of intelligent massaging robot as described in claim 1, it is characterised in that：Control unit be responsible for facility information into Row processing, control device are moved according to predetermined action.
CN201710250602.6A 2017-04-17 2017-04-17 A kind of intelligent massaging robot Withdrawn CN108721104A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710250602.6A CN108721104A (en) 2017-04-17 2017-04-17 A kind of intelligent massaging robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710250602.6A CN108721104A (en) 2017-04-17 2017-04-17 A kind of intelligent massaging robot

Publications (1)

Publication Number Publication Date
CN108721104A true CN108721104A (en) 2018-11-02

Family

ID=63925164

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710250602.6A Withdrawn CN108721104A (en) 2017-04-17 2017-04-17 A kind of intelligent massaging robot

Country Status (1)

Country Link
CN (1) CN108721104A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109674647A (en) * 2019-03-07 2019-04-26 西安伊蔓蒂电子科技有限公司 A kind of massage robot
CN109758345A (en) * 2019-03-07 2019-05-17 西安伊蔓蒂电子科技有限公司 A kind of massaging manipulator based on six-DOF robot
CN111010536A (en) * 2019-12-04 2020-04-14 武汉市海沁医疗科技有限公司 Video monitoring data storage method and device for massage robot
CN111437161A (en) * 2020-04-05 2020-07-24 王春艳 Hand-imitating nursing device

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2055380U (en) * 1989-03-05 1990-04-04 白求恩医科大学第三临床学院 Emergency bed for cardio-cerebral-pulmo resuscitation
CN2385149Y (en) * 1999-09-01 2000-06-28 中国人民解放军总装备部南京军事代表局 Overload protector for automatic press
CN1759822A (en) * 2004-10-15 2006-04-19 严红缨 Massage method of intelligent initiative type appliance and massage robot
CN101766535A (en) * 2010-01-12 2010-07-07 王朝晖 Ashi point examination and massage robot
CN201710627U (en) * 2010-01-12 2011-01-19 王朝晖 Accupoint meridian feeling massaging robot
CN202702242U (en) * 2012-06-20 2013-01-30 艾尔发（苏州）自动化科技有限公司 Mechanical arm belt transmission structure
CN103932828A (en) * 2014-04-04 2014-07-23 东北大学 Multifunctional mechanical arm for helping physically-challenged people
US20150366751A1 (en) * 2013-01-30 2015-12-24 GS Elektromedizinische Gerate G. Stemple GmbH Appliance for cardiopulmonary massage and/or resuscitation
WO2016170440A1 (en) * 2015-04-22 2016-10-27 Varhelyi Geza Remotely controlled massage device and procedure for its application

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2055380U (en) * 1989-03-05 1990-04-04 白求恩医科大学第三临床学院 Emergency bed for cardio-cerebral-pulmo resuscitation
CN2385149Y (en) * 1999-09-01 2000-06-28 中国人民解放军总装备部南京军事代表局 Overload protector for automatic press
CN1759822A (en) * 2004-10-15 2006-04-19 严红缨 Massage method of intelligent initiative type appliance and massage robot
CN101766535A (en) * 2010-01-12 2010-07-07 王朝晖 Ashi point examination and massage robot
CN201710627U (en) * 2010-01-12 2011-01-19 王朝晖 Accupoint meridian feeling massaging robot
CN202702242U (en) * 2012-06-20 2013-01-30 艾尔发（苏州）自动化科技有限公司 Mechanical arm belt transmission structure
US20150366751A1 (en) * 2013-01-30 2015-12-24 GS Elektromedizinische Gerate G. Stemple GmbH Appliance for cardiopulmonary massage and/or resuscitation
CN103932828A (en) * 2014-04-04 2014-07-23 东北大学 Multifunctional mechanical arm for helping physically-challenged people
WO2016170440A1 (en) * 2015-04-22 2016-10-27 Varhelyi Geza Remotely controlled massage device and procedure for its application

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109674647A (en) * 2019-03-07 2019-04-26 西安伊蔓蒂电子科技有限公司 A kind of massage robot
CN109758345A (en) * 2019-03-07 2019-05-17 西安伊蔓蒂电子科技有限公司 A kind of massaging manipulator based on six-DOF robot
CN111010536A (en) * 2019-12-04 2020-04-14 武汉市海沁医疗科技有限公司 Video monitoring data storage method and device for massage robot
CN111437161A (en) * 2020-04-05 2020-07-24 王春艳 Hand-imitating nursing device
CN111437161B (en) * 2020-04-05 2021-11-02 青岛大学附属医院 Hand-imitating nursing device

Similar Documents

Publication Publication Date Title
CN108721104A (en) A kind of intelligent massaging robot
Mukai et al. Development of a nursing-care assistant robot RIBA that can lift a human in its arms
Chinello et al. Design of a wearable skin stretch cutaneous device for the upper limb
CN105877968A (en) Multifunctional knocking rehabilitation device for traditional Chinese medicine nursing
CN105286366A (en) Sofa with back massage function
Li et al. A soft robotic glove for hand rehabilitation training controlled by movements of the healthy hand
CN111164541A (en) Apparatus and method for simulating and transmitting contact exogenous sensations
CN204050180U (en) The novel diagnosis and treatment bed of Neurology Department
Thimabut et al. Effectiveness of a soft robotic glove to assist hand function in stroke patients: a cross-sectional pilot study
Spiers et al. First validation of the haptic sandwich: A shape changing handheld haptic navigation aid
Lorenzini et al. Performance analysis of vibrotactile and slide-and-squeeze haptic feedback devices for limbs postural adjustment
JPH0720978A (en) Virtual reality device
Gwilliam et al. Haptic matching of directional force and skin stretch feedback cues
CN110946746A (en) Robot-based all-dimensional self-teaching physical therapy system and control method thereof
CN111267129B (en) Control device of accompanying robot
KR20150123029A (en) Upper limb rehabilitation robot having massage function
CN113796963A (en) Mechanical arm control method with force sensing feedback adjustment function and control terminal
CN210307855U (en) Remote communication's industrial robot teach box
Putzu et al. Development of a soft inflatable structure with variable stiffness for hand rehabilitation
Jain et al. Soft exosuit—A review
CN205787794U (en) Traveling simulator controls device
CN110811940A (en) Intelligent artificial limb device and control method
Yoshida et al. Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm
Pan et al. Effect of vibrotactile feedback for balance rehabilitation with the Ekso Bionics® exoskeleton
Sheng et al. A bilateral training system for upper-limb rehabilitation: a follow-up study

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication
WW01 Invention patent application withdrawn after publication

Application publication date: 20181102