CN111890360A - Automatic massage manipulator and control system thereof - Google Patents
Automatic massage manipulator and control system thereof Download PDFInfo
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- CN111890360A CN111890360A CN202010659986.9A CN202010659986A CN111890360A CN 111890360 A CN111890360 A CN 111890360A CN 202010659986 A CN202010659986 A CN 202010659986A CN 111890360 A CN111890360 A CN 111890360A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses an automatic massage manipulator and a control system thereof, relating to the technical field of manipulators, and comprising a rack, an end effector, a manipulator arm and a fixing frame for vertically mounting the manipulator arm on the rack, wherein the end effector is mounted at one end of the manipulator arm far away from the rack, the manipulator arm comprises a first stepping motor, an arm cylinder and a wrist connecting block, a transmission shaft of the first stepping motor is fixedly connected with a cylinder barrel of the arm cylinder, one end of the first stepping motor far away from the transmission shaft is mounted on the fixing frame, one end of the wrist connecting block is rotatably connected to a cylinder shaft of the arm cylinder, and the end effector is fixedly connected at the other end of the wrist connecting block. The massage manipulator can simulate the hand action of a human, combines the existing automation facilities with the traditional massage manipulation, realizes four massage actions of pressing, pinching, kneading and beating the neck and shoulder acupuncture points of the human body, and has the advantages of low cost, flexibility, changeability, light weight and wide application range.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an automatic massage manipulator and a control system thereof.
Background
The times are advanced, and the science and technology are developed. Nowadays, people do not satisfy the previous full-warm life, and now pursue the way of health preservation, and massage is the most important one in health preservation, so the electric massage armchair is widely applied to railway stations, high-speed railway stations, markets, movie halls and other places. However, the automatic massage chair cannot be adjusted according to the needs, for example, it can only be adjusted to a certain extent mechanically during massage, and for some patients, it cannot massage at will because the condition of illness is easily aggravated. The automatic massage chair has the defects of large volume, large mass and the like, and is not suitable for household use. The manipulations of massage are divided into: many manipulations such as pressing, rubbing, pushing, holding, kneading, pinching, and beating are difficult to perform on a single massage chair.
In the early stage of the 21 st century, Chinese experts put forward Chinese medical massage robot models and hybrid parallel robot configurations based on parallel mechanisms in the midst and the last year, and various complex massage manipulations can be realized. In 2008, the research on the massage robot in China mostly stays in the stages of massage mechanism analysis, laboratory tests or robot simulation, and under the great support of the nation in recent years, some scholars do a great deal of research on the analysis of massage manipulations and the real movement of mechanical mechanisms, and the massage robot also makes a certain breakthrough. However, some of the existing anthropomorphic robot hands are difficult to reach about some complicated hand motions, the existing traditional Chinese medicine massage mechanical hands are high in cost and cannot be suitable for household use, and at present, more instruments such as an automatic massage chair and the like are used.
Disclosure of Invention
In view of the above, the present invention is directed to an automatic massage manipulator and a control system thereof, which enable the manipulator to simulate the hand movements of a human, and combine the existing automation facilities with the traditional massage techniques to perform a series of massage movements on the neck and shoulder points of a human body, and have the advantages of low cost, flexibility, variability and light weight.
The invention solves the technical problems by the following technical means:
an automatic massage manipulator comprises a rack, an end effector, a manipulator arm and a fixing frame for vertically mounting the manipulator arm on the rack, wherein the end effector is mounted at one end of the manipulator arm, which is far away from the rack, and comprises a first stepping motor, an arm cylinder and a wrist connecting block;
the end effector comprises a palm, four fingers and a thumb which is rotatably connected to the side face of the palm, the four fingers are arranged at the front end of the palm side by side, each finger consists of a finger tail bone, a finger connecting block and a fingertip, two ends of each finger connecting block are respectively rotatably connected with one end of each finger tail bone and one end of each fingertip, the other end of each finger tail bone is rotatably connected to the front end of the palm, a hand back connecting plate is arranged at the back of the palm, finger cylinders are arranged on the back of the hand and the palm face of each finger, cylinder cylinders of the finger cylinders on the back of the hand are rotatably connected to the hand back connecting plate, cylinder shafts are rotatably connected with one ends of the finger tail bones, far away from the finger connecting blocks, of the finger cylinders on the palm face, the cylinder cylinders of the finger cylinders on the palm face are rotatably connected with one ends of the finger tail bones, near the finger, The thumb connecting block is characterized by comprising a thumb fingertip and a thumb rotating block, wherein two ends of the thumb connecting block are respectively rotatably connected with one end of the thumb tailbone and the end of the thumb fingertip, one end of the thumb rotating block is connected with one end, far away from the thumb connecting block, of the thumb tailbone, the other end of the thumb rotating block is rotatably connected to the side face of a palm, a finger cylinder is arranged on the palm face of the thumb, a cylinder barrel of the finger cylinder is rotatably connected with one end, close to the thumb connecting block, of the thumb tailbone, and a cylinder shaft is rotatably connected with one end, close to.
Furthermore, the frame comprises bracing piece, tripod and three reinforcing plates, and the one end vertical fixation of bracing piece is in the central point of tripod puts, and three adjacent perpendicular terminal surfaces of reinforcing plate are fixed respectively on tripod and bracing piece.
Furthermore, a lifting mechanism is installed on the rack and comprises a rotary support, a lifting screw and an adjusting block, a threaded hole matched with the lifting screw is formed in one end of the adjusting block, the lifting screw penetrates through the threaded hole, a through hole is formed in the other end of the adjusting block, a supporting rod penetrates through the through hole and is in clearance fit with the through hole, a fixing frame is fixedly installed on the adjusting block, positioning blocks are installed at the top end and the middle portion of the supporting rod respectively, the two ends of the lifting screw are rotatably connected in the positioning blocks, and the top end of the lifting screw extends out of the positioning block at the top end of the supporting rod and is connected.
Furthermore, the universal wheel is installed to the bottom of tripod, is equipped with the elastic locking piece that is used for locking the universal wheel on the universal wheel.
Furthermore, the adjusting block is of a U-shaped structure, and two opening ends of the U-shaped structure are respectively provided with a positioning bolt.
Furthermore, the first stepping motor is rotatably connected to the fixing frame, and a third stepping motor for controlling the up-and-down swinging of the mechanical arm is installed on the fixing frame.
Furthermore, the height of the automatic massage manipulator is 1400mm-1600mm, and the manipulator arm can move at the height of 900mm-1450 mm.
Further, the lifting mechanism comprises a fourth stepping motor, a lifting screw and an adjusting block, one end of the adjusting block is provided with a threaded hole matched with the lifting screw, the lifting screw penetrates through the threaded hole, the other end of the adjusting block is provided with a through hole, a supporting rod penetrates through the through hole and is in clearance fit with the through hole, a fixing frame is fixedly installed on the adjusting block, positioning blocks are respectively installed at the top end and the middle part of the supporting rod, the fourth stepping motor is installed on the positioning block at the top end of the supporting rod, the lower end of the lifting screw is rotatably connected in the positioning block, and the top end of the lifting screw extends out of the positioning block at the top end of the supporting.
In addition, the invention also provides a control system of the automatic massage manipulator, the control system further comprises a main control computer, a single chip microcomputer, four stepping motor drivers, ten cylinder drivers, a first motion control card, a second motion control card, a camera, an image acquisition card, a power supply system and a plurality of pressure sensors, the plurality of pressure sensors are respectively arranged on the palm surface and the back surface of the four fingers and the fingertips and the thumb fingertips of the four fingers, and the power supply system supplies power for the main control computer, the single chip microcomputer, the four stepping motor drivers, the ten cylinder drivers, the first motion control card, the camera of the second motion control card, the image acquisition card, the power supply system and the plurality of pressure sensors;
the main control computer is provided with a display and a PCI bus, a first motion control card and a second motion control card are both installed in a PCI slot of the main control computer, the single chip microcomputer is electrically connected with the main control computer, the pressure sensors are respectively and electrically connected with the single chip microcomputer, the input ends of four stepping motor drivers are respectively and electrically connected with the first motion control card, the output ends of the four stepping motor drivers are respectively and electrically connected with a first stepping motor, a second stepping motor, a third stepping motor and a fourth stepping motor, the input ends of ten cylinder drivers are respectively and electrically connected with the second motion control card, the output ends of the ten cylinder drivers are respectively and electrically connected with an arm cylinder and nine finger cylinders, and the camera is fixedly installed at the top end of the.
The operation method of the automatic massage manipulator is as follows:
a) the image acquisition card acquires the height and body type information of a user through the camera, the height and body type information is transmitted to the main control computer through the PCI bus, the main control computer analyzes and processes the information, then the control quantity is sent to the stepping motor through the first motion control card, the stepping motor works, and the height position of the massage manipulator is automatically adjusted according to the height and body type information of the user;
b) the operator selects the massage action through the display and issues a control starting command to the main control computer;
c) the main control computer calculates the control quantity of the corresponding stepping motor and the corresponding cylinder according to the planned paths of different massage actions, and then sends the control quantity to a stepping motor driver and a cylinder driver through a first motion control card and a second motion control card, and the stepping motor driver and the cylinder driver respectively control the corresponding stepping motor and the corresponding cylinder to move, so that the massage manipulator completes the corresponding massage action according to the selection;
d) the massage manipulator contacts with the human body in the massage process, the pressure sensor collects data information of force applied by the massage manipulator to the human body, the single chip microcomputer collects the data information collected by the pressure sensor and transmits the data information to the main control computer, the main control computer analyzes and processes the data information and judges whether the force is between 0 and 40N, if the force exceeds 40N, the main control computer recalculates the control quantity of the corresponding stepping motor and the corresponding air cylinder, then the control quantity is sent to the stepping motor driver and the air cylinder driver through the first motion control card and the second motion control card, and the stepping motor driver and the air cylinder driver respectively control the corresponding stepping motor and the air cylinder to move until the force reaches between 0 and 40N.
The invention has the beneficial effects that: the massage manipulator can simulate the hand action of a human, combines the existing automation facilities with the traditional massage manipulation, realizes four massage actions of pressing, pinching, kneading and beating the neck and shoulder acupuncture points of the human body, and has the advantages of low cost, flexibility, changeability, light weight and wide application range.
Drawings
FIG. 1 is an exploded schematic view of the present invention;
FIG. 2 is a first schematic diagram of the operation of the present invention;
FIG. 3 is a second schematic diagram of the operation of the present invention;
FIG. 4 is a third schematic diagram of the operation of the present invention;
FIG. 5 is a fourth schematic diagram of the operation of the present invention;
FIG. 6 is a schematic view of a palm structure of the present invention;
FIG. 7 is an enlarged view of a portion of FIG. 1 at A;
FIG. 8 is an enlarged view of a portion of FIG. 4 at B;
FIG. 9 is an enlarged view of a portion of FIG. 5 at C;
FIG. 10 is a schematic diagram of the control system of the present invention;
the device comprises a rack 1, a support rod 101, a tripod 102, a reinforcing plate 103, an end effector 2, a palm 201, fingers 202, a finger tail 2021, a finger connecting block 2022, fingertips 2023, a thumb 203, a thumb tail 2031, a thumb connecting block 2032, a thumb fingertip 2033, a thumb turning block 2034, a mechanical arm 3, a first stepping motor 301, an arm cylinder 302, a wrist connecting block 303, a fixing frame 4, a second stepping motor 5, a hand back connecting plate 6, a finger cylinder 7, a lifting mechanism 8, a rotating bracket 801, a lifting screw 802, an adjusting block 803, a threaded hole 9, a through hole 10, a positioning block 11, a universal wheel 12, an elastic locking piece 13, a positioning bolt 14 and a third stepping motor 15.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
as shown in fig. 1-9, an automatic massage manipulator includes a frame 1, an end effector 2, a manipulator arm 3 and a fixing frame 4 for vertically mounting the manipulator arm 3 on the frame 1, the end effector 2 is mounted on one end of the manipulator arm 3 away from the frame 1, the manipulator arm 3 includes a first stepping motor 301, an arm cylinder 302 and a wrist connecting block 303, a transmission shaft of the first stepping motor 301 is fixedly connected with a cylinder barrel of the arm cylinder 302, one end of the first stepping motor 301 away from the transmission shaft is mounted on the fixing frame 4, one end of the wrist connecting block 303 is rotatably connected to the cylinder shaft of the arm cylinder 302, the end effector 2 is fixedly connected to the other end of the wrist connecting block 303, and a second stepping motor 5 for controlling the end effector 3 to swing up and down is mounted on the wrist connecting block 303;
the end effector 2 comprises a palm 201, four fingers 202 and a thumb 203 rotatably connected to the side face of the palm 201, the four fingers 202 are arranged at the front end of the palm 201 side by side, each of the four fingers 202 consists of a tail bone 2021, a finger connecting block 2022 and a fingertip 2023, two ends of the finger connecting block 2022 are respectively rotatably connected with one end of the tail bone 2021 and the fingertip 2023, the other end of the tail bone 2021 is rotatably connected with the front end of the palm 201, the back of the palm 201 is provided with a hand back connecting plate 6, the back and the palm face of the four fingers 202 are respectively provided with a finger cylinder 7, the cylinder of the finger cylinder 7 at the back of the hand is rotatably connected with the hand back connecting plate 6, a cylinder shaft is rotatably connected with one end of the tail bone 2021 far away from the finger connecting block 2022, the cylinder of the finger cylinder 7 at the palm face is rotatably connected with one end of the tail bone 2021 close to the finger connecting block 2022, and the cylinder shaft is rotatably connected with one end, the thumb 203 is composed of a thumb tail bone 2031, a thumb connecting block 2032, thumb fingertips 2033 and a thumb rotating block 2034, two ends of the thumb connecting block 2032 are respectively connected with one end of the thumb tail bone 2031 and the thumb fingertips 2033 in a rotating manner, one end of the thumb rotating block 2034 is connected with one end of the thumb tail bone 2031 far away from the thumb connecting block 2032, the other end of the thumb rotating block 2034 is connected on the side surface of the palm 201 in a rotating manner, a finger cylinder 7 is arranged on the palm surface of the thumb 203, a cylinder barrel of the finger cylinder 7 is connected with one end of the thumb tail bone 2031 close to the thumb connecting block 2032 in a rotating manner, and the cylinder shaft is connected with one end of the thumb fingertips 2033 close to.
The frame 1 is composed of a support rod 101, a tripod 102 and three reinforcing plates 103, wherein one end of the support rod 101 is vertically fixed at the central position of the tripod 102, and two adjacent vertical end surfaces of the three reinforcing plates 103 are respectively fixed on the tripod 102 and the support rod 101.
The lifting mechanism 8 is installed on the rack 1, the lifting mechanism 8 comprises a rotating support 801, a lifting screw 802 and an adjusting block 803, one end of the adjusting block 803 is provided with a threaded hole 9 matched with the lifting screw 802, the lifting screw 802 penetrates through the threaded hole 9, the other end of the adjusting block 803 is provided with a through hole 10, the supporting rod 101 penetrates through the through hole 10 and is in clearance fit with the through hole 10, the fixing frame 4 is fixedly installed on the adjusting block 803, positioning blocks 11 are respectively installed at the top end and the middle part of the supporting rod 101, two ends of the lifting screw 802 are rotatably connected in the positioning blocks 11, and the top end of the lifting screw 802 extends out of the positioning block 11 at the top end of the supporting rod 101 and.
The universal wheel 12 is installed at the bottom end of the tripod 102, and an elastic locking plate 13 for locking the universal wheel 12 is arranged on the universal wheel 12.
The adjusting block 803 is a U-shaped structure, and two open ends of the U-shaped structure are respectively provided with a positioning bolt 14.
The first stepping motor 301 is rotatably connected to the fixed frame 4, and the fixed frame 4 is provided with a third stepping motor 15 for controlling the vertical swing of the manipulator arm 3.
The height of the automatic massage manipulator is 1400mm-1600mm, and the manipulator arm 3 can move at the height of 900mm-1450 mm.
The lifting mechanism 8 comprises a fourth stepping motor, a lifting screw 802 and an adjusting block 803, one end of the adjusting block 803 is provided with a threaded hole 9 matched with the lifting screw 802, the lifting screw 802 penetrates through the threaded hole 9, the other end of the adjusting block 803 is provided with a through hole 10, the supporting rod 101 penetrates through the through hole 10 and is in clearance fit with the through hole 10, the fixing frame 4 is fixedly installed on the adjusting block 803, the top end and the middle part of the supporting rod 101 are respectively provided with a positioning block 11, the fourth stepping motor is installed on the positioning block 11 at the top end of the supporting rod 101, the lower end of the lifting screw 802 is rotatably connected in the positioning block 11, and the top end of the lifting screw 802 extends out of the positioning block 11 at the top end of the.
The present invention can be used for realizing four massage actions of pressing, pinching, kneading and beating in massage manipulations, and the several massage actions are mainly as follows:
the massage manipulation method comprises the following steps: the finger cylinder 7 of the finger part of the automatic massage manipulator extends out and opens into a palm, the acupuncture point is pressed for about 30s from light to heavy, and then the acupuncture point rises slowly from heavy to light, and the functions of the automatic massage manipulator comprise muscle relaxation, fatigue elimination, blood circulation promotion, pain relief and the like.
The kneading method in the massage manipulations: a symmetric squeeze is made at the target site with the thumb 203 and the other four fingers 202. When the automatic massage manipulator is used, the finger cylinder 7 of the automatic massage manipulator is controlled to extend and expand to form a palm, the arm cylinder 302 is controlled to extend to promote the palm to apply force to a target part, then the finger cylinder 7 is controlled to contract, the finger cylinder 7 is controlled to extend after a certain time, the finger cylinder 7 repeats the action, the arm cylinder 302 is controlled to contract to lift the palm when the palm is finished, and the pinching method is realized according to the action.
Kneading method in the massage manipulations: apply force on the acupoints with the fingertips 2023 or the palms 201 to do the circular rotation and kneading. When the automatic massage manipulator is used, the finger cylinder 7 of the automatic massage manipulator is controlled to extend and open into a palm, then the arm cylinder 302 is controlled to extend to enable the palm to apply force to a target part, then the first stepping motor 301 is controlled to enable the whole arm to rotate in the forward and reverse directions, and when the operation is finished, the arm cylinder 302 is controlled to contract and lift the palm, so that the kneading is realized.
The massage manipulation method comprises: the target site is hit with a fist continuously and rhythmically. When the device is used, the finger cylinder 7 of the automatic massage manipulator is controlled to contract, so that fingers contract into a fist, then the arm cylinder 302 is controlled to extend to enable the fist to be stressed on a target part, then the second stepping motor 5 at the wrist is controlled to enable the whole fist to be lifted and hammered in a rhythmic mode, and when the device is finished, the arm cylinder 302 is controlled to contract to lift the fist, so that a beating method is achieved according to the action.
In addition, the invention also provides a control system of the automatic massage manipulator, as shown in fig. 10, the control system further comprises a main control computer, a single chip microcomputer, four stepping motor drivers, ten cylinder drivers, a first motion control card, a second motion control card, a camera, an image acquisition card, a power supply system and a plurality of pressure sensors, wherein the plurality of pressure sensors are respectively installed on the palm surface and the back surface of the four fingers and the fingertips and the thumb fingertips of the four fingers, and the power supply system supplies power for the main control computer, the single chip microcomputer, the four stepping motor drivers, the ten cylinder drivers, the first motion control card, the second motion control card camera, the image acquisition card, the power supply system and the plurality of pressure sensors; the main control computer is provided with a display and a PCI bus, a first motion control card and a second motion control card are both installed in a PCI slot of the main control computer, the single chip microcomputer is electrically connected with the main control computer, the pressure sensors are respectively and electrically connected with the single chip microcomputer, the input ends of four stepping motor drivers are respectively and electrically connected with the first motion control card, the output ends of the four stepping motor drivers are respectively and electrically connected with a first stepping motor, a second stepping motor, a third stepping motor and a fourth stepping motor, the input ends of ten cylinder drivers are respectively and electrically connected with the second motion control card, the output ends of the ten cylinder drivers are respectively and electrically connected with an arm cylinder and nine finger cylinders, and the camera is fixedly installed at the top end of the.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (9)
1. An automatic massage manipulator is characterized by comprising a rack, an end effector, a manipulator arm and a fixing frame, wherein the fixing frame is used for vertically mounting the manipulator arm on the rack, the end effector is mounted at one end, far away from the rack, of the manipulator arm, the manipulator arm comprises a first stepping motor, an arm cylinder and a wrist connecting block, a transmission shaft of the first stepping motor is fixedly connected with a cylinder barrel of the arm cylinder, one end, far away from the transmission shaft, of the first stepping motor is mounted on the fixing frame, one end of the wrist connecting block is rotatably connected to a cylinder shaft of the arm cylinder, the end effector is fixedly connected to the other end of the wrist connecting block, and a second stepping motor used for controlling the end effector to swing up and down is mounted on the wrist connecting block;
the end effector comprises a palm, four fingers and a thumb which is rotatably connected to the side surface of the palm, the four fingers are arranged at the front end of the palm side by side, each finger consists of a finger tail bone, a finger connecting block and a finger tip, two ends of the finger connecting block are respectively rotatably connected with one end part of the finger tail bone and the finger tip, the other end of the finger tail bone is rotatably connected to the front end of the palm, the back of the palm is provided with a hand back connecting plate, finger cylinders are arranged on the back surface and the palm surface of the four fingers, a cylinder barrel of the finger cylinder on the back surface of the hand is rotatably connected to the hand back connecting plate, a cylinder shaft is rotatably connected with one end of the finger tail bone far away from the finger connecting block, a cylinder barrel of the finger cylinder on the palm surface is rotatably connected with one end of the finger tail bone close to the finger connecting block, and a, the thumb is composed of a thumb tail bone, a thumb connecting block, a thumb fingertip and a thumb rotating block, two ends of the thumb connecting block are respectively connected with one end of the thumb tail bone and one end of the thumb fingertip in a rotating mode, one end of the thumb rotating block is connected with one end, far away from the thumb connecting block, of the thumb tail bone, the other end of the thumb rotating block is connected to the side face of a palm in a rotating mode, a finger cylinder is arranged on the palm face of the thumb, a cylinder barrel of the finger cylinder is connected with one end, close to the thumb connecting block, of the thumb tail bone in a rotating mode, and a cylinder shaft is connected with one end, close to.
2. The automatic massage manipulator of claim 1, wherein the frame is composed of a support rod, a tripod and three reinforcing plates, one end of the support rod is vertically fixed at the central position of the tripod, and two adjacent vertical end surfaces of the three reinforcing plates are respectively fixed on the tripod and the support rod.
3. The automatic massage manipulator according to claim 2, wherein the frame is provided with a lifting mechanism, the lifting mechanism comprises a rotating bracket, a lifting screw rod and an adjusting block, one end of the adjusting block is provided with a threaded hole matched with the lifting screw rod, the lifting screw rod penetrates through the threaded hole, the other end of the adjusting block is provided with a through hole, the supporting rod penetrates through the through hole and is in clearance fit with the through hole, the fixing frame is fixedly mounted on the adjusting block, the top end and the middle part of the supporting rod are respectively provided with a positioning block, two ends of the lifting screw rod are rotatably connected in the positioning blocks, and the top end of the lifting screw rod extends out of the positioning block at the top end of the supporting rod and is connected with the rotating bracket.
4. The automatic massage manipulator of claim 3, wherein a universal wheel is mounted at the bottom end of the tripod, and an elastic locking plate for locking the universal wheel is arranged on the universal wheel.
5. The automatic massage manipulator as claimed in claim 4, wherein the adjusting block is of a U-shaped structure, and two open ends of the U-shaped structure are respectively provided with a positioning bolt.
6. The automatic massage manipulator of claim 5, wherein the first stepping motor is rotatably connected to a fixing frame, and a third stepping motor for controlling the up-and-down swing of the manipulator arm is mounted on the fixing frame.
7. The automated massage manipulator of any one of claims 1 to 6, wherein the automated massage manipulator has a height of 1400mm to 1600mm, and the manipulator arm is movable at a height of 900mm to 1450 mm.
8. The automatic massage manipulator of claim 7, wherein the lifting mechanism comprises a fourth stepping motor, a lifting screw rod and an adjusting block, one end of the adjusting block is provided with a threaded hole matched with the lifting screw rod, the lifting screw rod passes through the threaded hole, the other end of the adjusting block is provided with a through hole, the support rod passes through the through hole and is in clearance fit with the through hole, the fixing frame is fixedly mounted on the adjusting block, the top end and the middle part of the support rod are respectively provided with a positioning block, the fourth stepping motor is mounted on the positioning block at the top end of the support rod, the lower end of the lifting screw rod is rotatably connected in the positioning block, and the top end of the lifting screw rod extends out of the positioning block at the top end of the support rod and is connected with a transmission shaft of the.
9. The control system of an automatic massage manipulator as claimed in claim 8, wherein the control system further comprises a main control computer, a single chip microcomputer, four stepping motor drivers, ten cylinder drivers, a first motion control card, a second motion control card, a camera, an image acquisition card, a power supply system and a plurality of pressure sensors, wherein the plurality of pressure sensors are respectively installed on the palm surface and the back surface of the four fingers and the fingertips and the thumb fingertips of the four fingers, and the power supply system supplies power to the main control computer, the single chip microcomputer, the four stepping motor drivers, the ten cylinder drivers, the first motion control card, the second motion control card camera, the image acquisition card, the power supply system and the plurality of pressure sensors;
the main control computer is provided with a display and a PCI bus, the first motion control card and the second motion control card are both installed in a PCI slot of the main control computer, the single chip microcomputer is electrically connected with the main control computer, the pressure sensors are respectively electrically connected with the single chip microcomputer, the input ends of the four stepper motor drivers are respectively electrically connected with the first motion control card, the output ends of the four stepper motor drivers are respectively electrically connected with the first stepper motor, the second stepper motor, the third stepper motor and the fourth stepper motor, the input ends of the ten cylinder drivers are respectively electrically connected with the second motion control card, the output ends of the ten cylinder drivers are respectively electrically connected with an arm cylinder and nine finger cylinders, and the camera is fixedly installed at the top end of the frame and is electrically connected with the image acquisition.
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| CN202010659986.9A CN111890360A (en) | 2020-07-10 | 2020-07-10 | Automatic massage manipulator and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114532240A (en) * | 2022-01-24 | 2022-05-27 | 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） | Instrument for carrying out chiropractic therapy on laboratory mouse |
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Application publication date: 20201106 |