CN110339045A - A kind of vibration massage function and moxibustion robot device - Google Patents
A kind of vibration massage function and moxibustion robot device Download PDFInfo
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- CN110339045A CN110339045A CN201910736137.6A CN201910736137A CN110339045A CN 110339045 A CN110339045 A CN 110339045A CN 201910736137 A CN201910736137 A CN 201910736137A CN 110339045 A CN110339045 A CN 110339045A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
Abstract
The present invention relates to a kind of vibration massage functions and moxibustion robot device, including robot body and controller, robot body further includes left arm and right mechanical arm, the end of left arm is provided with the vibration head for massage, right mechanical arm includes sequentially connected shoulder joint nodal axisn, connecting cylinder one, upper arm joint shaft, connecting cylinder two, forearm joint shaft, connecting cylinder three and wrist joint axis, wrist joint axis front end is provided with the fixation device that can fix moxibustion tube and vibration head, shoulder joint nodal axisn, upper arm joint shaft, the joint die set of driving right mechanical arm movement is provided in forearm joint shaft and wrist joint axis, right mechanical arm can produce the movement in a curve of all directions under the action of each joint die set, composite straight line movement, and then vibration head is driven to carry out massaging or fixing moxibustion tube progress moxa-moxibustion, vibration head and joint die set are connect with controller.The device catches massage head by mechanical arm, bears feedback impact caused by vibration by machinery, saves human resources, reduce labor intensity.
Description
Technical field
The present invention relates to field of medical device, and in particular to a kind of vibration massage function and moxibustion robot device.
Background technique
Currently used for the muscle and deep vibromassage instrument and stimulation instrument in medical rehabilitation market, mainly drawn by motor drive
It leads strength mechanical oscillation and acts on deep muscle tissue, play the role of accelerating blood circulation, increase lymphatic return, to alleviate
Pain and acceleration organized renewing.Existing muscle and deep vibromassage instrument and stimulation instrument are usually to be held by therapist when in use
The striking head of muscle and deep vibromassage instrument, is firmly against patient's afflicted area, by being then transferred to after the vibration of a period of time
Above-mentioned therapeutic process is continued at next position, this process is for therapist, although vibrating substitution manpower with strength
It massages, greatly reduce labor intensity, but the vibration of strength makes whole operation arm of therapist and palm all can not again
Bear the feedback strength of vibration with avoiding.
To solve the above-mentioned problems, some equipment are equipped with buffering gloves, and some equipment have then turned down vibration force.I.e.
Make to wear buffering gloves, strong vibration still enables therapist be difficult to bear, and causes work cannot be lasting and resists using such
Product, and turning down vibration force may then make therapeutic effect have a greatly reduced quality.
In addition, conventional moxibustion, refers to that therapist holds the Chinese mugwort generated after the moxa-moxibustion material made of folium artemisiae argyi is lighted
Thermostimulation sufferer body surface point or privileged site adjust the biochemical functions of human disorder by exciting the activity of passages through which vital energy circulates,
To reach a kind for the treatment of method for purpose of preventing and curing diseases.Therapist holds moxa stick treatment, and the back of a bow is bent over often, in addition smoke fire
It burns and negative effect is also generated to therapist's health over time, the moxibustion equipment of some other similar fixing belt then general
The privileged site that moxa stick bondage can be fixed on to patient is treated, and can often overheat leads to pain in the process, is also inconvenient to convert
Position influences therapeutic effect.
Summary of the invention
In view of the problems of the existing technology the present invention, provides a kind of vibration massage function and moxibustion robot device, the device
Massage head is caught by mechanical arm, feedback impact caused by vibration is born by machinery, human resources is saved, reduces labor intensity,
Improve working efficiency and therapeutic effect.
The present invention is achieved through the following technical solutions above-mentioned technical purpose:
The present invention provides a kind of vibration massage function and moxibustion robot device, including robot body and controller, machines
Touch screen is additionally provided on human body, the USB line and HDMI signal wire of touch screen are connect with controller, and robot body also wraps
Include left arm and right mechanical arm, the end of left arm is provided with the vibration head for massage, and right mechanical arm includes multiple passing through connecting cylinder
Sequentially connected joint shaft, the end of right mechanical arm are provided with the fixation device that can fix moxibustion tube and vibration head, in joint shaft
It is provided with the joint die set of driving right mechanical arm movement, right mechanical arm generates respectively under the action of each joint die set
The arcuate movement in a direction, composite straight line movement, and then vibration head is driven to carry out massaging or fixing moxibustion tube progress moxa-moxibustion, vibration
Head and joint die set are connect with controller.
Wherein, the joint shaft of right mechanical arm includes shoulder joint nodal axisn, upper arm joint shaft, forearm joint shaft and wrist joint axis, is connected
Connect cylinder includes connecting cylinder one, connecting cylinder two, connecting cylinder three, shoulder joint nodal axisn, connecting cylinder one, upper arm joint shaft, connecting cylinder two, forearm
Joint shaft, connecting cylinder three and wrist joint axis are connected in turn.
Wherein, left arm includes left arm connecting shaft, hose and vibration head, and hose is fixed on robot sheet by left arm connecting shaft
On body, the end of hose is provided with vibration head, and close left arm position is fixedly installed vibrating motor, vibration electricity in robot body
Steel wire drive axis is fixedly connected on the output shaft of machine, steel wire drive axis passes through hose and connect and driven in vibration head with vibration head
Eccentric wheel rotation.
Specifically, robot body includes head, upper body and the lower part of the body, and head includes head shell, and upper body includes outside upper body
Shell and upper body bracket on its interior, the lower part of the body include lower part of the body shell and lower part of the body bracket on its interior, and upper body bracket is under
Body bracket is connected and fixed by upper lower part of the body rack connecting plate, and head shell is fastened on upper body by neck connector
On shell, upper body shell and lower part of the body shell are fastened on upper lower part of the body rack connecting plate by waist connecting plate；Touch screen is solid
It is fixed to be arranged on head shell；Fixed setting is fixedly installed with vibration control in lower partition there are two partition on upper body bracket
Plate, vibrating motor and left shoulder bracket, vibration control plate are electrically connected with vibrating motor and controller simultaneously, the connecting shaft of vibrating motor
It is mounted on left shoulder bracket and is connect by steel wire drive axis with vibration head and drive vibration head vibration, left arm connecting shaft is fixed on a left side
Right shoulder bracket is fixedly installed on shoulder bracket, in upper partition, shoulder joint nodal axisn is fixed on upper body bracket by right shoulder bracket；Under
It is again provided with two partitions on body bracket, is provided with power supply adaptor and controller, lower partition and upper layer in upper partition
Cavity between partition is the space of drawer.
Wherein, upper body further includes the fixation hanger for hanging up vibration head, and fixed hanger is fixed on by hanger bracket
In the upper partition of body internal stent.
Wherein, head further includes display lamp and loudspeaker, and display lamp and loudspeaker are fixed on head shell, display lamp
It is connect with controller with loudspeaker.
Wherein, upper body further includes microphone and scram button, and microphone and scram button are fixed at upper body shell
It above and is connect with controller, microphone is connect with controller, and scram button is connected on the circuit of right mechanical arm.
Wherein, the lower part of the body is fixed on a pedestal, is provided with below pedestal and is facilitated locking for entire robot movement
Idler wheel.
Preferably, clump weight is provided on pedestal.
Preferably, the fixed device of vibration head is to be detachably connected plate, and the one end for being detachably connected plate is fixed on wrist joint axis
End, vibration head or moxibustion tube are fixed at the other end for being detachably connected plate.
Vibration massage function and moxibustion robot device provided by the present invention, has following advantageous effects:
(1) massage head is caught using manipulator, feedback impact caused by vibration is born by machinery, is avoided to therapist's body
The injury of body；
(2) mechanical arm is withstood on massage head on the body of user using the self-lock force of each joint shaft, instead of manpower, drop
The low labor intensity of therapist；
(3) mechanical arm uses four axis joint structures to realize the motor adjustment of short transverse and horizontal direction, integrates
It is moved the arbitrary trajectory within the scope of certain space can be achieved, massage head is facilitated to do the massaging actions such as straight line, curve on human body；
(4) vibromassage and moxibustion function can be switched in the design of replaceable connecting plate；
(5) use remote control, realize massage head up and down, back and forth horizontally, the motion controls such as vertically reciprocating, it is distant
Control device can allow therapist or user oneself to grasp, and realize self-service massage completely；
(6) it is provided with human somatotype template, can be joined by height, gender, fat or thin figure, the receiving dynamics etc. for selecting user
The track that automatically moves back and forth of number setting mechanical arm, realizes automatic massage；
(7) the built-in force feedback structure of the joint shaft of mechanical arm, can real-time tracking and setting massage force.
Detailed description of the invention
Fig. 1 is the positive structure schematic of vibration massage function and moxibustion robot device；
Fig. 2 is the side structure schematic diagram of vibration massage function and moxibustion robot device；
Fig. 3 is the overlooking structure diagram of vibration massage function and moxibustion robot device (no massage head)；
Fig. 4 is the structural schematic diagram inside vibration massage function and moxibustion robot device；
Fig. 5 is the structural schematic diagram for being detachably connected plate；
Fig. 6 is system structure of the invention schematic diagram；
Fig. 7 is figure template parameter setting schematic diagram；
Fig. 8 is the manipulator motion trajectory diagram being arranged according to shape parameter；
Fig. 9 is the key schematic diagram of remote controler；
101 head shells in figure, 102 touch screens, 103 display lamps, 104 loudspeaker, 105 neck connectors, outside 201 upper bodies
Shell, 202 fixed hangers, 203 microphones, 204 scram buttons, 205 hanger brackets, 206 vibration control plates, 207 vibrating motors,
208 left shoulder brackets, 209 lower partitions, 210 upper body brackets, 211 right shoulder brackets, 212 right shoulder fixing axles, lower part of the body bracket connects on 214
Fishplate bar, the lower part of the body connects via hole, 217 power supply adaptors, 218 controllers, 220 lower part of the body brackets, 222 clump weights, 301 left arms on 215
Connecting shaft, 302 hoses, 303 vibration heads, 401 shoulder joint nodal axisns, 402 connecting cylinders one, 403 upper arm joint shafts, 404 connecting cylinders two,
405 forearm joint shafts, 406 connecting cylinders three, 407 wrist joint axis, 408 are detachably connected plate, 409 ring flanges, 410 moxibustion tubes, 501
Waist connecting plate, 502 lower part of the body shells, 503 drawers, 504 pedestals, 505 can lock idler wheel.
Specific embodiment
Principles and features of the present invention are described with reference to the accompanying drawing, the given examples are served only to explain the present invention, and
Non-limiting the scope of the present invention.
As shown in Figure 1-3, a kind of vibration massage function and moxibustion robot device, including robot body and controller 218, machine
Touch screen 102 is additionally provided on device human body, the USB line of touch screen 102 is connect with controller 218 with HDMI signal wire, machine
Device human body further includes left arm and right mechanical arm, and the end of left arm is provided with the vibration head 303 for massage, and right mechanical arm includes
It is multiple by the sequentially connected joint shaft of connecting cylinder, the end of right mechanical arm, which is provided with, can fix moxibustion tube and vibration head 303
Device is fixed, the joint die set of driving right mechanical arm movement is provided in joint shaft, right mechanical arm is in each joint mould group
Arcuate movement, the composite straight line movement of all directions are generated under the action of component, and then vibration head is driven to be massaged or fixed
Moxibustion tube carries out moxa-moxibustion, and vibration head and joint die set are connect with controller.Existing joint die set such as Cole rubs
The RGM series of root (Kollmorgen), domestic safe section's intelligence RJS series etc. usually contain in a set of articular shell low
Straightening stream drive control device, absolute value encoder, incremental encoder, rimless torque motor, band-type brake device, harmonic speed reducer, transmission
Axis, terminal pad etc. are generally communicated using EtherCAT or CANopen communication protocol and host computer by network interface, using this
The major advantage of kind joint mould group is can to produce cooperation humanoid robot, can be cooperated with human body without hurting people
Body, the controller of each joint module internal can read out internal electricity by EtherCAT or CANopen communication protocol
Then the current value of machine can detect force feedback value by electric current loop mode, and control massage force according to force feedback value, with real-time
Track the pressing dynamics of massage head and human contact face.
In the present embodiment, the joint shaft of right mechanical arm includes shoulder joint nodal axisn 401, upper arm joint shaft 403, forearm joint shaft
405 and wrist joint axis 407, connecting cylinder includes connecting cylinder 1, connecting cylinder 2 404, connecting cylinder 3 406, shoulder joint nodal axisn 401,
Connecting cylinder 1, upper arm joint shaft 403, connecting cylinder 2 404, forearm joint shaft 405, connecting cylinder 3 406 and wrist joint axis 407
It is connected in turn；Under the rotation driving of shoulder joint nodal axisn 401, the generation of connecting cylinder 1 is swung up and down, and drives right mechanical arm
One lifting generates raising and lowering movement；Similarly, the rotation of upper arm joint shaft 403 and forearm joint shaft 405 drives connection
Cylinder 2 404 and 3 406 associated movement of connecting cylinder generate the movement in a curve of all directions, composite straight line movement, specific structure
With connection relationship reference can be made to the prior art, such as above-mentioned Killmorgen joint mould group, it is not described in detail herein.
The present invention by setting one can all directions movement right mechanical arm, when massage, right mechanical arm clamps vibration
First 303 carry out vibromassage, and when moxa-moxibustion, right mechanical arm clamps moxibustion tube and carries out moxa-moxibustion, do not have to therapist and carry out hand-held,
Feedback impact caused by vibration is born by machinery or long-term fixed moxa-moxibustion operates, human resources is saved, reduces labor intensity, improve
Working efficiency and therapeutic effect.
Specifically, in the present embodiment, left arm includes left arm connecting shaft 301, hose 302 and vibration head 303, and hose 302 is logical
It crosses left arm connecting shaft 301 to be fixed on robot body, the end of hose 302 is provided with vibration head 303, leans in robot body
Nearly left arm position is fixedly installed vibrating motor 207, and steel wire drive axis, steel are fixedly connected on the output shaft of vibrating motor 207
Silk transmission shaft passes through hose 302 and connect with vibration head 303 and the eccentric wheel in vibration head 303 is driven to rotate, to reach massage
Effect.Vibration head 303 is identical as the calling vibration motor principle of mobile phone, generally comprises coaxial eccentric cam, cam guide ring, stretches
Contracting gum cover, shell, the replaceable several leading part of massage, have wherein driven generation inclined in steel wire drive axis connection to coaxial eccentric cam
Heart rotation, the Periodic Rotating of cam, which is withstood on cam guide ring, to be generated of reciprocating vibration, and flexible gum cover then provides reciprocating motion side
To telescopic resilience, replaceable massage head provides different massage effects, and lead by cam there are many different nail hammer shapes
Internal screw thread on ring is attached thereto together, completes vibration massage function.
As shown in Fig. 1,4, robot body includes head, upper body and the lower part of the body, and head includes head shell 101, upper body packet
Upper body shell 201 and upper body bracket 210 on its interior are included, the lower part of the body includes lower part of the body shell 502 and the lower part of the body on its interior
Bracket 220, upper body bracket 210 and lower part of the body bracket 220 are connected and fixed by lower part of the body rack connecting plate 214, i.e. upper body branch
Frame 210 and lower part of the body bracket 220, which weld or rivet, to be fixed on lower part of the body rack connecting plate 214, on upper lower part of the body rack connecting plate 214
It is provided with the upper lower part of the body for crossing line and connects via hole 215, head shell 101 is fastened on upper body by neck connector 105
On shell 201, upper body shell 201 and lower part of the body shell 502 pass through waist connecting plate 501 and are fastened on lower part of the body rack connecting plate
On 214；Touch screen 102 is fixed on head shell 101, and specifically, touch screen 102 is embedded in head made of plastic shell
In portion's shell, it can be used for showing software interface, user facilitated to operate；Partition there are two fixed settings on upper body bracket 210,
It is fixedly installed with vibration control plate 206, vibrating motor 207 and left shoulder bracket 208 in lower partition 209, vibration control plate 206,
Vibration control plate 206 is electrically connected with vibrating motor 207 and controller 218 simultaneously, and vibration control plate 206 is realized to vibrating motor
207 speed control and the transmission for showing various instructions, the connecting shaft of vibrating motor 207 are mounted on left shoulder bracket 208 and lead to
It crosses steel wire drive axis and connect the drive vibration of vibration head 303 with vibration head 303, left arm connecting shaft 301 is fixed on left shoulder bracket 208
On, right shoulder bracket 211 is fixedly installed in upper partition, shoulder joint nodal axisn 401 is fixed on upper body bracket by right shoulder bracket 211
On 210, more specifically, shoulder joint nodal axisn 401 is fixed on right shoulder bracket 211 by right shoulder fixing axle 212；On lower part of the body bracket 220
Two partitions are again provided with, power supply adaptor 217 and controller 218,221 He of lower partition are provided in upper partition 219
Cavity between upper partition 219 is the space of drawer 503, and drawer setting can place various zero on lower part of the body shell 502 and match
Part.
In the present embodiment, the storage in vibration head 303 when not in use for convenience, we are also provided with for hanging up vibration
First 303 fixation hanger 202, fixed hanger 202 can be set with upper, and fixed hanger 202 passes through the fixation of hanger bracket 205
In the upper partition inside upper body bracket 210, vibration head 303 is hung on fixed hanger 202.
As shown in Figure 1, head further includes display lamp 103 and the loudspeaker 104 for playing sound, display lamp 103 and loudspeaker
104 are fixed on head shell 101, and display lamp 103 and loudspeaker 104 are electrically connected with controller 218；Upper body further includes
Scram button 204 and microphone 203 for receiving user speech, microphone 203 and scram button 204 are fixed at
It is connect on body shell and with controller 218, microphone 203 is connect with controller 218, and scram button 204 is connected on right machinery
For in case of emergency cutting machine arm power supply in the route of arm；The lower part of the body is fixed on a pedestal 504, under pedestal 504
Side be provided with facilitate entire robot mobile lock idler wheel 505, mobile and lock support can be rolled.
In order to keep entire robot more firm, we are provided with also on pedestal 504 for balancing matching for fuselage quality
Pouring weight 222.
As shown in figure 5, the fixed device of vibration head is to be detachably connected plate 408, the one end for being detachably connected plate 408 passes through method
Blue disk 409 is fixed on the end of wrist joint axis 407, and vibration head 303 or moxibustion tube, which are fixed at, is detachably connected the another of plate 408
One end, specifically, there are four small sircle hole, ring flange 409 is bolted on wrist joint axis for the edge setting of ring flange 409
On 407,409 bosom of ring flange is provided with rotation step, and rotation step is in semi-annular, is detachably connected the end of plate 408
It is removable by flange and rotation step to be detachably connected plate 408 for the flange outwardly protruded that portion's setting matches with rotation step
On ring flange 409, opposite direction rotation is detachably connected 408 certain angle of plate for the setting unloaded, and can will be detachably connected plate 408
It unloads, dismantles more convenient.The other end for being detachably connected plate 408 is provided with threaded hole for fixing moxibustion tube 410, moxa-moxibustion
It is provided with external screw thread on 410 outer walls of cylinder, moxibustion tube 410 is fixed on by way of screw thread rotation to be detachably connected on plate 408, this
Kind is connected the function that mode allows mechanical arm normally to realize substitution manpower.
Above-mentioned all joint shafts are driven by the DC power supply that 220V becomes 48V, and are controlled via an emergency stop control switch,
It can in case of emergency cut off the power, protection safety, vibrating motor control panel then further becomes 12V DC power drives by 48V.
Controller system of the invention includes vibration control plate 206, controller 218, power supply adaptor 217, touch screen
102, emergency stop switch 204 etc., and being electrically connected to each other by cable, software section include screen show, control module, right mechanical arm
Control module and vibrating motor control module, remote control module.Screen is shown and control module is for providing user's operation circle
Face selects the shape parameter of user, selects the receiving dynamics of user, display and adjusting massage time, and display and adjusting massage are strong
Massage mode and period is arranged in degree；Vibrating motor control module be used for show according to screen and control module transmit come parameter,
The revolving speed of vibrating motor is set, drives vibration head to generate strong vibration, plays massage effect；Controller 218 is for receiving touch screen 102
Interface transmitting parameter and setting runing adjustment, and according to parameter and be arranged to each joint shaft of mechanical arm issue control refer to
It enables, manipulates each joint shaft and rotated forward or backwards as requested, and according to the torque-feedback built in joint shaft, detection is worked as
Preceding pressing dynamics, the stoppage protection when dynamics is excessive；Have on remote controler start and stop, up and down, it is transverse reciprocating, longitudinally reciprocal
Control button, remote control reception head are inserted on the interface of controller 218, and controller 218 controls right according to the signal that remote controler issues
Each joint shaft positive and negative rotation of mechanical arm, the iterative motions such as horizontally or vertically.
Specifically operating procedure is as follows by the present invention: it is powered after booting, the booting of touch screen 102 display and operation interface, and right machinery
Arm then returns to zero-bit, and then user executes order by operation touch-screen 102 or remote controler to operate robot.When the user clicks
When 102 interface of touch screen, the instruction that controller 218 can receive the sending of touch screen 102 is configured or to vibration control plate 206
Vibration instruction is issued, if setting instruction, then controller updates itself storage content according to the selective value on touch screen, and modification is set
Content is set, if vibration instruction, then the selective value on touch screen is converted to serial port message and is sent to vibration control by controller 218
Plate, then vibrating motor 207 is controlled by vibration control plate 206 and is rotated, vibrating motor 207 drives vibration head by steel wire drive axis
303 vibrations generate massage effect.Remote control reception head is inserted on controller USB interface, and controller 218 is received by remote control reception head
Remote controller signal, according to remote controller signal be converted into up and down, back and forth horizontally, the right mechanical arms motor message such as linear reciprocation
Afterwards, motor message is passed to by each motor and band-type brake in right mechanical arm joint shaft by connecting cable, control motor is realized
Various movement effects.Wherein, left and right is back and forth and up and down reciprocatingly massage needs that user's shape parameter is first arranged, or calls directly out
The shape parameter of machine default controls massage motion.As shown in fig. 7, height ranges from 1.35m to 1.90m, cover main population
Height, shape parameter are thin third gear in fat, and gender is male and female.Height and shape parameter are used to be arranged the movement model of right mechanical arm
It encloses, gender parameter is used to that massage force is arranged, and after being provided with, presses confirmation parameter and comes into force, if it is not necessary to modify can be directly with silent
Recognize parameter, such as height 1.7m, in figure, male bears dynamics 6kg, and the parameter after setting can pass to remote control module,
Left and right is back and forth and when up and down reciprocatingly massaging, control right mechanical arm left and right back and forth and up and down reciprocatingly intermediate insertion above mention, under press
Make to improve user experience to be adapted to different figure radians.By taking the movement of direction from left to right in bilateral reciprocation as an example,
The motion profile figure of right mechanical arm vibration head 303 as shown in figure 8, after point begins to pass through the horizontal movement of a distance from left to right,
It is mentioned in insertion and the height of vibration head is improved into 5mm, to be suitble to shoulder blade to increase trend, then proceed to horizontal movement a distance
Afterwards, it is again stepped up to be adapted to the highest point of shoulder blade, thereafter by posts, insertion is lower by movement, past to be adapted to shoulder blade
The height downward trend in vertebra direction, it is lower by substantially and vertebra is in sustained height, then proceeding to move right, directly afterwards again thereafter
Make to actuating close to right shoulder blade, is inserted into, right shoulder blade be suitble to increase trend, later again above to mention be the right shoulder of adaptation
The highest point of shoulder blade is then acted by posts with lower press twice come suitable height downward trend to the right, the massage rail
Mark is adapted to substantially with the left shoulder of user, left shoulder blade, backbone, right shoulder blade, the height of right shoulder and figure radian.When from right to left
When movement, operating position is identical, but it is each above mention, under by movement with from left to right movement when it is exactly the opposite.
By taking remote controler presses "upper" button as an example: after remote control reception head receives the key of this remote controler, controller driving
The right rotation upwards of shoulder joint nodal axisn 401, drives elbow joint axis 403 to move upwards, until touching setting by upper arm connecting cylinder 402
Itself extreme position when stop.
By taking remote controler presses " left side " button as an example: elbow joint axis 403 and forearm joint shaft 405 have the left rotation and right rotation of itself
Control button, " < -1 " key as shown in Figure 9 represent rotating clockwise for elbow joint axis 403, shoulder joint before " < -2 " key represents
Axis 405 rotates clockwise, and after remote controler receives " < -1 " or " < -2 " key key of remote controler, corresponding spindle motor is driven to press
It rotates clockwise, until stopping when rotating to the extreme angles of its own.In conjunction with two joint shafts, can be realized with preceding arm axle 405
Small range rotation, can realize large-scale rotation with elbow joint axis 403.
By taking remote controler presses " left and right is reciprocal " button as an example；After controller 218 receives the key of this remote controler, before driving
Shoulder joint axis 405 and elbow joint axis 403 generate aggregate motion simultaneously, and the two generates rotate clockwise simultaneously, and only corner is different,
Its effect is realized in the horizontal direction by vibration head 303 for realization and is moved along a straight line from right to left, until rotating to two steering engine groups
The extreme angles position of resultant motion stops, then all reversely combined movements simultaneously, while generating rotation counterclockwise, and only corner is not
Together, effect is to realize that vibration head is realized in the horizontal direction to move along a straight line from left to right, until rotating to two steering engine combinations
The extreme angles position of movement is further continued for the movement of oscillation cycle after stopping, which can realize similar by left shoulder to right shoulder
Massage back and forth horizontally.It is noted that between left and right is reciprocal, can according to shape parameter, be inserted into above the mentioning of vertical direction, under by
Movement, which is rotated by shoulder joint nodal axisn 401 drives connecting cylinder 402 to complete.
By taking remote controler presses " up and down reciprocatingly " button as an example: after remote control panel receives the key of this remote controler, driving
Elbow joint axis 403 and forearm joint shaft 405 generate aggregate motion simultaneously, and forearm joint shaft 405 rotates clockwise and elbow joint axis
403 cooperations are rotated clockwise or are rotated counterclockwise, and only corner is different, and effect is to realize that massage head is realized in the horizontal direction
It moves along a straight line from right to left, until the extreme angles position for rotating to two joint shaft aggregate motions stops；Then all simultaneously
Reversely combined movement, forearm joint shaft 405 rotates counterclockwise and rotation counterclockwise is done in the cooperation of elbow joint axis 403 or is revolved clockwise
Turn, only corner is different, and effect is to realize that massage head is realized in the horizontal direction to move along a straight line from top to bottom, until rotating to
The extreme angles position of two steering engine aggregate motions is further continued for the movement of oscillation cycle after stopping, the effect can realize it is similar by
Up and down reciprocatingly massage of the cervical vertebra to tail bone.It is noted that between up and down reciprocatingly Vertical Square can be inserted into according to shape parameter
To above mention, under by movement, which is rotated by shoulder joint nodal axisn 401 drives connecting cylinder 402 to complete.
By taking remote controler presses " intensity adjustment " button as an example: as shown in figure 9, controller 218 receives the key of this remote controler
It after code, is converted to serial port message and is sent to vibrating motor control panel 206, adjust 207 driving chip of vibrating motor according to setting
Intensity value is powered to motor, and motor rotation is made to drive shaft 402, is transferred to the vibration realizing that massage head 303 generates varying strength
Massage effect.
By taking remote controler presses " starting/stopping " button as an example: as shown in figure 9, controller receives the key of this remote controler
Afterwards, it currently if it is halted state, is then driven according to the motor swing circle mode of the default motor rotational speed values of setting, default
Starting is realized in dynamic motor rotation.If being currently starting state, after receiving this remote signal, then stop the rotation of motor, realizes
The stopping of equipment.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vibration massage function and moxibustion robot device, including robot body and controller (218), on robot body also
It is provided with touch screen (102), the USB line and HDMI signal wire of touch screen (102) are connect with controller (218), and feature exists
In robot body further includes left arm and right mechanical arm, and the end of left arm is provided with the vibration head (303) for massage, right machine
Tool arm includes multiple by the sequentially connected joint shaft of connecting cylinder, and the end of right mechanical arm, which is provided with, can fix moxibustion tube and vibration
The fixation device of head (303) is provided with the joint die set of driving right mechanical arm movement in joint shaft, and right mechanical arm is each
Under the action of the die set of joint generate all directions arcuate movement, composite straight line movement, and then drive vibration head carry out by
It rubs or fixes moxibustion tube and carry out moxa-moxibustion, vibration head and joint die set are connect with controller.
2. a kind of vibration massage function according to claim 1 and moxibustion robot device, which is characterized in that the pass of right mechanical arm
Nodal axisn includes shoulder joint nodal axisn (401), upper arm joint shaft (403), forearm joint shaft (405) and wrist joint axis (407), connecting cylinder
Including connecting cylinder one (402), connecting cylinder two (404), connecting cylinder three (406), shoulder joint nodal axisn (401), connecting cylinder one (402), on
Shoulder joint axis (403), connecting cylinder two (404), forearm joint shaft (405), connecting cylinder three (406) and wrist joint axis (407) are successively
It links together.
3. a kind of vibration massage function according to claim 1 and moxibustion robot device, which is characterized in that left arm includes left arm
Connecting shaft (301), hose (302) and vibration head (303), hose (302) are fixed on robot sheet by left arm connecting shaft (301)
On body, the end of hose (302) is provided with vibration head (303), is fixedly installed vibration close to left arm position in robot body
Motor (207), steel wire drive axis is fixedly connected on the output shaft of vibrating motor (207), and steel wire drive axis passes through hose (302)
It is connect with vibration head (303) and the eccentric wheel in vibration head (303) is driven to rotate.
4. a kind of vibration massage function according to claim 2 and moxibustion robot device, which is characterized in that robot body packet
Include head, upper body and the lower part of the body, head includes head shell (101), and upper body includes upper body shell (201) and on its interior upper
Body bracket (210), the lower part of the body include lower part of the body shell (502) and lower part of the body bracket (220) on its interior, upper body bracket (210) and
Lower part of the body bracket (220) is connected and fixed by upper lower part of the body rack connecting plate (214), and head shell (101) is connected by neck
Fitting (105) is fastened on upper body shell (201), and upper body shell (201) and lower part of the body shell (502) pass through waist connecting plate
(501) it is fastened on lower part of the body rack connecting plate (214)；Touch screen (102) is fixed on head shell；
There are two partitions, lower partition to be fixedly installed with vibration control plate on (209) for fixed setting on upper body bracket (210)
(206), vibrating motor (207) and left shoulder bracket (208), vibration control plate (206) simultaneously with vibrating motor (207) and controller
(218) it is electrically connected, the connecting shaft of vibrating motor (207) is mounted on left shoulder bracket (208) and by steel wire drive axis and vibration
Head (303) connection drives vibration head (303) vibration, and left arm connecting shaft (301) is fixed on left shoulder bracket (208), upper partition
On be fixedly installed with right shoulder bracket (211), shoulder joint nodal axisn (401) is fixed on upper body bracket (210) by right shoulder bracket (211)
On；
Two partitions are again provided on lower part of the body bracket (220), be provided in upper partition (219) power supply adaptor (217) and
Controller (218), the cavity between lower partition (221) and upper partition (219) are the space of drawer (503).
5. a kind of vibration massage function according to claim 3 and moxibustion robot device, which is characterized in that upper body further includes using
In the fixation hanger (202) for hanging up vibration head (303), fixed hanger (202) are fixed on upper body bracket by hanger bracket (205)
(210) in internal upper partition.
6. a kind of vibration massage function according to claim 1 and moxibustion robot device, which is characterized in that head further includes showing
Show that lamp (103) and loudspeaker (104), display lamp (103) and loudspeaker (104) are fixed on head shell (101), display lamp
(103) it is connect with controller (218) with loudspeaker (104).
7. a kind of vibration massage function according to claim 1 and moxibustion robot device, which is characterized in that upper body further includes wheat
Gram wind (203) and scram button (204), microphone (203) and scram button (204) are fixed on upper body shell and
It is connect with controller (218), microphone (203) is connect with controller (218), and scram button (204) is connected on right mechanical arm
On circuit.
8. a kind of vibration massage function according to claim 1 and moxibustion robot device, which is characterized in that lower part of the body fixed setting
Be provided on a pedestal (504), below pedestal (504) facilitate entire robot mobile lock idler wheel (505).
9. a kind of vibration massage function according to claim 7 and moxibustion robot device, which is characterized in that be provided on pedestal
Clump weight.
10. a kind of vibration massage function according to claim 1 and moxibustion robot device, which is characterized in that vibration head is fixed
Device is to be detachably connected plate (408), and the one end for being detachably connected plate (408) is fixed on the end of wrist joint axis (407), vibration
Head (303) or moxibustion tube are fixed at the other end for being detachably connected plate (408).
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| CN201910736137.6A CN110339045A (en) | 2019-08-09 | 2019-08-09 | A kind of vibration massage function and moxibustion robot device |
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| CN201910736137.6A CN110339045A (en) | 2019-08-09 | 2019-08-09 | A kind of vibration massage function and moxibustion robot device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110917490A (en) * | 2020-02-17 | 2020-03-27 | 烟台市奇山医院(烟台市传染病医院) | Wax therapy manipulator and using method thereof |
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