CN111479543A - 一种按摩设备 - Google Patents
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Abstract
本发明涉及一种按摩设备。更具体地,本发明涉及保持按摩头施加的力的按摩设备。该设备具有连接到可动模块的按摩头。可动模块可被改变位置以向受治疗者施加力。力传感器不断将施加的力读数传给微控制器,其通过调整可动模块相对于受治疗者身体的位置而保持施加的力。
Description
技术领域
本发明涉及一种按摩设备。更具体地,本发明涉及保持按摩头施加的力的按摩设备。
背景技术
按摩/推拿疗法用作寻求缓解劳损和疼痛的个体的备选治疗方式,其与理疗医师和中医提供的服务互补。可由按摩师治疗的疾病包括与体育运动有关的伤害如肌肉拉伤、肩颈僵硬、以及腰痛等临床情况。然而,治疗性按摩的提供受到经训练的治疗专家的短缺阻碍,因此有持续不断的兴趣开发可替代人按摩治疗专家的自动化按摩设备。
目前市售的能够提供按摩类效果的按摩椅不能充分复制人治疗专家给予的按摩体验。已采用的另一方法是使用机械臂,具有按摩头作为末端执行器。这在CN203694079U中例示,其公开了驱动按摩头按压患者身体的软组织的机械臂,其中在按摩力达到某一值时停止力的施加。使用机械臂在人体上施加压力可能引起安全问题,尤其在故障时,因为机械臂在此时通常能够施加足以使患者受伤的力。
因此需要能够以确保受治疗者的安全不受到损害的方式提供与按摩师类似的按摩体验的机械臂。
发明内容
一个或多个实施例的细节在附图中提出并在下面描述。本发明的其它特征、目标和优点从这些描述和附图及从权利要求可明显看出。
本发明的基本实施例为一种按摩设备,其包括支撑结构、可移动地设置在支撑结构内的可动模块、连接到可动模块的按摩头、力传感器及微控制器。微控制器配置成响应于力传感器传输的施加的力读数沿一轴动态改变可动模块的位置以将施加的力保持在预定范围内。
在基本实施例的可选设计中,可动模块包括可沿所述轴朝向彼此压缩的外台架和内台架。
附图说明
图1示出了根据本发明的基本实施例的按摩设备的立体图。
图2示出了可动模块及相关部件的分解图。
图3示出了根据本发明的另一实施例的按摩设备的立体图。
图4示出了旋转模块的传动装置。
图5示出了按摩头的剖视图。
具体实施方式
下面的详细描述参考形成本发明一部分的附图进行。详细描述及图示的实施方式不意为限制。在不背离在此提出的主题的精神或范围的前提下,可使用其它实施方式及可进行其它变化。
本按摩设备可形成更大的系统如机器人按摩系统的一部分,其中本按摩设备安装到机械臂上并用作末端执行器。换言之,本按摩设备用作位于机械臂端部处的、与环境交互的装置,在本发明中,前述环境通常为受治疗者的身体。当按这种方式采用时,机械臂用于将按摩设备引导到接近受治疗者的身体的位置。为安全原因,与患者身体直接接触不借助于机械臂实现,而是由按摩设备本身实现。然而一旦实现接触,机械臂跨患者身体的表面移动按摩设备,这为与患者身体的纵轴平行的运动,同时接触压力由按摩设备确定。作为备选,按摩设备可用手操作,其中操作员使该设备靠近患者或者与患者接触。可以预见,多个按摩设备可连接到单一机械臂。
参考图1和2,基本实施例的按摩设备包括支撑结构102、可移动地设置在支撑结构内的可动模块103、连接到可动模块103的按摩头104、力传感器202及微控制器(未示出)。
支撑结构包括由支撑柱114连接的上面部分111和下面部分112。中间部分用作可逆电机105的连接点。
可动模块103包括外台架201a及安装托架203,安装托架203用于连接按摩头104和连接点如螺帽201以使能将可动模块103固定到使可动模块103能至少沿轴116移动的机构。在图中将该机构示为滚珠丝杠(未示出)和螺帽201的同时,也可采用备选实施方式如导螺杆、皮带轮和皮带、齿轮和螺杆及线性轨道齿轮副。本领域技术人员容易理解,可使用允许沿轴116移动的任何机构。可动模块103的动力由包括可逆电机105、皮带轮106、108及皮带107的传动装置提供,其把旋转运动传递给具有与轴116平行的纵轴的滚珠丝杠。
随着滚珠丝杠旋转,其旋转运动被转换为直线运动,从而导致螺帽201因而可动模块103沿轴116移动。当在微控制器的控制下放置时,可动模块103可以受控方式与受治疗者的身体接触,独立于可动模块可连接到其的机械臂。一旦接触,螺帽201朝向受治疗者的身体的进一步移动将增大施加的力,施加到直到其在预定范围内为止。在调节操作期间,施加的力通常在20到80N之间。力传感器202,也称为力敏电阻器,不断测量施加到受治疗者的身体的力并将读数传给配置成将施加的力保持在预定范围内的微控制器。在一些实施例中,力传感器202远离可动模块103,及功能上设置在按摩头114内。如果施加的力的读数开始下降到预定范围之外,微控制器可改变可动模块103的位置以减小或增大施加的力,使得其再次在预定范围内。该预定范围在按摩过程期间可自动或人工调节。施加的力的读数在操作期间被不断传输,这使能对主要情形快速反应。施加在患者身上的力可因目标按摩区域的变化而变化。这例如可在先前与身体的具有相当高皮下脂肪组织水平的区域接触的按摩头突然转移到骨结构为主的区域时发生,在骨结构为主的区域,如果施加的力不减小,可能导致患者不适甚至可能伤害患者。
在一些实施例中,可动模块103可包括内台架204a,其可沿轴116朝向外台架201a压缩。可压缩性可借助于设置在内台架204a与外台架201a之间的弹性装置205a实现。弹性装置205a可以是卷簧如压缩弹簧。在一些实施例中,可动模块103还可包括另外的、由外台架201b、内台架204b和弹性装置205b组成的套件,其中隔片206分隔内台架204a和204b,及其中外台架201a和201b沿轴116按相反方向定向。台架201a和204a的可压缩性给予可动模块103一顺应量以使得在按摩过程期间遭遇的、施加的力的突然变化平和。当结合通过响应于力传感器读数连续改变可动模块103的位置而采用的自适应措施一起使用时,顺应式可动模块103使对患者造成损害的可能性最小化,否则,施加的力的突然和意外增大可能引起损害。提供选择在施加到受治疗者身体的力超出预定值时能够变形和/或崩断(导致动力传输中断因而防止伤害患者身体)的皮带107,在其它安全特征受损时,皮带107用作物理故障自动保险。优选大约150N的预定值。然而,本领域技术人员应当理解,接受治疗的人的疼痛耐受性可能大幅变化。
在其它采用顺应式可动模块103的实施例中,只要弹性装置205a和205b展现线性弹性,作为直接测量施加的力的备选,力传感器202可测量弹性装置205a和205b的挠度。
参考图3和4,按摩设备还可包括将可动模块103连接到按摩头104的旋转模块301。旋转模块301通过螺栓303及支撑结构的重叠部分302a和302b固定到可动模块。旋转模块包括电机304,其借助于形成第二轴308的驱动轴401将旋转运动传递到终止于下板306的主轴滑轮402。主轴滑轮402经任一滑轮上存在的轮齿机械上连接到跟随轴滑轮403。在图中示出三个跟随轴滑轮的同时,使用多个跟随轴滑轮也在本发明范围内。跟随轴滑轮403进而将旋转运动传递到延伸穿过下板306的跟随轴406,及连接到曲柄406,每一曲柄通过曲柄轴407以一定偏移可动地连接到按摩头104,使得在电机304被加电时,按摩头104绕第二轴308旋转。在一些实施例中,主轴滑轮402经链条或皮带机械连接到单一跟随轴滑轮403,驱动轴401及跟随轴406均延伸穿过下板306以将旋转运动传递到按摩头114。
参考图5,按摩头包括硬外层504、软内层505、力传感器202b、振动电机506及具有加热元件和温度传感器的加热层503。
硬外层504主要为具有80-100肖氏硬度(OO标度)的医用级硅酮、硅酮橡胶、聚对苯二甲酸乙二醇酯(PET)、热塑性聚氨酯(TPU);而软内层505为具有小于80的肖氏硬度(OO标度)的硅酮、橡胶、硅酮橡胶、热塑性弹性体(TPE)、热塑性聚氨酯(TPU)。力传感器202b被部分封装在软内层505的隔室507中。在一些实施例中,隔室507衬有硬内层(未示出),已发现其相较没有硬内层的隔室507可提高力传感器读数的准确度。硬内层主要为具有80-100肖氏硬度(OO标度)的医用级硅酮、硅酮橡胶、聚对苯二甲酸乙二醇酯(PET)、热塑性聚氨酯(TPU)。本领域技术人员将意识到,展现上面指明的肖氏硬度的任何材料均可以是适当的替代物。加热元件配置成将按摩头加热到稍高于人体的温度或者约40摄氏度。
按摩头114可成形为像人体的一部分如图1中所示的手掌或者图3中所示的手指。本领域技术人员应当理解,按摩头114可成形为像按摩例程中使用的任何身体部分,例如但不限于足、肘、前臂或膝。
Claims (12)
1.一种用作机器人末端执行器的按摩设备,包括:
支撑结构、可移动地设置在所述支撑结构内的可动模块、连接到所述可动模块的按摩头、力传感器及微控制器;
其中,所述微控制器配置成响应于所述力传感器传输的施加的力读数沿一轴动态改变所述可动模块的位置以将施加的力保持在预定范围内。
2.根据权利要求1所述的按摩设备,其中所述可动模块包括可沿所述轴朝向彼此压缩的外台架和内台架。
3.根据权利要求2所述的按摩设备,还包括设置在所述外台架和所述内台架之间的弹性装置。
4.根据权利要求1-3任一所述的按摩设备,其中所述力传感器功能上设置在所述按摩头内。
5.根据权利要求3所述的按摩设备,其中所述施加的力读数通过测量所述弹性装置的挠度确定。
6.根据权利要求1-5任一所述的按摩设备,还包括用于向所述可动模块提供动力的传动装置,所述传动装置具有皮带和皮带轮,其中所述皮带在施加的力超出预定值时功能上受到损害。
7.根据权利要求6所述的按摩设备,其中所述按摩头包括硬外层和软内层,使得所述力传感器部分封装在所述软内层的隔室内。
8.根据权利要求7所述的按摩设备,还包括设置在所述隔室与所述力传感器之间的硬内层。
9.根据权利要求1-8任一所述的按摩设备,还包括旋转模块,所述旋转模块将所述按摩头连接到所述可动模块,所述旋转模块具有主轴滑轮及经连接装置机械连接到其的跟随轴滑轮,所述主轴滑轮和/或可移动地连接到所述按摩头的跟随轴使得所述按摩头绕所述轴转动。
10.根据权利要求9所述的按摩设备,还包括两个另外的轴滑轮。
11.根据权利要求9或10所述的按摩设备,其中所述连接装置选自下组:皮带、链条或者一系列齿轮。
12.根据权利要求9-11任一所述的按摩设备,其中主轴滑轮和/或跟随轴滑轮中的每一个借助于曲柄可移动地连接到所述按摩头。
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US11999061B2 (en) | 2020-05-12 | 2024-06-04 | Aescape, Inc. | Method and system for autonomous object manipulation |
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US12064388B1 (en) * | 2023-08-07 | 2024-08-20 | InnerWave Health LLC | Flexible end effectors with an aperture |
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IL133551A0 (en) * | 1999-12-16 | 2001-04-30 | Nissim Elias | Human touch massager |
JP2003135547A (ja) * | 2001-10-31 | 2003-05-13 | Toshiba Tec Corp | マッサージ装置 |
US7147610B2 (en) * | 2003-06-19 | 2006-12-12 | Tarek Maalouf | Multiple combination heat/massage devices |
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WO2015183470A2 (en) * | 2014-05-01 | 2015-12-03 | Gruentzig Alexander | Wearable device |
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US20170266077A1 (en) * | 2016-03-21 | 2017-09-21 | Christian Campbell Mackin | Robotic massage machine and method of use |
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