CN112263453A - Wearable flexible massage robot - Google Patents

Wearable flexible massage robot Download PDF

Info

Publication number
CN112263453A
CN112263453A CN202011040380.3A CN202011040380A CN112263453A CN 112263453 A CN112263453 A CN 112263453A CN 202011040380 A CN202011040380 A CN 202011040380A CN 112263453 A CN112263453 A CN 112263453A
Authority
CN
China
Prior art keywords
massage
flexible
pneumatic
flexible massage
fixedly connected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011040380.3A
Other languages
Chinese (zh)
Inventor
孙韬
韦航
赵延治
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanshan University
Original Assignee
Yanshan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yanshan University filed Critical Yanshan University
Priority to CN202011040380.3A priority Critical patent/CN112263453A/en
Publication of CN112263453A publication Critical patent/CN112263453A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/001—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for without substantial movement between the skin and the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back

Landscapes

  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Dermatology (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Massaging Devices (AREA)

Abstract

The invention discloses a wearable flexible massage robot, which relates to the field of massage robots and comprises a backpack, a dividing layer fixedly connected to the plane of one side of a backpack backrest, a parallel flexible massage front end with a clover-shaped cross section fixedly connected to the dividing layer, a pneumatic control system communicated with the parallel flexible massage front end and a fixing belt fixedly connected with the backpack; the parallel flexible massage front end comprises three flexible pneumatic units with the same shape and structure and petal-shaped cross sections, a lower platform and an upper platform; the pneumatic control system comprises a pneumatic hose and a miniature air pump. The invention has simple structure, convenient carrying and quick use, simultaneously simulates two massage methods of 'palm kneading method' and 'palm pressing method' in the traditional massage method to massage the back and the waist, improves the massage efficiency, improves the massage quality, has high safety and wide application range, and ensures the comfort when massaging the human body.

Description

Wearable flexible massage robot
Technical Field
The invention relates to the field of massage robots, in particular to a wearable flexible massage robot.
Background
According to the digital display published by the national statistical bureau, China has already stepped into the age-aging era, and other related units predict that the year 2053 is reached, and the population of the aged people reaches about one third of the total population. Degenerative and chronic diseases in the elderly bring them various chronic pains, and there will be an increasing need for rehabilitation and treatment of the elderly to relieve pain. Meanwhile, with the increasing social competitive pressure and the fast-paced working life, the sub-health diseases also enter our lives from the above and expand more rapidly than the spreading rate of epidemic diseases. In China, the sub-health is mainly focused on the white collar grade, the proportion of the sub-health in the white collar in the mainstream city in China is up to 70 percent according to statistics, the white collar is in a busy state in a workplace for a long time, the life pressure is high, the movement is lack, and the life is irregular, so that a quick and convenient appliance is urgently needed to relieve the sub-health problem. Under the condition, the massage equipment is unique, and the modern massage technology inherits the meridian massage medical technology of the traditional Chinese medicine, so that the pressure of a user can be relieved, and the fatigue degree can be relieved. In recent years, the Chinese massage industry develops rapidly, but most of the existing massage appliances are rigid mechanical structure type massage and have single function, and the requirements of the massage on comfort and safety cannot be met.
The invention discloses a back massage robot, which mainly comprises a plane positioning device, a lifting device, a deflection device, a pressing and pushing device and a controller, wherein the plane positioning device is used for driving a screw rod to move in X and Y directions through a motor so as to complete positioning, the deflection is completed through an arc slide block and an arc track, and finally the human body is massaged through the pressing and pushing device fixed on the arc slide block. The invention discloses a portable wearable massage robot which mainly comprises a base, a massage mechanism, a fixing mechanism and an adjusting mechanism, wherein the massage robot is fixed at the back and waist positions of a user in a wearing mode through the fixing mechanism during use, and massage action on the human body is realized by means of movement and vibration of the mechanism. In order to improve the comfort of massage, the invention patent with publication number CN110393661A discloses a flexible massager, which mainly comprises a handle and an elastic massage mechanism, wherein the elastic massage mechanism is provided with a massage wheel on a flexible rod, when in use, a user holds the handle to press the massager on a massage part, and a motor drives a rotating shaft to rotate to generate massage force. The invention patent with publication number CN107361991A discloses a medical massage robot, which mainly comprises a rectangular base, a swing mechanism and a lifting mechanism are arranged between the rectangular base and a massage chair, the swing mechanism can be controlled by a rotating shaft in a rotating way, the lifting mechanism mainly comprises a telescopic column, an electric push rod and a support plate, a bone plate side pneumatic unit and a thigh side pneumatic unit are arranged on the inner side of an armrest, and an air supply device is arranged behind the back of the massage chair. Although the pneumatic flexible driving mode is adopted in consideration of the comfort and the safety of the massage, the massage mode of the invention is single, the function is limited, and the application range is limited. In view of the defects of the massage robot, the wearable flexible massage robot fully considers the comfort, the safety and the functional diversity of massage, simultaneously solves the problem of portability, and expands the applicable crowd range.
Disclosure of Invention
The wearable flexible massage robot is simple in structure, convenient to carry and rapid to use, can be used for massaging the back and the waist by simulating two massage methods of 'palm kneading method' and 'palm pressing method' in the traditional massage method, improves the massage efficiency and improves the massage quality.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a wearable flexible massage robot comprises a backpack, a dividing layer fixedly connected to one side plane of a backpack backrest, a parallel flexible massage front end fixedly connected to the dividing layer and having a clover-shaped cross section, a pneumatic control system communicated with the parallel flexible massage front end and a fixing belt fixedly connected with the backpack; the parallel flexible massage front end comprises three flexible pneumatic units with the same shape and structure and petal-shaped cross sections, a lower platform which is matched with the shapes of the three parallel flexible massage front ends and is fixedly connected to the lower surface of the parallel flexible massage front end, and an upper platform which is matched with the shapes of the three parallel flexible massage front ends and is fixedly connected to the upper surface of the parallel flexible massage front end; the pneumatic control system comprises a pneumatic hose communicated with the flexible pneumatic unit and a miniature air pump which is arranged in the backpack and communicated with the pneumatic hose.
The technical scheme of the invention is further improved as follows: the flexible variable stiffness backpack comprises a backpack body, and is characterized by further comprising a flexible variable stiffness system, wherein the flexible variable stiffness system comprises a micro-elastic film arranged in the split layer, variable stiffness particles arranged in the micro-elastic film, a pneumatic hose communicated with the micro-elastic film, and a miniature vacuum air pump arranged in the backpack body.
The technical scheme of the invention is further improved as follows: the parallel flexible massage front end comprises a plurality of layers of sheet structures which are stacked and fixedly connected with each other, the sheet structure of the parallel flexible massage front end of each layer comprises three flexible pneumatic units with the same shape and structure and petal-shaped cross sections, and a rigid circular ring is arranged in the flexible pneumatic unit of each layer.
The technical scheme of the invention is further improved as follows: the pneumatic control system also comprises a single chip microcomputer, a pneumatic proportional valve arranged on the pneumatic hose and a pressure sensor arranged on the upper platform or on the inner side of the partition layer.
The technical scheme of the invention is further improved as follows: the flexible pneumatic unit, the upper platform and the lower platform in the parallel flexible massage front end are made of flexible materials.
The technical scheme of the invention is further improved as follows: comprises a plurality of parallel flexible massage front ends fixedly connected on a segmentation layer, and comprises parallel flexible massage front ends positioned on the back and the waist of a user.
The technical scheme of the invention is further improved as follows: the fixing belt comprises a shoulder belt and a waist belt which are fixedly connected with the periphery of the partition layer; the shoulder strap comprises an upper part and a lower part, and a left shoulder strap buckle, a left shoulder strap clamping groove, a right shoulder strap clamping groove and a right shoulder strap buckle which are respectively connected with the upper part and the lower part of the shoulder strap and are matched with each other; the waistband comprises a left part and a right part, and a waistband clamping groove and a waistband buckle which are connected with the left part and the right part of the waistband and are matched with each other.
Due to the adoption of the technical scheme, the invention has the technical progress that:
the invention has simple structure, can be carried about, is convenient and quick to use, and simultaneously simulates two massage methods of 'palm kneading method' and 'palm pressing method' in the traditional massage method to massage the back and the waist, thereby improving the massage efficiency and the massage quality. The massage drive of the invention is flexible drive, the safety of the massage drive can be ensured, the massage drive is suitable for users of different ages, and the application range is wide. The invention adopts flexible materials for the contact part of the human body, thereby ensuring the comfort when massaging the human body.
When the three groups of flexible pneumatic units are continuously charged with the same air pressure, the front ends of the parallel flexible massage units deflect at different angles, so that the palm kneading massage is carried out on the corresponding points of the back or the waist of the human body, and meanwhile, the pressure sensor feeds back pressure information in real time, so that the massage manipulation can be conveniently and timely adjusted, and the massage quality is improved.
The position of the front end of the parallel flexible massage is convenient to replace, the front end of the parallel flexible massage is convenient to align with the positions of the massage acupuncture points of the back and the waist, the difficulty of finding the acupuncture points is reduced, and the massage quality is further improved.
The front end of the parallel flexible massage is made of flexible materials, and each layer of the flexible pneumatic unit is embedded with the rigid ring, so that the radial expansion of the flexible pneumatic unit is effectively prevented, and meanwhile, the parallel flexible massage device has better axial elongation capability, the service life is prolonged, and the use experience is improved.
The rigidity-variable particle bag has flexibility and adaptability in a vacuum state without being extracted, can be folded and placed, has a rigidity-variable effect when the vacuum is extracted, and can provide enough rigidity support for massage.
The fixed band includes shoulder and the waistband of fixed connection around cutting apart the layer, is convenient for fix the position of parallelly connected flexible massage front end, is convenient for look for the acupuncture point, has improved systematic stability.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a schematic representation of the present invention in use;
FIG. 3 is a front cross-sectional view of the present invention;
FIG. 4 is a partial cross-sectional view of the present invention;
fig. 5 is an isometric view of a parallel flexible massage front end of the present invention;
fig. 6 is a front view of a parallel flexible massage front of the present invention;
the multifunctional massage device comprises a left shoulder strap buckle, a right shoulder strap buckle, a split layer, a parallel flexible massage front end, a left shoulder strap clamping groove, a right shoulder strap clamping groove, a waistband buckle, a right shoulder strap clamping groove, a right shoulder strap buckle, a variable stiffness particle, a micro elastic film, a micro vacuum air pump, a pneumatic hose, a micro air pump, a pressure sensor, a four-way pipe, a micro vacuum air pump, a pneumatic hose, a micro vacuum air pump, a micro air pump, a pressure sensor, an upper platform, a micro vacuum air pump.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
as shown in fig. 1, 2, 3, 4, 5, and 6, a wearable flexible massage robot includes a backpack, a split layer 2, a parallel flexible massage front end 3, a fixing band, a pneumatic control system, and a flexible stiffness varying system. The split layer 2 is fixedly connected to the plane of one side of the backpack backrest, the pneumatic control system is communicated with the parallel flexible massage front end 3, and the fixing belt is fixedly connected with the backpack.
The parallel flexible massage front end 3 is fixedly connected to the segmentation layer 2, the cross section of the parallel flexible massage front end 3 is cloverleaf-shaped, and the parallel flexible massage front end 3 comprises three flexible pneumatic units 20, an upper platform 19 and a lower platform 22. The three flexible pneumatic units 20 are the same in shape and structure, the cross sections of the flexible pneumatic units 20 are petal-shaped, and the three groups of flexible pneumatic units 20 are uniformly distributed between the two platforms at 120 degrees. The lower part is the side connected with the backpack, and the upper part is the side which is not connected with the backpack and is far away from the back surface of the backpack. The lower platform 22 is matched with the shapes of the three parallel flexible massage front ends 3, and the lower platform 22 is fixedly connected to the lower surfaces of the parallel flexible massage front ends 3; the upper platform 19 is adapted to the shape of the three parallel flexible massage front ends 3, the upper platform 19 is fixedly connected to the upper surface of the parallel flexible massage front ends 3, the upper platform 19 of the parallel flexible massage front ends 3 is fixed to the partition layer 2, and the lower platform 22 of the parallel flexible massage front ends 3 is directly contacted with the back or waist of a human body for flexible massage.
Parallelly connected flexible massage front end 3 includes that the multilayer piles up fixed connection's lamellar structure each other, the lamellar structure of the parallelly connected flexible massage front end 3 of each layer includes three flexible pneumatic unit 20, three flexible pneumatic unit 20 shape structure is the same, the cross section of the flexible pneumatic unit 20 of mulberry is petal shape, set up the rigidity ring in the flexible pneumatic unit 20 of each layer, the edge of each layer of flexible pneumatic unit 20 has carried out thickening processing, possess better axis elongation ability simultaneously, effectual prevention its radial expansion.
The materials of the flexible pneumatic unit 20, the upper platform 19 and the lower platform 22 in the parallel flexible massage front end 3 are flexible materials.
The invention comprises a plurality of parallel flexible massage front ends 3 fixedly connected on a segmentation layer 2, wherein the plurality of parallel flexible massage front ends 3 are positioned at the back and the waist of a user and correspond to corresponding academic positions.
The pneumatic control system comprises a pneumatic hose 12, a miniature air pump 13, a single chip microcomputer 16, a pneumatic proportional valve 17 and a pressure sensor 18. The pneumatic hose 12 is communicated with the flexible pneumatic unit 20, the miniature air pump 13 is arranged inside the backpack, and the miniature air pump 13 is communicated with the pneumatic hose 12. A pneumatic proportional valve 17 is arranged on the pneumatic hose 12 and a pressure sensor 18 is arranged on an upper platform 19 or inside the split layer 2. The side wall of the flexible pneumatic unit 20 is provided with an air inlet 21, air pressure is supplied through the air inlet 21 on the side surface of the flexible pneumatic unit 20, and all layers are folded and tensioned by a spring rope 23. The massage force and the massage mode are accurately controlled through a back air pressure control system, the massage force and the massage mode are mainly controlled through a miniature air pump 13, the massage force and the massage mode are connected into a parallel flexible massage front end 3 through a three-way pipe 15, a four-way pipe 14 and a pneumatic hose 12, analog signals are transmitted to a pneumatic proportional valve 17 in real time through a single chip microcomputer 16, continuous control over air pressure input by the miniature air pump 13 is achieved, when three groups of flexible pneumatic units 20 are continuously filled with the same air pressure, the parallel flexible massage front end 3 conducts 'palm pressing' massage on corresponding points of the back and the waist, when three groups of flexible pneumatic units 20 are continuously filled with different air pressures, the parallel flexible massage front end 3 deflects at different angles, accordingly 'palm pressing' massage is conducted on corresponding points of the back or the waist of a human body, and meanwhile, a pressure sensor 18 feeds back pressure information in real time.
The flexible variable stiffness system comprises variable stiffness particles 9, a micro-elastic film 10, a micro vacuum air pump 11 and a part of pneumatic hose 12. The structure formed by the variable stiffness particles 9 and the micro-elastic film 10 is called a variable stiffness particle package. The micro-elastic film 10 is arranged inside the partition layer 2, the rigidity-variable particles 9 are arranged inside the micro-elastic film 10, the pneumatic hose 12 is communicated with the micro-elastic film 10, and the micro vacuum air pump 11 is arranged inside the backpack. One end of a micro-elastic film 10 which is provided with the rigidity-variable particles 9 and is positioned inside the segmentation layer 2 is connected with a micro vacuum air pump 11 through a pneumatic hose 12, and the micro vacuum air pump 11 extracts air pressure inside the micro-elastic film 10, so that the internal rigidity-variable particles 9 are gathered, the segmentation layer 2 is further hardened by soft, and therefore required force support is provided. The variable stiffness particle bag has flexibility and adaptability in a vacuum state without being extracted, can be folded and placed, has a variable stiffness effect when the vacuum is extracted, and can provide sufficient stiffness support for massage.
The fixing belt comprises a shoulder belt and a waist belt which are fixedly connected with the periphery of the dividing layer 2; the shoulder strap comprises an upper part and a lower part, and a left shoulder strap buckle 1, a left shoulder strap clamping groove 4, a right shoulder strap clamping groove 7 and a right shoulder strap buckle 8 which are respectively connected with the upper part and the lower part of the shoulder strap and are matched with each other; the waistband comprises a left part and a right part, and a waistband clamping groove 5 and a waistband buckle 6 which are connected with the left part and the right part of the waistband and are matched with each other. Wherein, when in use, the left shoulder strap buckle 1 penetrates the shoulder of a human body to be inserted into the left shoulder strap slot 4 positioned on the lower side, the right shoulder strap buckle 8 and the right shoulder strap slot 7 are matched in the same way, and when in use, the waistband buckle 6 penetrates the waist of the human body to be inserted into the waistband slot 5, thereby playing the role of tightening and fixing.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (7)

1. The utility model provides a flexible massage robot of wearable, includes the knapsack, its characterized in that: the backpack comprises a backpack backrest, a split layer (2) fixedly connected to one side plane of the backpack backrest, a parallel flexible massage front end (3) fixedly connected to the split layer (2) and having a cloverleaf-shaped cross section, a pneumatic control system communicated with the parallel flexible massage front end (3) and a fixing belt fixedly connected with the backpack; the parallel flexible massage front end (3) comprises three flexible pneumatic units (20) with the same shape and structure and petal-shaped cross sections, a lower platform (22) which is matched with the shapes of the three parallel flexible massage front ends (3) and fixedly connected to the lower surface of the parallel flexible massage front end (3), and an upper platform (19) which is matched with the shapes of the three parallel flexible massage front ends (3) and fixedly connected to the upper surface of the parallel flexible massage front end (3); the pneumatic control system comprises a pneumatic hose (12) communicated with the flexible pneumatic unit (20) and a micro air pump (13) which is arranged in the backpack and communicated with the pneumatic hose (12).
2. The wearable flexible massage robot of claim 1, wherein: the flexible variable stiffness backpack comprises a flexible variable stiffness system, wherein the flexible variable stiffness system comprises a micro-elastic film (10) arranged in the split layer (2), variable stiffness particles (9) arranged in the micro-elastic film (10), a pneumatic hose (12) communicated with the micro-elastic film (10), and a micro vacuum air pump (11) arranged in the backpack.
3. The wearable flexible massage robot of claim 1, wherein: the parallel flexible massage front end (3) comprises a plurality of layers of sheet structures which are stacked and fixedly connected with each other, the sheet structure of the parallel flexible massage front end (3) of each layer comprises three flexible pneumatic units (20) which are in the same shape and structure and have petal-shaped cross sections, and a rigid circular ring is arranged in the flexible pneumatic unit (20) of each layer.
4. The wearable flexible massage robot of claim 1, wherein: the pneumatic control system further comprises a single chip microcomputer (16), a pneumatic proportional valve (17) arranged on the pneumatic hose (12) and a pressure sensor (18) arranged on the upper platform (19) or arranged on the inner side of the segmentation layer (2).
5. The wearable flexible massage robot of claim 1, wherein: the flexible pneumatic unit (20), the upper platform (19) and the lower platform (22) in the parallel flexible massage front end (3) are made of flexible materials.
6. The wearable flexible massage robot of claim 1, wherein: comprises a plurality of parallel flexible massage front ends (3) fixedly connected on a segmentation layer (2), and comprises parallel flexible massage front ends (3) positioned on the back and the waist of a user.
7. The wearable flexible massage robot of claim 1, wherein: the fixing belt comprises a shoulder belt and a waist belt which are fixedly connected with the periphery of the dividing layer (2); the shoulder strap comprises an upper part and a lower part, and a left shoulder strap buckle (1), a left shoulder strap clamping groove (4), a right shoulder strap clamping groove (7) and a right shoulder strap buckle (8) which are respectively connected with the upper part and the lower part of the shoulder strap and are matched with each other; the waistband comprises a left part and a right part, and a waistband clamping groove (5) and a waistband buckle (6) which are connected with the left part and the right part of the waistband and are matched with each other.
CN202011040380.3A 2020-09-28 2020-09-28 Wearable flexible massage robot Pending CN112263453A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011040380.3A CN112263453A (en) 2020-09-28 2020-09-28 Wearable flexible massage robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011040380.3A CN112263453A (en) 2020-09-28 2020-09-28 Wearable flexible massage robot

Publications (1)

Publication Number Publication Date
CN112263453A true CN112263453A (en) 2021-01-26

Family

ID=74348609

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011040380.3A Pending CN112263453A (en) 2020-09-28 2020-09-28 Wearable flexible massage robot

Country Status (1)

Country Link
CN (1) CN112263453A (en)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5885205A (en) * 1996-10-03 1999-03-23 Kassman; Leon B. Condom exerting lateral pressure on the penis
US6336907B1 (en) * 1998-11-25 2002-01-08 Matsushita Electric Works, Ltd. Massaging system
US20110200395A1 (en) * 2007-08-10 2011-08-18 Rhys James Couzyn Method of manufacturing a buoyancy control device
US20110240042A1 (en) * 2008-12-16 2011-10-06 The University Of Warwick Spinal immobilization
CN202580541U (en) * 2012-03-06 2012-12-05 深圳一电科技有限公司 Camera fixing device
US20170216056A1 (en) * 2014-01-22 2017-08-03 Bethcare Inc. Methods and apparatuses for fitting an object
US20180009343A1 (en) * 2016-07-07 2018-01-11 Kongsberg Automotive Ab Massage cell arrangement and massage cell system
CN108635188A (en) * 2018-05-31 2018-10-12 柳小琴 A kind of medical treatment gynaecology waist masaging device
CN109223482A (en) * 2018-10-19 2019-01-18 燕山大学 A kind of massage robot based on flexible drive
CN208626162U (en) * 2018-03-20 2019-03-22 长安大学 A kind of portable back massage apparatus
CN109619803A (en) * 2018-12-10 2019-04-16 陶妤 A kind of automatic massage school bag
US20200037779A1 (en) * 2018-07-31 2020-02-06 Levy Zur Area support surface seating system
CN111557773A (en) * 2020-06-12 2020-08-21 徐红展 Body shape correcting device for growth and development of children

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5885205A (en) * 1996-10-03 1999-03-23 Kassman; Leon B. Condom exerting lateral pressure on the penis
US6336907B1 (en) * 1998-11-25 2002-01-08 Matsushita Electric Works, Ltd. Massaging system
US20110200395A1 (en) * 2007-08-10 2011-08-18 Rhys James Couzyn Method of manufacturing a buoyancy control device
US20110240042A1 (en) * 2008-12-16 2011-10-06 The University Of Warwick Spinal immobilization
CN202580541U (en) * 2012-03-06 2012-12-05 深圳一电科技有限公司 Camera fixing device
US20170216056A1 (en) * 2014-01-22 2017-08-03 Bethcare Inc. Methods and apparatuses for fitting an object
US20180009343A1 (en) * 2016-07-07 2018-01-11 Kongsberg Automotive Ab Massage cell arrangement and massage cell system
CN208626162U (en) * 2018-03-20 2019-03-22 长安大学 A kind of portable back massage apparatus
CN108635188A (en) * 2018-05-31 2018-10-12 柳小琴 A kind of medical treatment gynaecology waist masaging device
US20200037779A1 (en) * 2018-07-31 2020-02-06 Levy Zur Area support surface seating system
CN109223482A (en) * 2018-10-19 2019-01-18 燕山大学 A kind of massage robot based on flexible drive
CN109619803A (en) * 2018-12-10 2019-04-16 陶妤 A kind of automatic massage school bag
CN111557773A (en) * 2020-06-12 2020-08-21 徐红展 Body shape correcting device for growth and development of children

Similar Documents

Publication Publication Date Title
JP2008532591A (en) Body shape correction and skin conditioning equipment and methods
US11439565B2 (en) Training apparatus
CN214318518U (en) Pneumatic hand joint rehabilitation instrument
CN202620150U (en) Massage cushion
CN112263453A (en) Wearable flexible massage robot
CN106420331A (en) Multi-mode automatic massaging device
CN208641221U (en) A kind of gloves for massage
KR20160050301A (en) wearable multi cup and carriable massager
CN107149547A (en) A kind of shoulder carries on the back medical rehabilitation specialized massage device
TWI759472B (en) Skin suction head and suction apparatus having the same
TWM584680U (en) Pneumatic massager structure
CN215779719U (en) Knee simulation massager
CN206424278U (en) A kind of vapour-pressure type hand function recovery instrument
CN205007433U (en) Medium frequency electro -therapeutic is sucking disc for appearance suitable for personal use
CN105726183B (en) Lumbar vertebrae waterpower recovers instrument and treatment method
CN109310565B (en) Massage device
CN207979960U (en) A kind of medical treatment orthopedic rehabilitation therapeutic device
CN2282415Y (en) Health band for orthopedic
CN103431987B (en) Hand massage gloves
CN209790344U (en) Massage air bag
CN208591293U (en) A kind of multi-faceted flexible fixed massager
CN210020875U (en) Graphene neck guard
CN2144504Y (en) Air-pressure health protection diagnosis and treatment device for acupoint
CN108309725A (en) A kind of buttocks massage robot
JP3020329U (en) Rolling elastic sphere massager

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20210126