CN1513644A - Massage robot for traumatological department of traditional chinese medicine - Google Patents
Massage robot for traumatological department of traditional chinese medicine Download PDFInfo
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- CN1513644A CN1513644A CNA031320716A CN03132071A CN1513644A CN 1513644 A CN1513644 A CN 1513644A CN A031320716 A CNA031320716 A CN A031320716A CN 03132071 A CN03132071 A CN 03132071A CN 1513644 A CN1513644 A CN 1513644A
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Abstract
A medical massage robot for the surgical department of traditional Chinese medicine is composed of 5-freedom parallel mechanism, sensors and control system. Said 5-freedom parallel mechanism consists of fixed platform, movable platform and 5 branches consisting of 4 same ones and one different for simulating 6 massage operations. Its advantages are high rigidity, dynamic characteristics, sensitivity and flexibility.
Description
Affiliated technical field
The present invention relates to medical machinery, refering in particular to a class utilizes the five-freedom parallel structure to add sensor and control system to form robot and can be used in the traditional Chinese massage medical treatment, the research field that belongs to spatial parallel device people and traditional medical equipment modernization, for example available a kind of bidimensional of realizing rotates the three-dimensional five-freedom parallel structure composition massage robot that moves.
Background technology
The traditional Chinese massage treatment is a wonderful work of China's treating trauma, long history is arranged, the massage robot that is used for medical treatment is not according to investigations at present found as yet, the gimmick that the frame for movement that equipment adopted that is used to keep healthy on the market can be simulated is single, lacks suitable executing agency and can finish simulation to the massage manipulation of main flow.Only can simulate mechanical mode of vibration action as patent publication No. CN2057587U " bionical far infrared low-frequency vibration masseur ", and for example patent publication No. CN1032737A " a kind of bed for treating spinal disease " adopts serial mechanism to carry out the simulation of simple plane action.To utilize modern mechanical, computer, control, a kind of robot that can satisfy multiple space massage campaign gimmick needs of electromechanical integration technology research be a kind of not only feasible but also have the good research direction of huge market potential.The tradition traumatological department of TCM is massaged with artificial gimmick by experienced doctor, and doctor's labour intensity is big, belongs to strong physical work.
Summary of the invention
The purpose of this invention is to provide a kind of bidimensional of realizing and rotate the three-dimensional five-freedom parallel structure that moves, can realize six kinds of main flow gimmicks of the medical massage of the traditional Chinese medical science: roll method, pressing and kneading manipulation, pushing manipulation, wiping manipulation, palm-rubbing technique, striking with palm.
The technical solution used in the present invention is:
The five-freedom parallel structure that it adopts three translations two to rotate, by fixed platform, moving platform be connected moving platform, five mixed type branches of fixed platform form, wherein four branches are identical, be connected in four summits of lower platform, another is different branch, be connected in the position of form center of lower platform, it is characterized in that: four same branches all are made up of identical ball pair-moving sets-ball pair (being S-P-ball pair) respectively, another different branch is combined by various different motion pairs, the straight line moving sets of four same branches realizes that by four motor driven ball screws the revolute pair of another different branch is by a motor-driven respectively.
Above-mentioned different branch can be made up of five revolute pairs, and the axis of two revolute pairs is vertical mutually and meet at a bit in the middle of it, forms a Hooke's hinge.
Above-mentioned different branch can and be positioned at the middle parallel-crank mechanism that is formed by four revolute pair connecting rods by four revolute pairs and combine.
Above-mentioned different branch can be made up of four revolute pairs and a moving sets, wherein the axis of three revolute pairs is parallel to each other and is parallel to Y direction, the axis direction of the revolute pair that the moving direction of the moving sets that mediates is coupled overlaps and is parallel to Y direction, the axis that connects the revolute pair of moving platform is parallel to Z-direction, forms a cylindrical pair.
The present invention adopts four parallel branch that structure is identical, make mechanism have six-freedom degree, and the effect of the parallel branch of middle dissimilar structure is a rotation around certain axle (as X-axis) direction of the above-mentioned six-freedom degree of restriction, thereby reaches the purpose that realizes that three-dimensional mobile bidimensional rotates.
The invention has the beneficial effects as follows that the three-dimensional of energy implementation space moves and two rotations, can be realized simulating the massage manipulation of six kinds of main flows by control: roll method, pressing and kneading manipulation, pushing manipulation, wiping manipulation, palm-rubbing technique, striking with palm.This mechanism rigidity height, decoupling and dynamic characteristic are good, are convenient to realize control, and rotational freedom has very high flexibility, is active in one's movements rapidly, can satisfy the requirement of massage operating characteristic well.Traditional traditional Chinese massage gimmick is carried out kinematics, Study on Dynamics and emulation, utilizing the five-freedom parallel structure to simulate massage doctor gimmick cures the disease to patient, traditional Chinese massage is treated work ancient and that have a meaning to be become by robot and replaces, modernization has important academic values to traditional Chinese medical science medical skill in this work, and finishes traumatological department of TCM's treatment work by robot and have great economic benefit and social benefit and have broad application prospects.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1.
Fig. 2 is the structural representation of the embodiment of the invention 2.
Fig. 3 is the structural representation of the embodiment of the invention 3.
1.2.3.4.5. the moving sets 9. fixed platforms 10. moving platform 11.12.13.14. of secondary 7. same branches of ball that form the revolute pair 6.8. same branches of different branch form revolute pair 15. moving sets of parallel-crank mechanism
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
Embodiment 1
As shown in Figure 1, by a square fixed platform 9, rectangle moving platform 10, form with five mixed type branches that are connected moving platform 10 and fixed platform 9, wherein four branches are identical, be connected in four summits of lower platform, another is different branch, is connected in the position of form center of lower platform.Four same branches all respectively by ball secondary 6 and 8 and moving sets 7 form, another different branch is made up of 1,2,3,4,5 of revolute pairs respectively, wherein the axis of revolute pair 1,2,3 is parallel to each other and is parallel to Y direction shown in Figure 1, the axis of revolute pair 4,5 is parallel to each other and is parallel to Z-direction shown in Figure 1, and the axis of revolute pair 3,4 is mutually vertical and meet at a bit and (promptly form the Hooke's hinge structure).The moving sets 7 of four same branches realizes that by four motor driven ball screws the revolute pair 1 of another different branch is by a motor-driven respectively.
As shown in Figure 2, by a square fixed platform 9, rectangle moving platform 10, form with five mixed type branches that are connected moving platform 10, fixed platform 9, wherein four branches are identical, be connected in four summits of lower platform, another is different branch, is connected in the position of form center of lower platform.Four same branches all distinguish ball secondary 6 and 8 and moving sets 7 form, another different branch is made up of 1,2,3,5,11,12,13,14 of revolute pairs respectively, wherein the axis of revolute pair 1,2,3 is parallel to each other and is parallel to Y direction shown in Figure 2, the axis of revolute pair 11,12,13,14 is parallel to each other and is parallel to X-direction shown in Figure 2, and the axis of revolute pair 5 is parallel to Z-direction.The moving sets 7 of four same branches realizes that by four motor driven ball screws the revolute pair 1 of another different branch is by a motor-driven respectively.Gained mechanism also has along the one-movement-freedom-degree of X-axis, Y-axis, Z-direction with around the rotational freedom of Y-axis, Z axle.
As shown in Figure 3, by a square fixed platform 9, rectangle moving platform 10, form with five mixed type branches that are connected moving platform 10 and fixed platform 9, wherein four branches are identical, be connected in four summits of lower platform, another is different branch, is connected in the position of form center of lower platform.Four same branches all respectively by ball secondary 6 and 8 and moving sets 7 form, another different branch is made up of revolute pair 1,2,4,5 and moving sets 15 respectively, wherein the axis of revolute pair 1,2,4 is parallel to each other and is parallel to Y direction shown in Figure 1, the moving direction of the axis direction of revolute pair 2 and moving sets 15 overlaps (promptly forming the cylindrical pair structure), and the axis of revolute pair 5 is parallel to Z-direction shown in Figure 3.The moving sets 7 of four same branches realizes that by four motor driven ball screws the revolute pair 1 of another different branch is by a motor-driven respectively.
The operation principle of the foregoing description is: as shown in Figure 1, 2, 3, import as motion by four moving sets 7 of four straight line units drivings and the revolute pair 1 of a rotating drive unit drives, can obtain three one-movement-freedom-degrees and two rotational freedoms by controlling its amount of movement and amount of spin, promptly along the one-movement-freedom-degree of X-axis, Y-axis, Z-direction with around the rotational freedom of Y-axis, Z axle.
Claims (4)
1. the medical massage robot of the novel traumatological department of TCM of a class, the five-freedom parallel structure that it adopts three translations two to rotate, by fixed platform (9), moving platform (10), with be connected moving platform (10), five mixed type branches of fixed platform (9) form, wherein four branches are identical, be connected in four summits of lower platform, another is different branch, be connected in the position of form center of lower platform, it is characterized in that: four same branches are all respectively by identical ball pair (6), moving sets (7), ball pair (8) is formed, another different branch is combined by various different motion pairs, the moving sets of four same branches (7) realizes that by four motor driven ball screws the revolute pair of another different branch (1) is by a motor-driven respectively.
2. the medical massage robot of the novel traumatological department of TCM of a class according to claim 1, it is characterized in that: different branch is made up of five revolute pairs (1), (2), (3), (4), (5), the axis of two revolute pairs (2), (3) or (3), (4) is vertical mutually and meet at a bit in the middle of it, forms a Hooke's hinge.
3. the medical massage robot of the novel traumatological department of TCM of a class according to claim 1 is characterized in that: different branch respectively by four revolute pairs (1), (2), (3), (5) and be positioned in the middle of the parallel-crank mechanism that forms by four revolute pairs (11), (12), (13), (14) connecting rod combine.
4. the medical massage robot of the novel traumatological department of TCM of a class according to claim 1, it is characterized in that: different branch is made up of four revolute pairs (1), (2), (4), (5) and a moving sets (15) respectively, wherein the axis of revolute pair (1), (2), (4) is parallel to each other and is parallel to Y direction, the axis direction of the revolute pair (2) that the moving direction of the moving sets (15) in the middle of being positioned at is coupled overlaps and is parallel to Y direction and forms a cylindrical pair, and the axis of the revolute pair (5) that links to each other with moving platform (10) is parallel to Z-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031320716A CN1313247C (en) | 2003-07-18 | 2003-07-18 | Massage robot for traumatological department of traditional chinese medicine |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB031320716A CN1313247C (en) | 2003-07-18 | 2003-07-18 | Massage robot for traumatological department of traditional chinese medicine |
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| CN1513644A true CN1513644A (en) | 2004-07-21 |
| CN1313247C CN1313247C (en) | 2007-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB031320716A Expired - Fee Related CN1313247C (en) | 2003-07-18 | 2003-07-18 | Massage robot for traumatological department of traditional chinese medicine |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354068C (en) * | 2005-02-06 | 2007-12-12 | 燕山大学 | Four freedom parallel robot mechanism with passive bound branch |
| CN100357070C (en) * | 2005-09-20 | 2007-12-26 | 江苏大学 | Serial-parallel TCM massage robot |
| CN101712151A (en) * | 2009-11-11 | 2010-05-26 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
| CN101889940A (en) * | 2010-07-08 | 2010-11-24 | 江苏大学 | Robot massage head automatic replacement device |
| CN101513736B (en) * | 2009-03-26 | 2010-11-24 | 浙江大学 | Nonsingularity space five- freedom-degree parallel robot |
| CN101745916B (en) * | 2009-12-16 | 2011-06-01 | 电子科技大学 | Parallel robot device with functions of fault tolerance and fault correction and fault tolerating and correcting method thereof |
| CN102085659A (en) * | 2010-12-16 | 2011-06-08 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN102085657A (en) * | 2011-01-27 | 2011-06-08 | 广西大学 | Parallel controllable drilling robot mechanism |
| CN102119903A (en) * | 2011-02-28 | 2011-07-13 | 上海大学 | Traditional Chinese medicine theory-based waist massage medical instrument |
| CN103085059A (en) * | 2012-12-26 | 2013-05-08 | 燕山大学 | Five-degree-freedom parallel robot with one rotating drive branch and four moving drive branches |
| CN103465044A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel mechanism |
| CN104259700A (en) * | 2014-09-16 | 2015-01-07 | 芜湖市华益阀门制造有限公司 | Supporting rack for special multifunctional welding platform for cylinder and square |
| CN105563469A (en) * | 2016-02-03 | 2016-05-11 | 吴燕 | Adjustable six-freedom-degree human body head massaging health care robot |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN106038191A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Leg massaging robot for medical nursing |
| CN106038161A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Angle-adjustable medical leg massaging supporting equipment |
| CN106625591A (en) * | 2016-12-13 | 2017-05-10 | 东莞松山湖国际机器人研究院有限公司 | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion |
| CN107773306A (en) * | 2017-09-26 | 2018-03-09 | 山东科技大学 | A kind of five degree of freedom prostate acupuncture operation robot |
| CN112276907A (en) * | 2020-10-19 | 2021-01-29 | 哈尔滨工业大学 | Space operation metamorphic series-parallel mechanical arm structure |
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| CN101121424B (en) * | 2007-09-07 | 2011-02-23 | 哈尔滨工程大学 | Double-foot robot lower limb mechanism with multiple freedom degree |
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| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| CN1178769C (en) * | 2000-02-02 | 2004-12-08 | 燕山大学 | Four-freedom spatial parallel robot mechanism |
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- 2003-07-18 CN CNB031320716A patent/CN1313247C/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354068C (en) * | 2005-02-06 | 2007-12-12 | 燕山大学 | Four freedom parallel robot mechanism with passive bound branch |
| CN100357070C (en) * | 2005-09-20 | 2007-12-26 | 江苏大学 | Serial-parallel TCM massage robot |
| CN101513736B (en) * | 2009-03-26 | 2010-11-24 | 浙江大学 | Nonsingularity space five- freedom-degree parallel robot |
| CN101712151A (en) * | 2009-11-11 | 2010-05-26 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
| CN101745916B (en) * | 2009-12-16 | 2011-06-01 | 电子科技大学 | Parallel robot device with functions of fault tolerance and fault correction and fault tolerating and correcting method thereof |
| CN101889940B (en) * | 2010-07-08 | 2013-06-12 | 江苏大学 | Robot massage head automatic replacement device |
| CN101889940A (en) * | 2010-07-08 | 2010-11-24 | 江苏大学 | Robot massage head automatic replacement device |
| CN102085659A (en) * | 2010-12-16 | 2011-06-08 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN102085659B (en) * | 2010-12-16 | 2012-04-18 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN102085657B (en) * | 2011-01-27 | 2012-04-18 | 广西大学 | Parallel controllable drilling robot mechanism |
| CN102085657A (en) * | 2011-01-27 | 2011-06-08 | 广西大学 | Parallel controllable drilling robot mechanism |
| CN102119903A (en) * | 2011-02-28 | 2011-07-13 | 上海大学 | Traditional Chinese medicine theory-based waist massage medical instrument |
| CN103085059B (en) * | 2012-12-26 | 2015-04-08 | 燕山大学 | Five-degree-freedom parallel robot with one rotating drive branch and four moving drive branches |
| CN103085059A (en) * | 2012-12-26 | 2013-05-08 | 燕山大学 | Five-degree-freedom parallel robot with one rotating drive branch and four moving drive branches |
| CN103465044B (en) * | 2013-09-13 | 2016-03-09 | 常州大学 | Output-parallel mechanism is rotated in a kind of single input three translation three |
| CN103465044A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel mechanism |
| CN104259700A (en) * | 2014-09-16 | 2015-01-07 | 芜湖市华益阀门制造有限公司 | Supporting rack for special multifunctional welding platform for cylinder and square |
| CN105563469A (en) * | 2016-02-03 | 2016-05-11 | 吴燕 | Adjustable six-freedom-degree human body head massaging health care robot |
| CN106038191A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Leg massaging robot for medical nursing |
| CN106038161A (en) * | 2016-05-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Angle-adjustable medical leg massaging supporting equipment |
| CN106038191B (en) * | 2016-05-22 | 2018-01-16 | 袁青 | A kind of leg massage machine people for medical treatment and nursing |
| CN106038161B (en) * | 2016-05-22 | 2018-01-19 | 佳木斯大学 | A kind of adjustable-angle medical treatment leg massage support equipment |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN106625591A (en) * | 2016-12-13 | 2017-05-10 | 东莞松山湖国际机器人研究院有限公司 | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion |
| CN107773306A (en) * | 2017-09-26 | 2018-03-09 | 山东科技大学 | A kind of five degree of freedom prostate acupuncture operation robot |
| CN112276907A (en) * | 2020-10-19 | 2021-01-29 | 哈尔滨工业大学 | Space operation metamorphic series-parallel mechanical arm structure |
| CN112276907B (en) * | 2020-10-19 | 2022-04-12 | 哈尔滨工业大学 | Space operation metamorphic series-parallel mechanical arm structure |
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