CN110788872A

CN110788872A - Foot both sides reflecting region massage robot

Info

Publication number: CN110788872A
Application number: CN201911247899.6A
Authority: CN
Inventors: 韩桂华; 侯进军; 赵志伟; 檀兰兰; 张超; 张艳芹
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2019-12-09
Filing date: 2019-12-09
Publication date: 2020-02-14

Abstract

The invention provides a massage robot for reflecting areas on two sides of feet, belonging to the technical field of robots; the composition comprises: the device comprises a screw rod 1, a massage clamping mechanism 2, a wrist swinging mechanism 3, an arm rotating mechanism 4, a screw rod 5, a supporting mechanism, a lifting platform 7 and a base 8; the X-axis, Y-axis and Z-axis movement and rotation around the X-axis and the Z-axis can be realized; the massage rod is driven to swing by a lead screw nut slider mechanism in the direction X, Y and a direct lifting mechanism in the direction Z, the massage rod is driven to swing by meshing a gear and a gear, and the displacement in the direction X, Y, Z is controlled by a displacement sensor arranged on a lead screw nut, so that the corresponding reflection areas on the two sides of the foot are accurately found for massage; when the feet are fixed, aiming at the difference of the feet, the fixing mechanism is firstly adjusted to be the same as the shoe number, and then the fixing mechanism is placed in the cracks of the big toe, the second toe and the third toe of the feet, so that the fixation is achieved.

Description

Foot both sides reflecting region massage robot

Technical Field

The invention discloses a massage robot for reflecting areas on two sides of feet, and belongs to the technical field of robots.

Background

Meridians are the general term of meridians and collaterals of the human body, the normal and direct running meridians are called meridians and collaterals, and the branches of the network system are called collaterals. The meridian system may include tissues and partial functions of the nervous, vascular, endocrine, etc. systems of modern medicine. Meridians are located throughout the body, and they are related to viscera, joints, limbs, and vessels, which can circulate qi and blood and communicate the interior and exterior. Therefore, according to the theory of meridian theory, the same name of hand and foot, and qi circulation, the functions of dredging meridians, promoting the circulation of qi and blood, and regulating internal organs can be achieved by massaging the sole of the foot.

The aging of the human body, the aging of each function of the human body, the rapid deterioration of each function of the human body, and the obvious physiological changes. However, the medical resources in China at present belong to more precious resources, because the relevant medical service system in China is not perfect. However, with the increasing aging problem, the care of the aged becomes a serious burden in homes and even the whole society. If the advanced nursing robot which mainly takes care of the life of the old people is researched and developed by applying the service robot technology, the life of the old people is more convenient, and the pressure of nursing the old people is relieved. Moreover, the rhythm of the modern society is accelerated continuously, people can have a plurality of symptoms in the tired body in order to live busy and rushing, the symptoms are complicated and diversified, the people only catch the elbow by a western medicine method, and the symptoms can be greatly relieved and even cured by massaging the reflecting area at the corresponding position of the sole.

The market of massage tools is increasing, because the hands of the massagers are easy to be injured due to too much work, too much force and the like while the massagers help the customers to cure and relax. The current research aiming at foot massage indicates that the massage stimulation of the foot can dredge the stagnation of channels and qi and blood, can generate the general or systemic regulation effect, and improve and adjust the functions of viscera. At present, experienced massagers can accurately find organs corresponding to plantar reflecting areas and control the force during massage; the accurate massage of the reflecting area of the sole can well play a role in relieving and treating diseases, can realize massage treatment without any side effect, and is a natural cure good prescription. However, because massage therapists are not level uniform and there is no uniform standard of foot massage; in addition, as the massage workers have performed the conventional massage work for a long time, fatigue and inattention are inevitably caused. The foot massage tool is designed to replace hands of massagers, and can effectively reduce the pressure on the massage fingers, wrists and wrist joints, reduce the probability of injury and enable the massagers to work easily. Aiming at the phenomenon, the massage robot with the reflecting areas on the two sides of the foot is used for replacing hands of a massager, can effectively reduce the pressure on the massage fingers, the wrist and the wrist joint and reduce the probability of injury, enables the massager to work easily, and has important significance for promoting the development of intelligent massage direction.

Disclosure of Invention

The invention provides a massage robot for reflecting areas on two sides of feet, wherein the whole mechanical structure has 5 degrees of freedom in total, namely the movement of an X axis, a Y axis and a Z axis, the rotation around the X axis and the rotation around the Z axis can be realized. The vertical direction from the base 8 to the lifting platform 7 from bottom to top is the Z axis of the robot; the direction from left to right along the horizontal movement direction of the lifting platform 7 along the screw rod is an X axis; the Y axis is perpendicular to the X, Z axis. The horizontal displacement in the direction X, Y is realized by adopting a lead screw nut slider mechanism, the movement in the Z direction is realized by adopting a direct lifting mechanism, and the mechanism for performing X, Y direction movement is placed on a platform of the direct lifting mechanism to realize X, Y, Z movement in three mutually perpendicular directions. The driving motor drives the lead screw to rotate, the lead screw nut moves up and down along with the lead screw to realize the movement in the Z direction, the motor in the X direction drives the lead screw to rotate, meanwhile, the nut moves back and forth to drive the arm connected with the nut to move, the function of controlling the massage force is achieved, the lead screw nut in the Y direction moves left and right under the driving of the lead screw, and the nut simultaneously drives the platform where the lead screw of the motor in the X direction connected with the nut moves. The massage arm realizes rotary motion under the rotation of the motor gear, and the swinging of the massage rod is realized by the rotation of the shaft caused by the meshing of the gear and the gear. The displacement sensor arranged on the lead screw nut can control the displacement in the direction of X, Y, Z, so that the displacement precision of the massage rod is improved, and the corresponding position of the foot reflection area is accurately found to perform the massage in a specified sequence.

Preferably, the shapes of the foot reflecting areas are different, and the robot with the reflecting areas on the two sides of the foot can move in X, Y, Z three directions. When the two sides of the foot are massaged, the massage rod is mainly used as a massage terminal, and the positions of the bones of the foot and the foot reflecting area of the human body are not only a plane, but also a space three-dimensional area can appear, so that the mechanical structure of the robot can support the swinging and the rotation of the massage rod, the total number of the whole mechanical structure is 5 degrees of freedom, and the movement of an X axis, a Y axis and a Z axis, the rotation around the X axis and the rotation around the Z axis can be realized. Thereby realizing effective massage to the reflecting areas at the two sides of the sole.

Preferably, the robot for massaging the reflecting areas on the two sides of the feet has different massaging sequences for different parts, such as: the cervical vertebrae are in the order from the inside to the outside, the thoracic vertebrae, the lumbar vertebrae, the sacral vertebrae and the urinary bladder are in the outside to the inside, the uterus or the prostate, the ovary or the testis are in the counterclockwise order, the caudal vertebrae is in the order from the heel to the arch, and the hip joint is in the order from the arch to the heel.

Preferably, the massage rod is oscillated by rotating the shaft through the engagement of the gear and the gear, and the displacement in the direction of X, Y, Z is controlled by a displacement sensor mounted on the lead screw nut, so that the corresponding positions of the foot reflection areas are accurately found for the massage in a specified sequence.

Preferably, the reflection areas on both sides of the foot are massaged, and the foot needs to be fixed. The robot for reflecting areas on two sides of feet utilizes toes to fix the feet, namely, a fixing mechanism is placed in the gaps among the big toe, the second toe and the third toe of the feet, thereby fixing the feet.

Preferably, the size of feet of different people is adjusted by adopting the same number as the shoes. Before the feet are fixed, the fixing mechanism is adjusted to be the same as the shoe number, and the number is input to massage the feet.

The technical scheme of the invention is as follows:

the massage robot comprises a foot two-side reflecting area massage robot body, a lead screw 1, a massage clamping mechanism 2, a wrist swinging mechanism 3, an arm rotating mechanism 4, a lead screw 5, a supporting mechanism, a lifting platform 7 and a base 8. There are 83 total reflex zones in the foot, and 43 reflex zones on both sides of the foot. The massage sequence of each reflecting area is different, the cervical vertebra, the lumbar vertebra, the sacrum and the bladder are in sequence from inside to outside, the uterus or the prostate, the ovary or the testis are in sequence from anticlockwise, the caudal vertebra is in sequence from heel to arch, the hip joint is in sequence from arch to heel, and the mechanical structure is designed to meet the requirement of the movement of the reflecting areas. On the basis of the Wu Ruo Shi foot massage method based on the five elements theory of traditional Chinese medicine, when the robot performs foot massage, the shapes of foot reflecting areas to be aimed at are different, so that the robot is required to move in X, Y, Z three directions. When massage is carried out on two sides of feet, a massage rod is required to be used as a massage terminal, the positions of bones of feet of a human body and a foot reflection area are not only a plane, and a space three-dimensional area can appear, so that a mechanical structure of the robot is required to support the swinging and the rotation of the massage rod, and the whole mechanical structure needs 5 degrees of freedom, namely the movement of an X axis, a Y axis and a Z axis, the rotation around the X axis and the rotation around the Z axis.

The massage robot for the reflecting areas on the two sides of the feet is defined by taking the figure 1 as a reference, and the vertical direction from the base 8 to the lifting platform 7 from bottom to top is the Z axis of the robot; the direction from left to right along the horizontal movement direction of the lifting platform 7 along the screw rod is an X axis; the Y axis is perpendicular to the X, Z axis. The displacement in the direction X, Y is realized by a lead screw nut slider mechanism, the movement in the Z direction is realized by a direct lifting mechanism, and the mechanism for performing X, Y direction movement is placed on a platform of the direct lifting mechanism to realize X, Y, Z movement in three mutually perpendicular directions. The driving motor drives the lead screw to rotate, the lead screw nut moves up and down along with the lead screw to realize the movement in the Z direction, the motor in the X direction drives the lead screw to rotate, meanwhile, the nut moves back and forth to drive the arm connected with the nut to move, the function of controlling the massage force is achieved, the lead screw nut in the Y direction moves left and right under the driving of the lead screw, and the nut simultaneously drives the platform where the lead screw of the motor in the X direction connected with the nut moves. The massage arm realizes rotary motion under the rotation of the motor gear, and the swinging of the massage rod is realized by the rotation of the shaft caused by the meshing of the gear and the gear. The displacement sensor arranged on the lead screw nut can control the displacement in the direction of X, Y, Z, so that the displacement precision of the massage rod is improved, and the corresponding position of the foot reflection area is accurately found to perform the massage in a specified sequence.

The reflecting areas on the two sides of the foot are massaged, and the foot needs to be fixed. Common foot fixing mechanisms mostly wrap the foot or fix the foot by depending on the edge of the foot, but the reflection areas on two sides of the foot are massaged, so that a common fixing mode cannot be adopted, and the foot needs to be fixed by using toes, namely, the fixing mechanisms are placed in the gaps of the big toe, the second toe and the third toe of the foot, so that the foot is fixed. Aiming at different feet of different people, the shoes are adjusted by adopting the same number as the shoes. Before the feet are fixed, the fixing mechanism is adjusted to be the same as the shoe number, and the number is input to massage the feet.

Further, since the foot massage robot is a medical robot, the positioning accuracy of the reflecting area portion is relatively high, and the massage accuracy range is below cm, a high-accuracy ball screw mechanism is selected as the driving mechanism. Regarding the size of the mechanism, the mechanism should be as simple as possible on the basis of being able to perform the function, and the size of the mechanism should be as small as possible.

The invention has the beneficial effects that:

the shape of the reflecting area of the foot is different, and the robot with the reflecting area on the two sides of the foot can realize the motion in X, Y, Z three directions. When massage is carried out on two sides of feet, the massage rod is required to be used as a massage terminal, the positions of bones of feet of a human body and a foot reflection area are not only a plane, and a space three-dimensional area can appear, so that the mechanical structure of the robot can support the swinging and the rotation of the massage rod, the total number of the whole mechanical structure is 5 degrees of freedom, and the movement of an X axis, a Y axis and a Z axis, the rotation around the X axis and the rotation around the Z axis can be realized.

Drawings

FIG. 1 is a three-dimensional schematic view of the overall mechanism of the present invention;

FIG. 2 is a schematic view of the reflection areas on both sides of the foot;

FIG. 3 is a schematic view of the construction of the low speed shaft of the present invention;

FIG. 4 is a schematic structural view of a pinion shaft of the present invention;

FIG. 5 is a schematic structural view of a pinion shaft of the present invention;

FIG. 6 is a schematic view of the massage clamp mechanism of the present invention;

FIG. 7 is a three-dimensional view of the arm rotation and wrist swing mechanism.

Detailed Description

Referring to fig. 1 to 7, a robot for massaging the reflecting areas on the two sides of feet is composed of a lead screw 1, a massage clamping mechanism 2, a wrist swinging mechanism 3, an arm rotating mechanism 4, a lead screw 5, a supporting mechanism, a lifting platform 7 and a base 8. And is defined by taking the figure 1 as a reference, and the vertical direction from the base 8 to the lifting platform 7 from bottom to top is the Z axis of the robot; the direction from left to right along the horizontal movement direction of the lifting platform 7 along the screw rod is an X axis; the Y axis is perpendicular to the X, Z axis. The displacement in the direction X, Y is realized by a lead screw nut slider mechanism, the movement in the Z direction is realized by a direct lifting mechanism, and the mechanism for performing X, Y direction movement is placed on a platform of the direct lifting mechanism to realize X, Y, Z movement in three mutually perpendicular directions. The driving motor drives the lead screw to rotate, the lead screw nut moves up and down along with the lead screw to realize the movement in the Z direction, the motor in the X direction drives the lead screw to rotate, meanwhile, the nut moves back and forth to drive the arm connected with the nut to move, the function of controlling the massage force is achieved, the lead screw nut in the Y direction moves left and right under the driving of the lead screw, and the nut simultaneously drives the platform where the lead screw of the motor in the X direction connected with the nut moves. The massage arm realizes rotary motion under the rotation of the motor gear, and the swinging of the massage rod is realized by the rotation of the shaft caused by the meshing of the gear and the gear. The displacement sensor arranged on the lead screw nut can control the displacement in the direction of X, Y, Z, so that the displacement precision of the massage rod is improved, and the corresponding position of the foot reflection area is accurately found to perform the massage in a specified sequence.

The realization of arm rotation still relies on the meshing transmission of gear, and at the connecting axle rear shaft section department of gear wheel, adopts the key to carry out circumference fixed, makes whole wrist swing mechanism rotate along with the rotation of gear to realize the rotation of massage stick.

To realize the 180-degree swing of the massage rod, the massage rod is completed through the gear, the motor shaft is connected with the gear through the key to drive the gear to rotate, and then the gear is meshed with the gear to drive the gear to rotate, so that the four planes at the shaft end drive the massage rod to swing.

During massage, the fixed support is adjusted according to the size of the foot, and then the fixed support is clamped by the toes, so that the foot is kept as vertical as possible and does not bend left and right; then inputting the number of the foot, leading the massage head to start massage after proportionally amplifying or reducing according to a set track, wherein a force sensor monitors the size of the force in real time and feeds back information in the process, and the size of the massage force can also be manually adjusted; after the massage of the inner side of the foot is finished, the massage head moves to the starting point of the outer side of the foot according to a set track, and then the massage of the outer side of the foot is carried out; finally, the massage head returns to the massage starting point after the massage is finished.

The foregoing shows and describes the general principles and features of the present invention. The present invention is not limited to the above-described embodiments, which are merely illustrative of the principles of the invention, but rather, various changes and modifications may be made therein without departing from the spirit and scope of the invention, which are to be protected thereby.

Claims

1. A foot two-side reflecting region massage robot is composed of a lead screw 1, a massage clamping mechanism 2, a wrist swinging mechanism 3, an arm rotating mechanism 4, a lead screw 5, a supporting mechanism, a lifting platform 7 and a base 8; the whole mechanical structure has 5 degrees of freedom, namely the movement of an X axis, a Y axis and a Z axis, the rotation around the X axis and the rotation around the Z axis can be realized; the displacement in the direction X, Y is realized by a lead screw nut slider mechanism, the movement in the Z direction is realized by a direct lifting mechanism, and the mechanism for performing X, Y direction movement is placed on a platform of the direct lifting mechanism to realize X, Y, Z movement in three mutually perpendicular directions.

2. A massage robot for reflecting areas on two sides of feet is realized by adopting a lead screw nut slider mechanism in the direction of X, Y and a direct lifting mechanism in the direction of Z; the swinging of the massage rod is realized by the meshing of the gear and the gear, and the realization of the arm rotation still depends on the meshing transmission of the gear; realize the 180 swings of massage stick, also accomplish through the gear, drive gear revolve through the key-type connection on the motor shaft, and rethread gear engagement drives the gear wheel and rotates to drive the axle through the key and rotate, four planes of axle head drive the massage stick and realize the swing.

3. A robot for massaging both sides of feet in reflection areas, which has different massaging sequences for each different part, such as: the cervical vertebrae are in the order from the inside to the outside, the thoracic vertebrae, the lumbar vertebrae, the sacral vertebrae and the urinary bladder are in the outside to the inside, the uterus or the prostate, the ovary or the testis are in the counterclockwise order, the caudal vertebrae is in the order from the heel to the arch, and the hip joint is in the order from the arch to the heel.

4. A robot for massaging reflection areas on both sides of a foot, when the foot is fixed, a fixing mechanism is placed in a gap of a big toe, a second toe and a third toe of the foot, so as to fix the foot; aiming at the different sizes of feet of different people, the shoes are adjusted by adopting the same number as the shoes; before the feet are fixed, the fixing mechanism is adjusted to be the same as the shoe number, and the number is input to massage the feet.