CN114712185B

CN114712185B - Double-arm massage robot

Info

Publication number: CN114712185B
Application number: CN202210382389.5A
Authority: CN
Inventors: 苑维然; 张永杰; 唐安波; 李炜彬
Original assignee: Shenzhen Pineal Body Robot Technology Co ltd
Current assignee: Shenzhen Pineal Body Robot Technology Co ltd
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2024-03-29
Anticipated expiration: 2042-04-12
Also published as: CN114712185A

Abstract

A dual arm massage robot comprising: left massage arm and right massage arm, wherein, the front end of every massage arm is provided with corresponding massage hand, and the flexible touch sensor of every massage hand includes: a double-layer flexible layer structure formed by a bionic epidermis layer and a dermis layer, a camera and a light source; wherein: the camera is used for capturing deformation of the double-layer flexible layer structure; the double-layer flexible layer structure is based on a material with light transmittance and softness, wherein the surface layer comprises a reflecting layer to assist the camera to capture light emitted by the light source to the double-layer flexible layer structure and reflected back to the camera, so that deformation of the double-layer flexible layer structure is sensed. Therefore, the massage physiotherapy device mainly realizes a more anthropomorphic massage physiotherapy function through the combination of the innovative flexible touch sensor and the robot movement device.

Description

Double-arm massage robot

Technical Field

The disclosure relates to robots and sensor technology, and in particular to a double-arm massage robot.

Background

Haptic, in contrast to vision, is another important perceptual form of robot acquisition of environmental information, which is an essential medium for its realization to directly interact with the environment. Unlike vision, the haptic sensation itself determines a strong sensitivity.

With the growing attention of people to health, a new development opportunity of the massage robot appears. How to integrate the sensor technology and the robot technology, thereby better realizing the massage robot in the anthropomorphic health physiotherapy field, and becoming the technical problem to be solved by the massage robot.

Disclosure of Invention

In order to solve the above technical problem, the present disclosure discloses a double-arm massage robot, comprising:

left massage arm and right massage arm, wherein, the front end of every massage arm is provided with corresponding massage hand, and every massage hand includes:

an X-axis component, a Y-axis component and a Z-axis component, wherein,

the X-axis component extends along the X-axis direction and is orthogonal to the Y-axis component at the extending end of the X-axis component; the Z-axis assembly is arranged at the orthogonal position of the X-axis assembly and the Y-axis assembly along the Z-axis direction;

the Z axle subassembly is Z axle wrist module, Z axle wrist module includes: wrist end, driving mechanism and wrist front end;

wherein,

the Z-axis wrist module is connected to the orthogonal position of the X-axis assembly and the Y-axis assembly through the wrist tail end, and the front end of the wrist is driven by the driving mechanism to realize at least three degrees of freedom motion;

a flexible tactile sensor is disposed on the front end of the wrist, the flexible tactile sensor comprising:

A double-layer flexible layer structure formed by a bionic epidermis layer and a dermis layer, a camera and a light source; wherein:

the camera is used for capturing deformation of the double-layer flexible layer structure;

the double-layer flexible layer structure is based on a material with light transmittance and softness, wherein the surface layer comprises a reflecting layer to assist the camera to capture light emitted by the light source to the double-layer flexible layer structure and reflected back to the camera, so that deformation of the double-layer flexible layer structure is sensed.

Preferably, the method comprises the steps of,

the massage robot comprises a seat and a sliding rail arranged at the rear part of the seat, wherein,

the left massage arm and the right massage arm are both arranged on the sliding rail, so that the left massage arm and the right massage arm move in an XY plane under the drive of the sliding rail.

Preferably, the method comprises the steps of,

the left massage arm and the right massage arm can move away from each other along the transverse direction on the sliding rail, and can also move close to each other along the transverse direction.

Preferably, the method comprises the steps of,

the left massage arm and the right massage arm do motion away from each other along the transverse direction or do motion close to each other along the transverse direction on the X-axis bidirectional slide rail.

Preferably, the method comprises the steps of,

the two ends of the X-axis bidirectional slide rail are arranged in the corresponding Y-axis left slide rail and Y-axis right slide rail so as to longitudinally move in the Y direction.

Preferably, the method comprises the steps of,

the X-axis bidirectional slide rail comprises:

two fixing plates (3);

a piece of magnetism that bears two fixed plates (3) inhale piece (4) to and crossbeam (15), wherein, still include between piece (4) and crossbeam (15) are inhaled to magnetism:

two first connecting plates (20) which are positioned below the magnetic attraction piece (4) and correspond to the two fixing plates (3);

two parallel belts (19) located under the two first connection plates (20);

two guide rails (16) that cooperate with the two belts (19);

two second connection plates (17) located on the two guide rails (16) and the two second connection plates (17) are matched with the corresponding two first connection plates (20);

two sliders (18) are located below each second connection plate (17).

Preferably, the method comprises the steps of,

in X axle two-way slide rail both ends, each end includes:

-a fixed block (5) comprising: a rotating shaft (6), and three bearings (7), a first belt pulley (8) and a second belt pulley (9) which are arranged on the rotating shaft (6); the first belt pulley and the second belt pulley are respectively used for being matched with corresponding belts in the X-axis bidirectional slide rail;

the first fixing plate (10) is positioned below the fixing block (5) and is connected with the upper fixing block (5) through the plane of the first fixing plate, and the first fixing plate (10) is provided with a side elevation relative to the plane of the first fixing plate;

A second planar fixing plate (11) connected by a side elevation of the first fixing plate (10);

a motor (13) positioned above the second plane fixing plate (11), wherein the motor (13) and the rotating shaft (6) establish a transmission relation through a connector (14) connected with one end of the motor;

the motor (13) is connected by its other end to a third planar fixing plate (12), wherein the third planar fixing plate (12) is connected perpendicularly to the second planar fixing plate (11).

Preferably, the method comprises the steps of,

the side elevation of the first fixing plate (10) is positioned below the plane of the first fixing plate.

Preferably, the method comprises the steps of,

any massage arm comprises at least two joints.

Preferably, the method comprises the steps of,

and motors are respectively arranged at one ends of the left Y-axis sliding rail and the right Y-axis sliding rail.

In this way, the massage robot with the innovative structure is realized, and the more anthropomorphic massage physiotherapy function is realized mainly through the combination of the innovative flexible touch sensor and the robot movement device.

Drawings

FIG. 1 is an overall schematic of a massage robot in one embodiment of the disclosure;

FIG. 2 is a schematic view of the respective structures of a massage robot in one embodiment of the present disclosure;

FIG. 3 is a schematic view of a left and right massage arm and an X-axis bi-directional slide of a massage robot in one embodiment of the disclosure;

FIG. 4 is a schematic view of components of a slide rail of a massage robot in one embodiment of the disclosure;

FIG. 5 is a schematic view of a flexible tactile sensor light path for a massage hand in one embodiment of the present disclosure;

FIG. 6 is a schematic top view of the optical path of the flexible tactile sensor of the massage hand of FIG. 5;

FIG. 7 is a schematic diagram of a prior art touch sensor;

8A-8B are exploded and assembled views of a three degree of freedom Z-axis wrist assembly in one embodiment of the present disclosure;

9A-9B are exploded and assembled schematic views of a four degree-of-freedom Z-axis wrist assembly in one embodiment of the present disclosure;

FIG. 10 is a schematic view of a prior art manipulator;

FIG. 11 is a schematic view of the structure of a massage hand in one embodiment of the present disclosure;

FIG. 12 is a schematic structural view of a flexible tactile sensor of a massage hand in one embodiment of the present disclosure;

FIG. 13A is a schematic view of the optical path of binocular camera in one embodiment of the present disclosure;

FIG. 13B is a schematic view of the optical path of a binocular camera of the prior art;

fig. 14 is a schematic structural view of 3 flexible tactile sensors disposed at a front end of a wrist of a massage hand in another embodiment of the present disclosure.

Detailed Description

In order for those skilled in the art to understand the technical solutions disclosed in the present disclosure, the technical solutions of the respective embodiments will be described below with reference to the embodiments and the related fig. 1 to 14, where the described embodiments are some embodiments, but not all embodiments of the present disclosure. The terms "first," "second," and the like, as used in this disclosure, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, "including" and "having" and any variations thereof are intended to cover and not be exclusive inclusion. For example, a process, or method, or system, or article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, system, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present disclosure. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will appreciate that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1, in one embodiment, the present disclosure discloses a dual arm version massage robot comprising:

an X-axis component, a Y-axis component and a Z-axis component, wherein,

wherein,

For the above embodiments, a massage robot combining a flexible touch sensor and a double-arm technology is innovatively proposed, and the innovations are mainly represented by the following points:

first, innovatively embody be provided with in massage hand's wrist front end: a tactile sensor having a dual flexible layer structure. It can be appreciated that for the massage hand it is more like a human hand, including the epidermis and dermis layers. The surface layer is used for contacting with the contact surface, the surface layer not only provides touch handfeel (remark: it can be understood that different levels of touch handfeel can be provided by selecting materials or designing materials of the surface layer), but also is provided with the reflecting layer so that light rays along the surface layer and the surface layer are reflected, and then enter the camera along the directions of the surface layer and the surface layer; for example, a silver pigment is mixed on one surface of the inner part of the surface skin layer at one side close to the surface skin layer to serve as a reflecting layer so as to assist the camera to capture the deformation of the double-layer flexible layer structure; of course, silver pigment can be mixed or smeared on the outer surface of the surface layer or the inner surface of the outer surface of the surface layer as a reflecting layer, wherein when the silver pigment is mixed or smeared on the outer surface, the requirements on wear resistance and durability of the reflecting layer are high;

Secondly, as the double-layer flexible layer structure is a bionic epidermis layer-dermis layer, the double-layer flexible layer structure can physically imitate human skin, and even if a better material is adopted, the sensitivity of the human skin can be exceeded;

thirdly, because the double-layer flexible layer structure has light transmittance, when the double-layer flexible layer structure is deformed, light transmitted through the double-layer flexible layer structure changes on the light path, and the light is captured by the camera, so that the touch sensor realizes the perception of touch. Further, if the massage sensing device further includes a processor, the processor may directly process the image obtained by the camera and directly obtain specific tactile information by parsing the image;

it should be noted that, when the camera captures light, the camera can capture the deformation of the double-layer flexible layer structure not only through the skin layer of the outermost layer of the sensor, but also further through the dermis layer: when a force applied to the outer surface of the epidermis layer causes a significant deformation of the epidermis layer, the light transmitted through the epidermis layer-dermis layer of such a double-layer flexible layer structure and its optical path change, as compared to the original undeformed state, these changes are captured by the camera. That is, regarding the technical scheme of the present disclosure, the working principle thereof is as follows: because the double-layer flexible layer structure has light transmittance, when the double-layer flexible layer structure is deformed, light transmitted through the double-layer flexible layer structure changes on the light path, and the sensing of the change of the light path enables the touch sense to be realized. It can be understood that when the deformation of the double-layer flexible layer structure is sensed, the applied force can be classified and identified according to different sensed results;

Fourthly, the double-arm structure is adopted, so that the personification can be better realized; when the flexible touch sensor is further combined, rich and anthropomorphic massage physiotherapy functions can be realized.

In one embodiment of the present invention, in one embodiment,

the tactile sensor further comprises a light source;

It will be appreciated that as a result of this,

the double-layer flexible layer structure is deformed according to the flexibility of the double-layer flexible layer structure;

according to the light transmittance, the camera can capture the deformation of the double-layer flexible layer structure.

With further reference to fig. 2, in another embodiment, the robot may further comprise: the seat 2 is used for massaging the human body through the double arms.

It can be appreciated that the left and right slide rails of the Y-axis can properly exceed the shoulder width of the human body, so that lateral massage can be performed in addition to back massage when combining the massage hands with higher degrees of freedom. Naturally, when the human body is sitting on the seat not against the massage hand but facing the massage hand, the massage hand is still old and the massage of the chest has been performed. If standing on the chair, whether facing the chair back or leaning back against the chair back, the massage of the legs can also be performed. Theoretically, if the height of the chair is in accordance with the height of a human body, the massage robot can massage the back, the front and the side of the whole body.

In one embodiment of the present invention, in one embodiment,

Referring to fig. 3 and 4, in one embodiment,

the X-axis bidirectional slide rail comprises:

two fixing plates (3),

two first connecting plates (20) which are positioned below the magnetic attraction piece (4) and correspond to the two fixing plates (3),

Two parallel belts (19) under the two first connecting plates (20),

two guide rails (16) which are matched with the two belts (19),

two second connection plates (17) located on the two guide rails (16) and the two second connection plates (17) are matched with the corresponding two first connection plates (20),

two sliders (18) are located below each second connection plate (17).

In one embodiment of the present invention, in one embodiment,

in X axle two-way slide rail both ends, each end includes:

In one embodiment of the present invention, in one embodiment,

any massage arm comprises at least two joints.

In one embodiment of the present invention, in one embodiment,

Referring to fig. 5, it illustrates the theoretical total optical path of the flexible tactile sensor through the maximum optical path range on the left and right sides. In theory, the sensor is sensing-capable within this maximum optical path.

However, in consideration of the weakening of the effect of the edge, fig. 5 also illustrates the optical path of interest in practice by the range of the optical path of the actual application on the left and right sides. Fig. 6 further illustrates the actual light path of interest by way of a cutaway top view, as shown, covering a rectangular area where the effect and performance of the flexible tactile sensor is more stable.

As for the flexible tactile sensor provided at the front end of the wrist of the massage hand of the present disclosure, as described above, the working principle thereof is that: because the double-layer flexible layer structure has light transmittance, when the double-layer flexible layer structure is deformed, light transmitted through the double-layer flexible layer structure changes on the light path, so that the touch sensor can realize the perception of touch sense by sensing the change of the light path. And, for this purpose, the present disclosure discloses a flexible tactile sensor through the above-described embodiments.

In a further embodiment of the present invention,

the coating described in this disclosure may be a white coating, or a black coating, or a multiple hand composite coating, or a silver coating, or a gray coating.

It should be noted that the massage hand disclosed in the present disclosure has significant differences from the solutions in the prior art in terms of the bionic and the above working principles.

Taking CN108446042a as an example, it discloses a capacitive touch sensor, which is characterized in that: the touch sensor comprises a plurality of sensor units, each sensor unit comprises 4 multifunctional layers, each multifunctional layer comprises a corresponding area, and the 4 multifunctional layers form two capacitors C1 and C2; two layers of electrodes are arranged in each multifunctional layer, the upper layer is a cross-shaped common electrode, the lower layer is 4 independent electrodes corresponding to the upper layer of the cross-shaped common electrode, and the cross-shaped common electrode and the 4 independent electrodes form 4 parallel plate capacitors; the cross-shaped common electrode is connected with an excitation signal, and the independent electrode is connected with an analog-digital conversion circuit.

Fig. 7 illustrates the working principle of a capacitive touch sensor according to the prior art, as described in the specification [ 0081 ]: as shown in the figure, the SPI bus selects a sensor unit of a measurement state to be marked as 0 through address bits; the sensor cells for which no address bits are designated are marked as X-grounded shields and thus do not cause cross-talk to the selected sensor cells. The selected sensor unit, 4 of which multiple functional layers form 2 capacitors for realizing the tactile function, has excitation signals coming from the inside of the sensor unit. When the sensor unit is used as a grounding shielding unit, 4 multifunctional layers of the sensor unit are grounded at the same time, and the size of the shielding area, namely the number of the units which are grounded and shielded, can be selected according to actual needs. When the sensor unit is used as a grounding shielding unit, the multifunctional layers of the sensor unit temporarily lose the function of touch sense, but the unit for three-dimensional force measurement inside each multifunctional layer is still in a normal working state so as to ensure that the sensor unit still has the functions of pressure sense and slip sense. Since the 4 multifunctional layers of the unselected sensor units are all grounded, no crosstalk is caused to the adjacent selected unit.

It is apparent that the above prior art is a touch sensor constructed based entirely on the principle of capacitive touch with electronic components, which does not have any physical simulation function, and cannot be used to implement the massage hand with flexible tactile sensor disclosed in the present disclosure. It can be appreciated that the biomimetic epidermis-dermis layers of the massage hand disclosed in the present disclosure enable anthropomorphic flexible tactile sensing.

In a further embodiment of the present invention,

the Z-axis wrist module includes a total of 4 holders 1 to 4 connected to each other, wherein,

the wrist end comprises a support 1, and the support 1 comprises only 1 plane for connecting the Y-axis assembly and closest to the Y-axis assembly; the support 2, the support 3 and the support 4 are sequentially far away from the Y-axis assembly;

the front end of the wrist comprises a bracket 4, and the flexible touch sensor is arranged on the bracket 4;

under the action of the driving mechanism, the Z-axis wrist module drives the front end of the wrist to realize three-degree-of-freedom motion through the tail end of the wrist, the bracket 2 and the bracket 3.

It will be appreciated that the above embodiments provide a three degree of freedom massage hand of relatively simple construction.

More specifically, referring to fig. 8A, in another embodiment,

the driving mechanism comprises a motor 1, a motor 2 and a motor 3, wherein the total number of the motors is 3;

The bracket 1 comprises only one plane;

the support 2 comprises only two planes parallel and at different heights;

a support 3, a support 4, each comprising only 2 mutually perpendicular planes;

in the motors 1, 2 and 3, the top surface and the bottom surface of each motor are respectively arranged on one plane of different 2 brackets, and 4 brackets are connected through 3 motors.

It can be seen that fig. 8A illustrates 3 motors and 4 brackets by means of an exploded view, and fig. 8B illustrates the assembly relationship of 3 motors and 4 brackets by means of an assembled schematic view.

For a three degree of freedom massage hand:

in a further embodiment of the present invention,

the first plane and the second plane in the support 2 are substantially mirror-symmetrical in shape, except at different heights.

In a further embodiment of the present invention,

the second plane P2 in the holder 3 is perpendicular to each other in the direction of the extension of one side of its first plane P1.

In a further embodiment of the present invention,

the second plane P2 of the support 4, on one side of its first plane P1, is perpendicular to each other.

In a further embodiment of the present invention,

both planes in the brackets 2, 3 comprise curved side surfaces.

In a further embodiment of the present invention,

only one plane of the bracket 4 includes an arcuate side surface.

In a further embodiment of the present invention,

each motor is cylindrical in shape having first and second bottom surfaces.

In a further embodiment of the present invention,

the arcuate side surfaces are for the sides of the electrode corresponding to the cylindrical shape.

In a further embodiment of the present invention,

the bottom side of the plane of the bracket 1 is used for connecting with a Y-axis assembly;

the shaft at the first bottom surface of the motor 1 is arranged at the top side of the plane of the bracket 1, and the shaft at the second bottom surface of the motor 1 is arranged below the first plane of the bracket 2;

on the second plane of the bracket 2, a shaft at the first bottom surface of the motor 2 is mounted thereon;

a shaft at the second bottom surface of the motor 2 is arranged on a first plane P1 of the bracket 3, wherein the first plane P1 of the bracket 3 is parallel to and opposite to a second plane of the bracket 2;

and, the motor 1 and the motor 2 represent the central axes of two cylinders, and the extension lines of the two are in parallel relation.

In a further embodiment of the present invention,

a shaft at the first bottom surface of the motor 3, mounted on the second plane P2 of the bracket 3;

a shaft at the second bottom surface of the motor 3 is mounted on a second plane P2 of the bracket 4, wherein the second plane P2 of the bracket 4 is parallel to and opposite to the second plane P2 of the bracket 3; and the first plane P1 of the bracket 4 is provided with the flexible touch sensor;

And, for the central axes of the respective cylinders represented by the motors 1, 2, 3,

the central axis is between the two bottom surfaces of the respective cylinders,

for the midpoint O1 of the central axis of the motor 1, the midpoint O2 of the central axis of the motor, the midpoint O3 of the central axis of the motor 3,

the straight line O1O2 and the unique plane of the bracket 1 form an oblique inclination angle;

the straight line O2O3 is in parallel relation with the only plane of the bracket 1;

and, the line O1O2 is substantially or entirely perpendicular to the line O2O3.

In a further embodiment of the present invention,

the Z-axis wrist module includes first to fifth 5 holders connected to each other, wherein,

the wrist end comprises a first support, and the first support only comprises 1 plane, is used for connecting the Y-axis component and is closest to the Y-axis component; the second, third, fourth and fifth brackets are sequentially far away from the Y-axis assembly;

the front end of the wrist comprises a fifth bracket, and the flexible touch sensor is arranged on the fifth bracket;

under the action of the driving mechanism, the Z-axis wrist module drives the front end of the wrist to realize four-degree-of-freedom motion through the tail end of the wrist and the second to fourth brackets.

It will be appreciated that the above embodiments provide a four degree of freedom massage hand of relatively simple construction.

More specifically, referring to fig. 9A, in another embodiment,

The driving mechanism includes first to fourth 4 motors;

the first bracket comprises only one plane;

second to fourth brackets each including only 2 planes perpendicular to each other;

the first to fourth 4 motors, the top and bottom surfaces of each motor are respectively arranged on one plane of the different 2 brackets, and 5 brackets are connected through the 4 motors.

It can be seen that fig. 9A illustrates 4 motors and 5 brackets by means of an exploded view, and fig. 9B illustrates the assembly relationship of 4 motors and 5 brackets by means of an assembled schematic view.

Seemingly, the structure of the massage hand disclosed in the above embodiment does not appear to be prominent, but can be found in comparison with the structure of the manipulator of the prior art CN104942789B, which is an issued patent shown in fig. 10:

in this prior art, the structure of the four-degree-of-freedom massage hand illustrated in the drawings is quite complex, involving not only a plurality of shafts but also a plurality of arms, each of which is connected by a corresponding shaft.

In contrast, the above-described embodiments of the present disclosure only require a few brackets having 2 vertical planes and a corresponding plurality of motors to directly connect the respective brackets by the motors. This means that the motor in the above embodiment has not only the function of the drive mechanism but also the function of the connecting piece in cooperation with a bracket having only 2 vertical planes.

For a four degree of freedom massage hand:

in a further embodiment of the present invention,

the second plane P2 of the support 2, on one side of its first plane P1, is perpendicular to each other.

In a further embodiment of the present invention,

the brackets 3, 4 are substantially mirror symmetrical in shape.

In a further embodiment of the present invention,

the second plane P2 in the support 4 is perpendicular to each other in the direction of the extension of one side of its first plane P1.

In a further embodiment of the present invention,

both planes in the brackets 2, 3 comprise curved side surfaces.

In a further embodiment of the present invention,

only one plane of the bracket 4 includes an arcuate side surface.

In a further embodiment of the present invention,

each motor is cylindrical in shape having first and second bottom surfaces.

With further reference to fig. 9A, in another embodiment,

the bottom side of the plane of the first bracket is used for connecting with the Y-axis assembly;

the shaft at the first bottom surface of the first motor is arranged at the top side of the plane of the first bracket, and the shaft at the second bottom surface of the first motor is arranged below the first plane P1 of the second bracket;

A shaft at the first bottom surface of the second motor is mounted on a second plane P2 facing the second bracket above the first plane P1 of the second bracket;

a shaft at the second bottom surface of the second motor is arranged on a second plane P2 of the third bracket, wherein the second plane P2 of the third bracket is parallel to and opposite to the second plane P2 of the second bracket;

and the two extended lines of the two cylinders represented by the first motor and the second motor intersect at a point P and are in vertical relation.

In a further embodiment of the present invention,

a shaft at the first bottom surface of the third motor, mounted on a first plane P1 of the third bracket;

a shaft at the second bottom surface of the third motor is arranged on the first plane P1 of the fourth bracket, wherein the first plane P1 of the third bracket is parallel to and opposite to the first plane P1 of the fourth bracket;

and, for the central axes of the cylinders represented by the first motor, the second motor and the third motor,

for the midpoint O1 of the central axis of the first motor, the midpoint O2 of the central axis of the motor, the midpoint O3 of the central axis of the third motor,

The straight line O1O2 is in vertical relation with the unique plane of the first bracket;

the straight line O2O3 is in parallel relation with the unique plane of the first bracket;

and the line O1O2 is substantially or entirely perpendicular to the line O2O3.

In a further embodiment of the present invention,

a shaft at the first bottom surface of the fourth motor, mounted on the second plane P2 of the fourth bracket;

a shaft at the second bottom surface of the fourth motor is arranged on a second plane P2 of the fifth bracket, wherein the second plane P2 of the fourth bracket is parallel to and opposite to the second plane P2 of the fifth bracket; the first plane P1 of the fifth bracket is provided with the flexible touch sensor;

and, for the central axes of the cylinders represented by the second motor, the third motor and the fourth motor,

for the midpoint O2 of the central axis of the second motor, the midpoint O3 of the central axis of the third motor, the midpoint O4 of the central axis of the fourth motor,

the straight line O3O4 is in parallel relation with the unique plane of the first bracket;

and the line O2O3 is substantially or entirely perpendicular to the line O3O4.

In a further embodiment of the present invention,

The first bracket is used for ensuring the 0-360 degree freedom degree of the first motor, the shape of the bracket is not limited, and the bracket can be fixed on the Y-axis assembly;

the second bracket is used for ensuring that the second motor has 0-180 degrees of freedom in the transverse direction and the longitudinal direction;

the third bracket is used for ensuring that the third motor has 0-180 degrees of freedom in the transverse direction and the longitudinal direction;

the fourth bracket is used for ensuring that the fourth motor has 0-180 degrees of freedom in the transverse direction and the longitudinal direction.

Referring to fig. 11, in another embodiment,

the X-axis assembly comprises an X-axis motor and an X-axis belt motor module;

the Y-axis assembly includes 2 sets, each set including: y axle motor and Y axle belt motor module.

In a further embodiment of the present invention,

the flexible tactile sensor is circular or other shape.

It can be appreciated that this takes advantage of both the softness of the dual flexible layer structure in the flexible tactile sensor and the circular shape to simulate the finger belly. In addition, other shapes may be dependent on the particular application scenario.

In a further embodiment of the present invention,

the epidermis layer and the dermis layer are both made of flexible materials based on silicone rubber materials.

Typically, the silicone rubber material is a chemical silicone rubber material. The flexible material having light transmittance and flexibility may be further expanded to materials other than the silicone rubber material. Further, the epidermis layer and dermis layer may even employ flexible materials based on different materials.

In a further embodiment of the present invention,

the dermis layer has a thickness greater than the epidermis layer, preferably a thickness greater than 10mm and a thickness less than 5mm.

In a further embodiment of the present invention,

the hardness of the dermis layer is smaller than that of the epidermis layer, preferably, the hardness of the epidermis layer belongs to the Shore A hardness range, and the hardness value of the epidermis layer is larger than 15; the dermis layer has a hardness of less than 10.

In a further embodiment of the present invention,

the dermis layer is adhered to the epidermis layer by its own tackiness.

In this way, it is possible to bond the two with themselves, rather than introducing other glue. Of course, as for the edge portion after the two are bonded, since the operation of the sensor is hardly affected, if the edge portion is required to be more tightly bonded, a transparent soft adhesive can be applied to the edge or the periphery of the edge.

In a further embodiment of the present invention,

the double-layer flexible layer structure is preferably designed as a consumable flexible layer which is easy to replace.

It can be appreciated that this embodiment makes the disclosed tactile sensor for massaging hands a convenient maintenance tactile sensor, just like consumable replacement. The optical signals in the optical path are transmitted in an optical mode, and the touch sensor of the massage hand can be used for a long time and continuously as long as the performances such as the resolution of the camera are not reduced.

In a further embodiment of the present invention,

marking can be done by penetrating the inside of the dermis layer with a needle coated with pigment;

so that the deformation of the double-layer flexible layer structure is further sensed after the camera captures the deformation of the double-layer flexible layer structure when the massage hand works.

For example, the needle brush coated with pigment is used to pierce the inside of the dermis layer in batches at a time along the thickness direction of the dermis layer, and the density and the height of the stitches are set according to the density setting of the marks. It will be appreciated that the color of the pigment is for ease of sensing when post-processing the image data captured by the camera, and the present disclosure is not limited to a particular color. In theory, other directions (typically, any direction in the XYZ coordinate system) may be used instead of the thickness direction, so long as the deformation of the image data captured by the camera is sensed when the image data is processed later. It can be appreciated that even different coordinate systems can process the relevant data by coordinate transformation. The thickness direction is a preferable direction, and the thickness direction refers to a direction from the epidermis layer to the dermis layer or the opposite direction. The marks on the thickness are beneficial to analysis deformation in the later processing of the image data.

The marking is performed to solve the problem of the parameter such as the amount of displacement change due to the deformation of the flexible layer structure, or even the average speed of the displacement change from time t1 to time t 2. The key to the problem is that reference information about space needs to be contained in the image data. The thickness direction marks are preferred in this embodiment, and such marks are obviously an auxiliary information (remark: at least including information in z-direction), each having a color which is capable of creating a localized spatial information in the flexible layer structure. The marks can be used as additional space reference information, so that the problems of obtaining parameters such as displacement variation caused by deformation of the flexible layer structure, average speed in each dimension corresponding to the displacement variation and the like at the time t1 to the time t2 are solved.

Further, in the case of the implementation of the marking, between the time t1 and the time tN, whether the time t1 is the time 0 or another time, the present disclosure may further determine the contact force, or rather, at least the three-dimensional contact force (hereinafter, also referred to as the six-dimensional contact force, see later). The reason is that: when a force is applied, the deformation of the skin layer itself involves a process from time t1 to time tN and in this process, involves a plurality of intermediate times ti (i equals 2,3,4, etc.), which, if the initial position of the contact is said to be a point, will soon become a plurality of contact points and which will often accompany a change in the sense of a curved surface of the outer surface of the skin layer, then the determination of the contact force will necessarily involve a plurality of intermediate time periods of change, for example between time t2 and time t1, between time t3 and time t2, etc. For the outer surface of the skin layer this is obviously a continuous curved surface course, the force course being dynamic and involving force components in three directions XYZ. Since the mark is equivalent to introducing additional spatial information, and precisely positioning information, the present disclosure is able to determine the three-dimensional contact force during deformation of the bilayer flexible layer structure. The color points marked in the embodiment become reference points or anchor points which can be always found in the whole surface curved surface change process of the outer surface of the epidermis, and at any moment, the spatial states of all marks can be always known, and at the next moment, the spatial states of all marks can be also known. Light enters the epidermis layer from the dermis layer, passes through the reflecting layer and then enters the camera along the epidermis layer to dermis layer direction, and at time t1 to time t2, all changes serving as marks for positioning can be reflected, and the quantity of the changes and the speed of the changes have a mapping relation with the force applied to the double-layer flexible layer structure, so that the three-dimensional contact force can be obtained. Naturally, dynamic geometric deformation processes can also be determined at this time.

In addition, as long as the deformation capability of the double-layer flexible layer structure is sufficiently fine, the resolution capability of the camera has no upper limit, and in theory, the interval between the time t1 and the time t2 can be sufficiently small, and the precision can be continuously improved by solving the contact force.

In a further embodiment of the present invention,

a contour or pattern or color patch can be marked on the interior of the dermis layer by using a laser or a needle;

so that when the massage hand works, the deformation of the double-layer flexible layer structure is further sensed after the camera captures the deformation.

In contrast to the previous embodiment, the mark of this embodiment is not a dot as a mark, but a contour or a pattern or a color patch is used as a mark. It can be appreciated that the present embodiment can also sense the contact force by sensing the corresponding contour or pattern or patch, such as a circle, or other contour, or topography corresponding to a pattern, during the post-image processing. The contour may refer to the narrowly defined outer contour. In this disclosure, further generalization is made, whether the previous embodiment is marked by dotting or the present embodiment is marked by a contour or pattern or color patch, the way of marking is not limited, even the color patch may be a random color patch, the pattern may be a random pattern, as the inventor recognizes through various marked embodiments: the camera can always see the mark between any two moments before and after, and the change of the mark can be achieved.

In a further embodiment of the present invention,

penetrating the epidermis layer in a straight line direction from the outer surface of the epidermis layer up to a certain depth of the dermis layer and penetrating the dermis layer to form a straight line mark having a certain depth and color. For example, from the outer surface of the epidermis layer up to a certain depth of the dermis layer, a needle with a color throughout the body is directly inserted, and after the needle is pulled out, a straight mark of the color is formed in the double-layer flexible layer structure.

It will be appreciated that this also helps to find three-dimensional contact forces, and that this way a better view is possible: when a force is applied to the outer surface of the epidermis layer, the epidermis layer and the interior of the dermis layer undergo specific changes due to deformation.

Each mark can be arranged in an array type on the double-layer flexible layer structure, can be arranged in the double-layer flexible layer structure in a random distribution mode, and can be used in a mixed mode.

For the different labels, it should be noted that:

color blocks are larger than dots, so when the deformation amplitude is large, the color blocks are more advantageous than the dots, because the color blocks are better in sensibility than the dots when the deformation amplitude is large, and can also meet the sensing of large deformation, and the dots can not be sensed at a certain moment or at certain moments due to the large deformation amplitude under extreme conditions; if both the point and the color lump can be sensed, the resolution of the massage hand is higher than that of the color lump if the point and the color lump are marked as the point, and the color lump is just larger than the point in size, so the massage hand cannot be fine enough, and the calculated amount of image processing is increased due to the large shape and size of the color lump; further, the mixed use of a plurality of markers can balance the detectability of the markers and the resolution of the massage hand.

In addition, color patches of different colors are more sensible than color patches of a single color, because not only the color patches constitute a kind of positioning information, but also the different colors themselves constitute an additional auxiliary information.

In a further embodiment of the present invention,

the thickness and softness of the skin layer are constrained by the computational accuracy of the static geometric features of the bi-layer flexible layer structure at any one time.

It will be appreciated that the thinner the skin layer, the softer the more accurate the static geometric feature, or static geometric deformation, at any one time can be calculated.

In a further embodiment of the present invention,

when the flexible tactile sensor is subjected to a contact force due to contact,

the epidermis layer is used for fitting higher resolution, so that the deformation of the double-layer flexible layer structure has the resolution of the epidermis layer.

It can be appreciated that the deformability of the skin layer itself is related to its resolution, the finer the deformability, the higher the resolution.

In a further embodiment of the present invention,

when the flexible touch sensor is used, six-dimensional contact force is expressed by sensing deformation of the double-layer flexible layer structure: in addition to the three-dimensional pressure vector field distributed over the skin layer as the contact layer surface, three-dimensional moment vector fields are included. For example, the corresponding moment in X, Y, Z coordinate system, the visual understanding is: six-dimensional force refers to force in the axial direction of the three-dimensional coordinate and rotational force about the three-dimensional coordinate axis (note: in this disclosure, rotational force about the three-dimensional coordinate axis is understood as moment).

It should be noted that this further enhances the innovative nature of the disclosed technology, which helps to achieve sensing of six-dimensional force fields. It will be appreciated that the toughness, hardness, thickness and material of each of the epidermis layer and dermis layer may be further tailored to optimize this performance.

In contrast to CN108446042a described previously, this prior art can only sense three-dimensional forces, but cannot sense rotational forces about three-dimensional coordinate axes. The key to this significant difference is: the double-layer flexible layer structure adopted by the flexible touch sensor of the massage hand can be twisted and rubbed, and the rotation action can cause the propagation of light on the light path to be changed so as to be sensed.

In another embodiment, the silicone rubber material has a light transmittance of 95%.

In a further embodiment of the present invention,

the camera is for side formation of image, and the benefit of this design is that under the circumstances of confirm camera lens formation of image angle, the camera is nearer to double-deck flexible layer structure, is favorable to reducing the total height or the total thickness of massage hand's flexible touch sensor.

In another embodiment, as shown in fig. 12,

the massage hand includes: the device comprises a top cover 1, a circuit board 2, cooling fins 3, a camera 4, a middle shell 5, a lamp strip 6, a lens 7, a lower cover 8 and a double-layer flexible layer structure 9, wherein the circuit board 2 is connected with an acceleration sensor. The light strip 6 can be arranged between the middle shell 5 and the double-layer flexible layer structure 9 to provide illumination environment for the inside of the handheld massage sensing device. The top cover 1 has at least 3 connection posts and cooperates with 3 holes on the circuit board 2 to secure the circuit board. The circuit board 2 may further be connected to a camera through a heat sink. The lens 7 may be a lens.

Illustratively, the top cover 1, the middle case 5 and the lower cover 8 may be made of ABS material, and the heat sink 3 may be made of aluminum alloy 6061.

In a further embodiment of the present invention,

the middle shell and other shell shells can play a role in shading light.

In a further embodiment of the present invention,

the surface of the double-layer flexible layer structure has adhesiveness, and the adhesiveness of the surface of the double-layer flexible layer structure is utilized with inorganic transparent materials, such as: bonding glass, quartz and the like; preferably, the double-layer flexible layer structure can be realized as a double-layer soft cushion, the elongation at break is 100 percent, a soft cushion mold is used for molding during preparation, and the soft cushion is formed by heating and baking after vacuumizing; the dermis layer is soft and has certain viscosity, so that transparent soft glue is coated on the edge of the contact surface between the dermis layer and the epidermis layer, and bubbles are squeezed out from the middle part and then naturally adhered. It will be appreciated that various adhesion or bonding referred to in this disclosure may require the removal of air bubbles, including bi-layer flexible layer structures with inorganic transparent materials, such as: glass, quartz, etc. exclude bubbles through the adaptive surface.

The inorganic transparent material can be transparent (even transparent and toughened) glass, and has the functions of supporting and transmitting light. In addition, the edges of the inorganic transparent material are polished as transparent as possible.

It can be understood that when the massage sensing device works, the camera can see deformation after the surface of the soft cushion is stressed and deformed, so that the massage sensing device is an image, and can realize the later application of touch sensing, detection and the like through the processing of the image. For example, the feel, which can be derived mainly from the deformation of the skin contact surface.

In another embodiment, if an inorganic transparent material lens is used, it may be chosen to be a concave lens, thereby reducing the distance between the camera and the flexible layer and thus the thickness of the massage sensing apparatus.

Referring to fig. 13A, in another embodiment,

when the camera includes 2 cameras to form a binocular camera, each camera (for example, camera 1 and camera 2 in the drawing) is inclined toward a center point O between the 2 cameras, respectively, so that, on a side of the double-layer flexible layer structure close to the camera, a field of view of each camera is maximally covered to: the camera is arranged between the camera and two ends of the double-layer flexible layer structure. The advantages of this embodiment at least reduce the requirements on the performance and parameters of the camera.

Comparing fig. 13A and 13B, it can be seen that in fig. 13B, the two cameras are placed horizontally, which does not involve tilting toward the center point O, which results in an unnecessary waste of camera performance, and that the field of view of the camera in fig. 13B is larger than that of the camera in fig. 13A, but exceeds the need to actually sense images in the field of view between the two ends of the dual-layer flexible layer structure.

Therefore, the embodiment shown in fig. 13A makes full use of the capabilities of each camera, and simultaneously, the embodiment also effectively reduces the FOV value of the camera and reduces the parameter requirements of the camera due to alpha < beta.

Further, in another embodiment, the disclosure also discloses a processing method for the image data captured by the massage hand flexible touch sensor, which comprises the following steps:

s100: performing dermis layer mark detection and sensing on the high-resolution epidermis layer and dermis layer imaging data, and calculating a three-dimensional force field by using the displacement of the mark;

s200: performing processes such as drying and image enhancement on the high-resolution epidermis layer and dermis layer imaging data, and performing target removal on dermis layer marks to obtain high-quality epidermis layer high-resolution images;

s300: calculating pixel gradient values based on the high-quality epidermis layer high-resolution image, and fitting the three-dimensional force field calculated in the step S100 by using gradient information to obtain a high-resolution three-dimensional force field;

s400: based on the three-dimensional force field data, three-dimensional moment data are calculated, so that a high-resolution six-dimensional force field containing moment is obtained.

For this method, the contact force can be determined, sensed and analyzed by analyzing the data of the force field. The image is understood that moment is more distance information than force, and deformation of the touch sensor contains information that the distance is changed, and the distance information and the time information are related. Thus, when the present disclosure adopts the foregoing marks to obtain the three-dimensional contact force, the present disclosure can further calculate three-dimensional moment data to finally obtain a six-dimensional force field containing moment. When the image data comprises information such as marks, even if the curved surface of the double-layer flexible layer structure changes, the marks can be used as a reference all the time, the image data is processed by analyzing and calculating the information, and the fundamental material basis is the massage hand and the robot thereof disclosed by the disclosure.

In another embodiment, the method further comprises the steps of:

s500: and (3) performing target detection and segmentation on the high-quality epidermis layer high-resolution image obtained by calculation in the step (200) by using a Convolutional Neural Network (CNN), and extracting to obtain contact surface deformation information.

In another embodiment, the method further comprises the steps of:

s600: and fusing the contact surface deformation information on a time sequence according to the detected contact surface deformation information of each frame of image, and performing behavior sensing and extraction by using a time sequence neural network (RNN) to obtain dynamic hand feeling information.

In the previous embodiment, it can be appreciated that, because time is involved in the deformation process, the fourth dimensional time t is involved outside the XYZ three dimensions, which is the root cause of the present disclosure being able to obtain contact surface deformation information, dynamic hand feel information.

In summary, the present disclosure further discloses, in addition to a new massage hand with a flexible tactile sensor: through advanced image recognition and deep learning technology, based on high-resolution imaging data of the epidermis layer, the functions of six-dimensional force field calculation of the contact surface, deformation sensing of the contact surface, dynamic hand feeling sensing and the like can be finally realized.

Summarized below, the main features of the present disclosure are as follows:

1. provides high resolution and high precision 'touch force sensing' and accordingly performs the motion of the massaging hand of the robot. The contact force obtained by the corresponding processing method is a three-dimensional contact force, and the result is a three-dimensional pressure vector field distributed on the surface of the contact layer, and can be finally realized into six dimensions;

2. provides high resolution, high precision "" contact surface deformation "". The result is a three-dimensional spatial distribution over the surface of the contact layer;

3. the bionic epidermis-dermis double-layer flexible structure of the flexible touch sensor of the massage hand can express six-dimensional contact force by additionally sensing deformation of the dermis layer besides sensing deformation of the epidermis layer; the result includes a three-dimensional moment vector field in addition to a three-dimensional pressure vector field distributed on the surface of the contact layer;

4. the present disclosure can measure a greater spatial range of "contact surface deformations" and maintain accuracy, with different configurations of material surface toughness, hardness, thickness, material, etc. of the epidermis and dermis layers;

5. the high dynamic visual module with more than 120 frames can also realize high dynamic contact force, and can more accurately measure the contact force which changes rapidly;

6. Sensing the touch feeling based on deep learning, namely sensing different types of images caused by contact force and contact surface deformation results into a plurality of different touch feeling through a deep neural network;

7. the "dynamic hand" sensing based on deep learning can sense and classify dynamic hand during active touch.

In another embodiment, for the massage robot, a plurality of flexible touch sensors may be disposed on the front end of the wrist, and each of the flexible touch sensors has an outer surface rounded to simulate a finger pad, and simulate a massage of a human hand by the plurality of flexible touch sensors. For example, as shown in fig. 13, which illustrates 3 circular flexible tactile sensors.

Those skilled in the art will also appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts, modules, units, etc. that are referred to are not necessarily required by the present disclosure.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In several embodiments provided in this disclosure, it should be understood that the disclosed methods may be implemented as corresponding functional units, processors, or even systems, where portions of the systems may be located in one place or distributed across multiple network elements. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal digital assistant, a wearable device, a notebook computer, a tablet computer) to perform all or part of the steps of the method described in the embodiments of the present disclosure. The storage medium includes various media capable of storing program codes, such as a U disk, a Read-0n Memory (R0M), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A dual arm massage robot comprising:

an X-axis component, a Y-axis component and a Z-axis component, wherein,

wherein,

the double-layer flexible layer structure is based on a material with light transmittance and softness, wherein the surface layer comprises a reflecting layer to assist a camera to capture light rays irradiated to the double-layer flexible layer structure by the light source and reflected back to the camera, so that deformation of the double-layer flexible layer structure is sensed;

wherein,

the left massage arm and the right massage arm are both arranged on the sliding rail, so that the left massage arm and the right massage arm move in an XY plane under the drive of the sliding rail;

the left massage arm and the right massage arm move away from each other along the transverse direction or move close to each other along the transverse direction on the X-axis bidirectional slide rail;

two ends of the X-axis bidirectional slide rail are arranged in the corresponding Y-axis left slide rail and Y-axis right slide rail so as to longitudinally move in the Y direction;

the X-axis bidirectional slide rail comprises:

Two fixing plates (3);

two parallel belts (19) located under the two first connection plates (20);

two guide rails (16) that cooperate with the two belts (19);

two sliders (18) located below each second connection plate (17);

in X axle two-way slide rail both ends, each end includes:

the motor (13) is connected with a third plane fixed plate (12) through the other end of the motor, wherein the third plane fixed plate (12) is vertically connected with the second plane fixed plate (11);

the side elevation of the first fixing plate (10) is positioned below the plane of the first fixing plate;

any massage arm comprises at least two joints;

motors are respectively arranged at one ends of the left Y-axis sliding rail and the right Y-axis sliding rail;

under the action of the driving mechanism, the Z-axis wrist module drives the front end of the wrist to realize three-degree-of-freedom motion through the tail end of the wrist, the bracket 2 and the bracket 3;

the bracket 1 comprises only one plane;

the support 2 comprises only two planes parallel and at different heights;

a support 3, a support 4, each comprising only 2 mutually perpendicular planes;