CN113018165A

CN113018165A - Four-degree-of-freedom bionic manipulator capable of rolling abdomen around Shenque acupoint based on acupoint therapy

Info

Publication number: CN113018165A
Application number: CN202110438736.7A
Authority: CN
Inventors: 李晓韬; 郭凯西; 吴兴全; 李晓旭; 高奎鸿; 倪贺贤; 金雨灏
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2021-04-23
Filing date: 2021-04-23
Publication date: 2021-06-25
Anticipated expiration: 2041-04-23
Also published as: CN113018165B

Abstract

The invention discloses a bionic manipulator with four degrees of freedom for abdomen kneading motion around a Shenque acupoint based on a meridian acupoint therapy, which comprises a sliding table, a positioning frame, a massage vibration plate and a controller, wherein the sliding table is assembled in an installation opening in the center of the positioning frame, a first screw rod and a second screw rod are screwed in the sliding table in a vertical direction in a vertically staggered mode, first sliding grooves are symmetrically formed in the side walls of the left side and the right side of the positioning frame, two ends of the first screw rod are respectively pivoted in the first sliding grooves in the left side and the right side of the positioning frame, second sliding grooves are symmetrically formed in the side walls of the front side and the rear side of the positioning frame, and two ends of the second screw rod are respectively pivoted in the second sliding grooves in the front side and the rear side of the positioning frame; has the advantages that: the problem that the frequency and the strength of the rubbing manipulation are reduced due to fatigue possibly generated during manual operation is solved, and the precision and the speed of the movement are ensured.

Description

Four-degree-of-freedom bionic manipulator capable of rolling abdomen around Shenque acupoint based on acupoint therapy

Technical Field

The invention relates to a bionic manipulator, in particular to a bionic manipulator with four degrees of freedom for rubbing abdomen around a Shenque acupoint based on a meridian acupoint therapy.

Background

At present, obesity is the initiating factor of various metabolic diseases, and insulin overhigh caused by compensatory secretion of islet cells is the early characteristic of insulin resistance and type II diabetes, so that beta cell failure is caused, and the diabetes process is accelerated. Clinical researches find that the abdomen rubbing exercise method around the Shenque point has multiple effects and obvious curative effects on blood sugar, blood fat, hyperinsulinemia and the like, therefore, the experiment taking the obese type II diabetes insulin resistance model rat as a research object is carried out, in order to obtain the relevant indexes such as insulin resistance index, insulin sensitivity index and glycolipid metabolism, the frequency and strength of manipulations need to be regulated for experimental operators, even certain clinical massage experience is needed, has higher requirements on experimenters, and needs a certain number of doctors to practice when being applied and popularized to clinical experiments, therefore, in order to solve the problems of insufficient number of people and normative manipulation quality, the design of the bionic manipulator system with four degrees of freedom and capable of moving around the Shenque point and rubbing the abdomen based on the channel-point therapy is of great significance for further researching the action mechanism and popularization of the traditional Chinese medicine massage manipulation.

Disclosure of Invention

The invention aims to solve the problems that the massage therapy adopted in the early treatment of the type II diabetes is not standard in the manual manipulation of a therapist and the hands are insufficient, and provides a four-degree-of-freedom bionic manipulator for the abdomen kneading motion around the Shenque point based on the meridian point therapy.

The invention provides a bionic manipulator with four degrees of freedom and capable of rolling abdomen around Shenque acupoint based on meridian acupoint therapy, which comprises a sliding table, a positioning frame, a massage vibration plate and a controller, wherein the sliding table is assembled in an installation opening at the center of the positioning frame, a first screw rod and a second screw rod are screwed in the sliding table in a vertically staggered manner, the first screw rod and the second screw rod are screwed in the sliding table in a vertical direction, first sliding grooves are symmetrically formed in the side walls of the left side and the right side of the positioning frame, two ends of the first screw rod are respectively pivoted in the first sliding grooves of the left side and the right side of the positioning frame, two ends of the first screw rod can slide in the first sliding grooves of the left side and the right side of the positioning frame, second sliding grooves are symmetrically formed in the side walls of the front side and the rear side of the positioning frame, two ends of the second screw rod are respectively pivoted in the second sliding grooves of the front side and the rear side, one end of the first screw rod is connected with a first driving motor, the first driving motor drives the first screw rod to rotate, the sliding table is driven to move left and right in the rotation process of the first screw rod, one end of the second screw rod is connected with a second driving motor, the second driving motor drives the second screw rod to rotate, the sliding table is driven to move back and forth in the rotation process of the second screw rod, a third screw rod is screwed on the side wall on one side of the positioning frame, one end of the third screw rod is connected with a third driving motor, the third driving motor drives the third screw rod to rotate, the positioning frame and the sliding table are driven to move up and down in the rotation process of the third screw rod, a fourth driving motor is pivoted at the central part of the sliding table, a driving mechanism is connected on a transmission shaft of the fourth driving motor, a massage vibration plate is assembled at the bottom end of the driving mechanism, and the fourth driving motor drives, the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are all connected with the controller, and the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are controlled by the controller to work.

The sliding table and the locating rack are assembled in the supporting cover, the controller is assembled on the top end of the supporting cover, the side wall of the locating rack is further provided with a sliding block, the inner wall of the supporting cover corresponding to the position of the sliding block is provided with a guide rail, the sliding block is connected in a sliding groove of the guide rail in a clamping mode, the sliding block can move up and down in the sliding groove of the guide rail, and the third driving motor is fixedly connected to the inner wall of the supporting cover through the base.

First guide bar is worn to be equipped with first screw rod parallel on the same horizontal plane with first screw rod in the slip table, the slip table can slide along first guide bar, the both ends of first guide bar also pin joint respectively is in the first spout of locating rack left and right sides, the both ends of first guide bar can slide in the first spout of locating rack left and right sides, wear to be equipped with the second guide bar with second screw rod parallel on the same horizontal plane of second screw rod in the slip table, the slip table can slide along the second guide bar, the both ends of second guide bar also pin joint respectively in the second spout of both sides around the locating rack, the both ends of second guide bar can slide in the second spout of both sides around the locating rack.

Be equipped with first laser range finder and second laser range finder on the lateral wall of the adjacent both sides of locating rack respectively, still be equipped with the distancer of acting as go-between on the lateral wall of locating rack front end, first laser range finder, second laser range finder and the distancer of acting as go-between are all connected with the controller, first laser range finder, second laser range finder and the distancer of acting as go-between can give the controller to the slip table of gathering and the displacement data real-time transmission of locating rack, the controller is according to first laser range finder, the first driving motor of displacement data control of second laser range finder and the distancer transmission of acting as go-between, the work of second driving motor and third driving motor.

The first drive motor, the second drive motor, the third drive motor and the fourth drive motor are all stepping motors.

The driving mechanism connected on the transmission shaft of the fourth driving motor comprises a first output shaft and a second output shaft, wherein the top end of the first output shaft is connected with the transmission shaft of the fourth driving motor, the bottom end of the first output shaft is pivoted at one end of the inclination angle transmission block, the top end of the second output shaft is pivoted at the other end of the inclination angle transmission block, the bottom end of the second output shaft is connected with a cross rod, two ends of the cross rod are respectively provided with a sliding sleeve, the sliding sleeves at two ends of the cross rod are respectively sleeved on the two sliding rods, the sliding sleeves can slide up and down on the sliding rods, the top ends of the two sliding rods are fixed at the bottom of the sliding table, the lower part of the second output shaft is fixedly connected with two support rods, the bottom ends of the two support rods are fixed on the top surface of the massage vibration plate, the fourth driving motor drives, the central shaft of the first output shaft is assembled corresponding to the central part of the cross rod.

Be equipped with electric heating wire on the massage vibration board and heat for the massage vibration board, electric heating wire is connected and is provided electric power by this power in with the controller, the bottom of massage vibration board is equipped with temperature sensor and draws pressure sensor, temperature sensor and draw pressure sensor and be connected with the controller, temperature sensor with draw pressure sensor and can give the controller to data real-time transmission of gathering, the controller provides electric power for the electric heating wire on the massage vibration board according to temperature sensor's transmission data control power, the controller is according to drawing the work of the data control fourth drive motor of pressure sensor transmission.

The controller consists of a central processing unit, a power supply, a first motor driver, a second motor driver, a third motor driver and a fourth motor driver, wherein the central processing unit is respectively connected with the power supply, the first motor driver, the second motor driver, the third motor driver and the fourth motor driver and controls the work of the power supply, the first motor driver, the second motor driver, the third motor driver and the fourth motor driver, the power supply is also connected with the first motor driver, the second motor driver, the third motor driver and the fourth motor driver and provides electric power for the first motor driver, the second motor driver, the third motor driver and the fourth motor driver, the central processing unit consists of a PLC, and is also respectively connected with a first laser range finder, a second laser range finder, a pull wire range finder, a temperature sensor and a pull pressure sensor, the first laser range finder, the second laser range finder, the stay wire range finder, the temperature sensor and the pull pressure sensor transmit acquired data to the central processing unit through A/D conversion, the first motor driver is connected with the first driving motor and controls the work of the first driving motor, the second motor driver is connected with the second driving motor and controls the work of the second driving motor, the third motor driver is connected with the third driving motor and controls the work of the third driving motor, and the fourth motor driver is connected with the fourth driving motor and controls the work of the fourth driving motor.

Foretell first driving motor, second driving motor, third driving motor, fourth driving motor, first laser range finder, second laser range finder, the distancer of acting as go-between, temperature sensor, draw pressure sensor, central processing unit, power, first motor drive, second motor drive, third motor drive and fourth motor drive are the equipment of existing equipment, consequently, specific model and specification are not repeated.

The working principle of the invention is as follows:

the invention provides a bionic manipulator with four degrees of freedom and abdomen rubbing motion around a Shenque point based on a meridian point therapy, a controller instructs a power supply to supply power to an electric heating wire on a massage vibration plate for heating when the manipulator works, a signal is transmitted to the controller through a temperature sensor on the massage vibration plate, the controller performs constant temperature control on the massage vibration plate, at the moment, a first driving motor and a second driving motor operate to control the massage vibration plate to recover an initial position, a fourth driving motor operates at a low speed, a pulling pressure sensor on the massage vibration plate acquires pressure data and transmits the pressure data to the controller, the controller analyzes a pressure data peak value, compares the pressure data peak value with a preset pressure peak value and feeds a processed signal back to a third driving motor, a pulling distance meter acquires longitudinal displacement information of a sliding table and a positioning frame in real time and feeds back the longitudinal displacement information to the controller, and the controller, the controller analyzes the peak difference of the two groups of pressure data and feeds control signals back to the first driving motor and the second driving motor, the first laser range finder and the second laser range finder record the real-time displacement information of the first driving motor and the second driving motor and feed the real-time displacement information back to the controller, the controller positions the sliding table, the controller controls the data peak difference of the two groups of pressure within a required range, the fourth driving motor increases the power and improves the power to the working rotating speed, the rotation of the massage vibration plate is controlled through the first output shaft, the inclination angle transmission block and the second output shaft, the massage vibration plate can maintain the included angle between the long axis of the massage vibration plate and the plane formed by the two sliding rods to change in a reciprocating mode within a certain range while the inclination angle is changed, and the accurate and stable output of standard and durable abdomen kneading manipulation actions is achieved.

The specific operation of the controller is as follows:

the vertical displacement of the first and third driving motors is controlled by a central processor in a controller in a closed loop way, firstly, the system is initialized, the peak value of the pressure required by the system is set, the peak value is compared with a pressure peak value signal which is acquired by a pulling pressure sensor on a massage vibration plate in real time and is obtained by A/D conversion, although the theoretical value of the control error is 0, the system can be determined to meet the control requirement according to practical experience and practical situation as long as the current time error is in an allowable range, when the error exceeds the allowable range, the system carries out fuzzy PID algorithm calculation, except for the known current time error e (k), the error change rate ec (k) (k) () e (k-1) is calculated and is used as the input of the controller, and meanwhile, the current time error is assigned to the previous time, namely e (k) () e (k) ((k) () e (k) (, then inputting e (k), ec (k) by a fuzzification controller, and carrying out fuzzy setting on parameters delta Kp, delta Ki and delta Kd, wherein the delta Kp, the delta Ki and the delta Kd are correction parameters for eliminating the deviation of PID control proportionality coefficient Kp, integral coefficient Ki and differential coefficient Kd respectively, then obtaining the current values Kp, Ki and Kd of the PID control parameters based on the superposition of initial values, finally obtaining control signal output, and controlling a third motor driver to generate current with time sequence control by a central processing unit to drive a third driving motor to maintain the mechanism at a stable height.

The second, the first driving motor and the second driving motor execute the output horizontal displacement and are also controlled by a central processing unit in the controller in a closed loop way, firstly, the initial setting is carried out, that is, the data peak value deviation of the pull pressure sensor is in an allowable range, and compared with the pressure peak value signal deviation obtained by A/D conversion and acquired by the pull pressure sensor in real time, the system carries out fuzzy PID algorithm calculation, the specific process is the same as the above, and finally the output is obtained, the central processing unit controls the first motor driver and the second motor driver to generate corresponding current with time sequence control to drive the first driving motor and the second driving motor so as to control the horizontal position of the sliding table, when the three-dimensional coordinate of the system tends to be stable, the central processing unit controls the fourth motor driver to output the sequential control current to drive the fourth driving motor, and finally the (constant temperature) action output of the abdomen-rubbing bionic hand is realized.

The invention has the beneficial effects that:

the four-degree-of-freedom abdomen-rubbing movement bionic manipulator around the Shenque point based on the channel point therapy is driven by the stepping motor, the output rotating speed and the torque can be well controlled and standardized, and the problem that the frequency and the strength of an abdomen-rubbing manipulation are reduced due to fatigue possibly generated during manual operation is solved; the invention realizes the accurate simulation of the abdomen kneading manipulation, and the precise simulation comprises the specification and reappearance of some key elements in the manipulation, such as the inclination angle, the pressing strength, the action range and the like, thereby solving the problem that the traditional manual work needs long-time training and practice to meet the requirements of the expert manipulation standard; the abdomen kneading manipulation device is simple in structure, easy to install, convenient to transport and store and simple to operate, provides great convenience and possibility for popularization and propaganda of traditional Chinese medicine massage abdomen kneading manipulations, and also provides a uniform and stable device for data acquisition of scientific and rigorous exploration experiments on action mechanisms of the abdomen kneading manipulations to realize the experiment process so as to acquire convincing experiment data and results, lays a solid foundation for the traditional Chinese medicine massage to go out of the country and go to the world, and makes an important contribution; the invention has simple part design, less machining procedures, large material output and lower production cost, and the mechanism has certain strength, can keep no deformation in long-term and high-strength use, ensures the precision and speed of the action and ensures the high reduction of the standard action. The intelligent massage machine has higher intelligent simulation degree, adopts various displacement sensors and force sensors to acquire a large amount of displacement and force data, feeds back signals to the stepping motor after processing through the external control center so as to accurately position and output motion of the machine in real time, and carries out constant temperature control on the electric heating wire through the temperature sensor so as to simulate the temperature of human hands and bring more perfect experience to a massage object.

Drawings

Fig. 1 is a schematic view of a connection structure of a sliding table and a positioning frame according to the present invention.

Fig. 2 is a schematic view of the internal structure of the bionic manipulator.

Fig. 3 is a schematic view of the overall structure of the bionic manipulator.

Fig. 4 is an exploded view of a driving mechanism connected to a fourth driving motor according to the present invention.

Fig. 5 is a bottom view of the massage vibration plate according to the present invention.

Fig. 6 is a block diagram of a connection relationship structure of the controller according to the present invention.

Fig. 7 is a schematic diagram of the operation principle of the controller according to the present invention.

The labels in the above figures are as follows:

1. sliding table 2, positioning frame 3, massage vibration plate 4, controller 5 and first screw rod

6. Second screw 7, first spout 8, second spout 9, first driving motor

10. A second driving motor 11, a third screw 12 and a third driving motor

13. Fourth driving motor 14, support cover 15, slide block 16, guide rail 17 and base

18. First guide rod 19, second guide rod 20, first laser range finder

21. A second laser range finder 22, a stay wire range finder 23 and a first output shaft

24. Second output shaft 25, inclination angle transmission block 26, cross bar 27, sliding sleeve 28 and sliding rod

29. Support rod 30, power supply 31, temperature sensor 32 and tension pressure sensor

33. A CPU 34, a first motor driver 35, a second motor driver

36. A third motor driver 37, a fourth motor driver.

Detailed Description

Please refer to fig. 1 to 7:

the invention provides a bionic manipulator with four degrees of freedom for abdomen rubbing motion around a Shenque acupoint based on a meridian acupoint therapy, which comprises a sliding table 1, a positioning frame 2, a massage vibration plate 3 and a controller 4, wherein the sliding table 1 is assembled in an installation opening at the center of the positioning frame 2, a first screw 5 and a second screw 6 are screwed in the sliding table 1, the first screw 5 and the second screw 6 are vertically staggered and screwed in the sliding table 1 in a vertical direction, first sliding grooves 7 are symmetrically formed in the side walls of the left side and the right side of the positioning frame 2, two ends of the first screw 5 are respectively pivoted in first sliding grooves 7 of the left side and the right side of the positioning frame 2, two ends of the first screw 5 can slide in the first sliding grooves 7 of the left side and the right side of the positioning frame 2, second sliding grooves 8 are symmetrically formed in the side walls of the front side and the rear side of the positioning frame 2, two ends of the second screw 6 are respectively pivoted in second sliding grooves 8 of, two ends of a second screw rod 6 can slide in second sliding grooves 8 at the front side and the rear side of a positioning frame 2, one end of the first screw rod 5 is connected with a first driving motor 9, the first driving motor 9 drives the first screw rod 5 to rotate, the sliding table 1 is driven to move left and right in the rotating process of the first screw rod 5, one end of the second screw rod 6 is connected with a second driving motor 10, the second driving motor 10 drives the second screw rod 6 to rotate, the sliding table 1 is driven to move front and back in the rotating process of the second screw rod 6, a third screw rod 11 is screwed on the side wall at one side of the positioning frame 2, one end of the third screw rod 11 is connected with a third driving motor 12, the third driving motor 12 drives the third screw rod 11 to rotate, the positioning frame 2 and the sliding table 1 are driven to move up and down in the rotating process of the third screw rod 11, a fourth driving motor 13 is pivoted at the central part of the sliding table 1, and a driving mechanism is connected, the massage vibration plate 3 is assembled at the bottom end of the driving mechanism, the fourth driving motor 13 drives the massage vibration plate 3 to vibrate and massage through the driving mechanism, the first driving motor 9, the second driving motor 10, the third driving motor 12 and the fourth driving motor 13 are all connected with the controller 4, and the first driving motor 9, the second driving motor 10, the third driving motor 12 and the fourth driving motor 13 are controlled by the controller 4 to work.

Slip table 1 and locating rack 2 all assemble in supporting cover 14, and controller 4 assembles on the top of supporting cover 14, still is equipped with slider 15 on the lateral wall of locating rack 2, is provided with guide rail 16 on the supporting cover 14 inner wall of corresponding slider 15 position, and slider 15 joint is in the spout of guide rail 16, and slider 15 can reciprocate in the spout of guide rail 16, and third driving motor 12 also links firmly on the inner wall of supporting cover 14 through base 17.

First guide rods 18 are arranged in the sliding table 1 in a penetrating mode in parallel with the first screw rods 5 on the same horizontal plane as the first screw rods 5, the sliding table 1 can slide along the first guide rods 18, two ends of each first guide rod 18 are also pivoted in the first sliding grooves 7 on the left side and the right side of the positioning frame 2, two ends of each first guide rod 18 can slide in the first sliding grooves 7 on the left side and the right side of the positioning frame 2, second guide rods 19 are arranged in the sliding table 1 in a penetrating mode in parallel with the second screw rods 6 on the same horizontal plane as the second screw rods 6, the sliding table 1 can slide along the second guide rods 19, two ends of each second guide rod 19 are also respectively pivoted in the second sliding grooves 8 on the front side and the rear side of the positioning frame 2, and two ends of each second guide rod 19 can slide in the second sliding grooves 8 on the front side and the.

Be equipped with first laser range finder 20 and second laser range finder 21 on the lateral wall of the adjacent both sides of locating rack 2 respectively, still be equipped with on the lateral wall of the 2 front ends of locating rack and act as go-between distancer 22, first laser range finder 20, second laser range finder 21 and the distancer 22 of acting as go-between are all connected with controller 4, first laser range finder 20, second laser range finder 21 and the distancer 22 of acting as go-between can give controller 4 with the displacement data real-time transmission of slip table 1 and locating rack 2 of gathering, controller 4 is according to first laser range finder 20, the first driving motor 9 of displacement data control that second laser range finder 21 and the distancer 22 of acting as go-between transmitted, the work of second driving motor 10 and third driving motor 12.

The first drive motor 9, the second drive motor 10, the third drive motor 12 and the fourth drive motor 13 are all stepping motors.

The driving mechanism connected to the transmission shaft of the fourth driving motor 13 comprises a first output shaft 23 and a second output shaft 24, wherein the top end of the first output shaft 23 is connected to the transmission shaft of the fourth driving motor 13, the bottom end of the first output shaft 23 is pivoted to one end of an inclination angle transmission block 25, the top end of the second output shaft 24 is pivoted to the other end of the inclination angle transmission block 25, the bottom end of the second output shaft 24 is connected to a cross rod 26, two ends of the cross rod 26 are respectively provided with a sliding sleeve 27, the sliding sleeves 27 at two ends of the cross rod 26 are respectively sleeved on two sliding rods 28, the sliding sleeves 27 can slide up and down on the sliding rods 28, the top ends of the two sliding rods 28 are fixed to the bottom of the sliding table 1, the lower part of the second output shaft 24 is fixedly connected to two support rods 29, the bottom ends of the two support rods 29 are fixed to the top surface of the massage vibration, The second output shaft 24 and the two support rods 29 drive the massage vibration plate 3 to perform vibration massage, and the central axis of the first output shaft 23 is assembled corresponding to the central part of the cross rod 26.

An electric heating wire is assembled on the massage vibration plate 3 to heat the massage vibration plate 3, the electric heating wire is connected with a power supply 30 in the controller 4 and is provided with electric power by the power supply 30, the bottom of the massage vibration plate 3 is assembled with a temperature sensor 31 and a pulling pressure sensor 32, the temperature sensor 31 and the pulling pressure sensor 32 are connected with the controller 4, the temperature sensor 31 and the pulling pressure sensor 32 can transmit collected data to the controller 4 in real time, the controller 4 controls the power supply 30 to provide electric power for the electric heating wire on the massage vibration plate 3 according to the transmission data of the temperature sensor 31, and the controller 4 controls the fourth driving motor 13 to work according to the data transmitted by the pulling pressure sensor 32.

The controller 4 is composed of a central processor 33, a power supply 30, a first motor driver 34, a second motor driver 35, a third motor driver 36 and a fourth motor driver 37, the central processor 33 is respectively connected with the power supply 30, the first motor driver 34, the second motor driver 35, the third motor driver 36 and the fourth motor driver 37 and controls the work of the power supply 30, the first motor driver 34, the second motor driver 35, the third motor driver 36 and the fourth motor driver 37, the power supply 30 is also connected with the first motor driver 34, the second motor driver 35, the third motor driver 36 and the fourth motor driver 37 and provides power for the first motor driver 34, the second motor driver 35, the third motor driver 36 and the fourth motor driver 37, the central processor 33 is composed of a PLC, the central processor 33 is also respectively connected with the first laser range finder 20, The second laser range finder 21, the pull-wire range finder 22, the temperature sensor 31 and the pull pressure sensor 32 are connected, the first laser range finder 20, the second laser range finder 21, the pull-wire range finder 22, the temperature sensor 31 and the pull pressure sensor 32 transmit collected data to the central processor 33 through A/D conversion, the first motor driver 34 is connected with the first driving motor 9 and controls the work of the first driving motor 9, the second motor driver 35 is connected with the second driving motor 10 and controls the work of the second driving motor 10, the third motor driver 36 is connected with the third driving motor 12 and controls the work of the third driving motor 12, and the fourth motor driver 37 is connected with the fourth driving motor 13 and controls the work of the fourth driving motor 13.

The first driving motor 9, the second driving motor 10, the third driving motor 12, the fourth driving motor 13, the first laser distance meter 20, the second laser distance meter 21, the wire-drawing distance meter 22, the temperature sensor 31, the wire-drawing pressure sensor 32, the central processing unit 33, the power supply 30, the first motor driver 34, the second motor driver 35, the third motor driver 36 and the fourth motor driver 37 are all assembled in the existing equipment, and therefore specific models and specifications are not described in detail.

The working principle of the invention is as follows:

the invention provides a bionic manipulator with four degrees of freedom and abdomen rubbing motion around a Shenque point based on a meridian point therapy, a controller 4 instructs a power supply 30 to supply power to an electric heating wire on a massage vibration plate 3 for heating when the bionic manipulator works, a signal is transmitted to the controller 4 through a temperature sensor 31 on the massage vibration plate 3, the controller 4 carries out constant temperature control on the massage vibration plate 3, at the moment, a first driving motor 9 and a second driving motor 10 operate to control the massage vibration plate 3 to recover an initial position, a fourth driving motor 13 operates at a low speed, a pulling pressure sensor 32 on the massage vibration plate 3 collects pressure data and transmits the pressure data to the controller 4, the controller 4 analyzes a pressure data peak value, compares the pressure data peak value with a preset pressure peak value and feeds back a processed signal to a third driving motor 12, and a wire drawing distance meter 22 collects longitudinal displacement information of a sliding table 1 and a positioning frame 2 in real time and feeds, the controller 4 longitudinally positions the positioning frame 2, the controller 4 analyzes the peak difference of two groups of pressure data and feeds control signals back to the first driving motor 9 and the second driving motor 10, the first laser range finder 20 and the second laser range finder 21 record real-time displacement information of the first driving motor 9 and the second driving motor 10 and feed the real-time displacement information back to the controller 4, the controller 4 positions the sliding table 1, the controller 4 controls the peak difference of the two groups of pressure data within a required range, the fourth driving motor 13 increases the power to the working rotating speed, the first output shaft 23, the inclination angle transmission block 25 and the second output shaft 24 control the rotation of the massage vibration plate 3, so that the massage vibration plate 3 can maintain the angle between the long axis and the plane formed by the two slide bars 28 to change in a reciprocating manner within a certain range while changing the inclination angle, and standard, The lasting abdomen kneading manipulation is accurate and stable in output.

The specific operation of the controller 4 is as follows:

the vertical displacement of the first and third driving motors 12 is controlled by the central processor 33 in the controller 4 in a closed loop manner, firstly, the system is initialized, the peak value of the pressure required by the system is set, compared with the pressure peak value signal acquired by the pulling pressure sensor 32 on the massage vibration plate 3 in real time and obtained by A/D conversion, although the theoretical value of the control error is 0, the system can be determined to meet the control requirement according to practical experience and practical situation as long as the current time error is within the allowable range, when the error exceeds the allowable range, the system performs fuzzy PID algorithm calculation, except for the known current time error e (k), the error change rate (ec) e (k) -e (k-1) is calculated and used as the input of the controller 4, and the current time error is assigned to the previous time, namely e (k) e (k-1), then the fuzzification controller 4 inputs e (k), ec (k) and carries out fuzzy setting on the parameters delta Kp, delta Ki and delta Kd, wherein the delta Kp, the delta Ki and the delta Kd are correction parameters for eliminating the deviation of the PID control proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd respectively, then current values Kp, Ki and Kd of the PID control parameters are obtained based on the superposition of initial values, finally control signal output is obtained, and the central processing unit 33 controls the third motor driver 36 to generate current with time sequence control to drive the third driving motor 12 to maintain the mechanism at a stable height.

The horizontal displacement executed and output by the second and

first driving motors

9 and 10 is also closed-loop controlled by the central processing unit 33 in the controller 4, firstly, the initial setting is carried out, namely, the data peak value deviation of the pull pressure sensor 32 is in an allowable range, the data peak value deviation is compared with the pressure peak value signal deviation obtained by A/D conversion and acquired in real time by the pull pressure sensor 32, the system carries out fuzzy PID algorithm calculation, the specific process is the same as the above, and finally, the output is obtained, the central processing unit 33 controls the first motor driver 34 and the second motor driver 35 to generate corresponding currents with time sequence control to drive the first driving motor 9 and the second driving motor 10 so as to control the horizontal position of the sliding table 1, when the three-dimensional coordinate of the system tends to be stable, the central processing unit 33 controls the fourth motor driver 37 to output the time sequence control current to drive the fourth driving motor 13, finally, the (constant temperature) action output of the abdomen-kneading bionic hand is realized.

Claims

1. A four-degree-of-freedom bionic manipulator capable of rubbing abdomen around a Shenque point based on a channel point therapy is characterized in that: the massage vibration table comprises a sliding table, a positioning frame, a massage vibration plate and a controller, wherein the sliding table is assembled in an installation opening in the center of the positioning frame, a first screw rod and a second screw rod are screwed in the sliding table in a vertical direction in a vertically staggered manner, first sliding grooves are symmetrically formed in the side walls of the left side and the right side of the positioning frame, two ends of the first screw rod are respectively pivoted in the first sliding grooves of the left side and the right side of the positioning frame, two ends of the first screw rod can slide in the first sliding grooves of the left side and the right side of the positioning frame, second sliding grooves are symmetrically formed in the side walls of the front side and the rear side of the positioning frame, two ends of the second screw rod are respectively pivoted in the second sliding grooves of the front side and the rear side of the positioning frame, two ends of the second screw rod can slide in the second sliding grooves of the front side and the rear side of the positioning frame, one end of the first screw rod is, the first screw rod drives the sliding table to move left and right in the rotating process, one end of the second screw rod is connected with a second driving motor, the second driving motor drives the second screw rod to rotate, the sliding table is driven to move back and forth in the rotating process of the second screw rod, a third screw rod is screwed on the side wall on one side of the positioning frame, one end of the third screw rod is connected with a third driving motor, the third driving motor drives the third screw rod to rotate, the positioning frame and the sliding table are driven to move up and down in the rotating process of the third screw rod, a fourth driving motor is pivoted at the central part of the sliding table, a driving shaft of the fourth driving motor is connected with a driving mechanism, a massage vibration plate is assembled at the bottom end of the driving mechanism, the fourth driving motor drives the massage vibration plate through the driving mechanism to carry out vibration massage, and the first driving motor, the second driving motor, the third driving motor and the fourth driving motor, the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are controlled by the controller to work.

2. The four-degree-of-freedom rubbing motion bionic manipulator around the Shenque acupoint based on the acupoint therapy as claimed in claim 1, wherein: slip table and locating rack all assemble in supporting the cover, the controller assembly is on the top of supporting the cover, still is equipped with the slider on the lateral wall of locating rack, is provided with the guide rail on the support cover inner wall that corresponds the slider position, the slider joint is in the spout of guide rail, the slider can reciprocate in the spout of guide rail, third driving motor links firmly on the inner wall of supporting the cover through the base yet.

3. The four-degree-of-freedom rubbing motion bionic manipulator around the Shenque acupoint based on the acupoint therapy as claimed in claim 1, wherein: the slip table in wear to be equipped with first guide bar with first screw rod parallel on the same horizontal plane with first screw rod, the slip table can slide along first guide bar, the both ends of first guide bar also pin joint respectively is in the first spout of locating rack left and right sides, the both ends of first guide bar can slide in the first spout of locating rack left and right sides, wear to be equipped with the second guide bar with second screw rod parallel on the same horizontal plane of second screw rod in the slip table, the slip table can slide along the second guide bar, the both ends of second guide bar also pin joint respectively in the second spout of both sides around the locating rack, the both ends of second guide bar can slide in the second spout of both sides around the locating rack.

4. The four-degree-of-freedom rubbing motion bionic manipulator around the Shenque acupoint based on the acupoint therapy as claimed in claim 1, wherein: the utility model discloses a displacement data transmission of locating rack, including locating rack, first laser range finder and second laser range finder, the lateral wall of the adjacent both sides of locating rack on be equipped with first laser range finder and second laser range finder respectively, still be equipped with the distancer of acting as go-between on the lateral wall of locating rack front end, first laser range finder, second laser range finder and the distancer of acting as go-between all are connected with the controller, first laser range finder, second laser range finder and the distancer of acting as go-between can give the controller to the slip table of gathering and the displacement data real-time transmission of locating rack, the controller is according to first laser range finder, the first driving motor of displacement data control of second laser range finder and the distancer of acting as go-between.

5. The four-degree-of-freedom rubbing motion bionic manipulator around the Shenque acupoint based on the acupoint therapy as claimed in claim 1, wherein: the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are all stepping motors.

6. The four-degree-of-freedom rubbing motion bionic manipulator around the Shenque acupoint based on the acupoint therapy as claimed in claim 1, wherein: the driving mechanism connected on the transmission shaft of the fourth driving motor comprises a first output shaft and a second output shaft, wherein the top end of the first output shaft is connected with the transmission shaft of the fourth driving motor, the bottom end of the first output shaft is pivoted at one end of the inclination angle transmission block, the top end of the second output shaft is pivoted at the other end of the inclination angle transmission block, the bottom end of the second output shaft is connected with a cross rod, two ends of the cross rod are respectively provided with a sliding sleeve, the sliding sleeves at two ends of the cross rod are respectively sleeved on the two sliding rods, the sliding sleeves can slide up and down on the sliding rods, the top ends of the two sliding rods are fixed at the bottom of the sliding table, the lower part of the second output shaft is fixedly connected with two support rods, the bottom ends of the two support rods are fixed on the top surface of the massage vibration plate, the fourth driving motor drives the massage, the central shaft of the first output shaft is assembled corresponding to the central part of the cross rod.

7. The four-degree-of-freedom rubbing motion bionic manipulator around the Shenque acupoint based on the acupoint therapy as claimed in claim 1, wherein: massage vibration board on be equipped with electric heating wire and heat for massage vibration board, electric heating wire is connected and is provided electric power by this power in with the controller, massage vibration board's bottom is equipped with temperature sensor and draws pressure sensor, temperature sensor with draw pressure sensor and be connected with the controller, temperature sensor with draw pressure sensor and can give the controller with drawing pressure sensor real-time transmission to the data of gathering, the controller provides electric power for the electric heating wire on the massage vibration board according to temperature sensor's transmission data control power, the controller is according to drawing the work of the data control fourth drive motor of pressure sensor transmission.

8. The four-degree-of-freedom bionic manipulator for rubbing abdomen around the Shenque acupoint in accordance with the acupoint therapy of claim 1 or 4, wherein: the controller consists of a central processing unit, a power supply, a first motor driver, a second motor driver, a third motor driver and a fourth motor driver, wherein the central processing unit is respectively connected with the power supply, the first motor driver, the second motor driver, the third motor driver and the fourth motor driver and controls the work of the power supply, the first motor driver, the second motor driver, the third motor driver and the fourth motor driver, the power supply is also connected with the first motor driver, the second motor driver, the third motor driver and the fourth motor driver and provides electric power for the first motor driver, the second motor driver, the third motor driver and the fourth motor driver, the central processing unit consists of a PLC, and is also respectively connected with a first laser range finder, a second laser range finder, a pull-wire range finder, a temperature sensor and a pull pressure sensor, the first laser range finder, the second laser range finder, the stay wire range finder, the temperature sensor and the pull pressure sensor transmit acquired data to the central processing unit through A/D conversion, the first motor driver is connected with the first driving motor and controls the work of the first driving motor, the second motor driver is connected with the second driving motor and controls the work of the second driving motor, the third motor driver is connected with the third driving motor and controls the work of the third driving motor, and the fourth motor driver is connected with the fourth driving motor and controls the work of the fourth driving motor.