CN201710627U - Accupoint meridian feeling massaging robot - Google Patents
Accupoint meridian feeling massaging robot Download PDFInfo
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- CN201710627U CN201710627U CN2010200593358U CN201020059335U CN201710627U CN 201710627 U CN201710627 U CN 201710627U CN 2010200593358 U CN2010200593358 U CN 2010200593358U CN 201020059335 U CN201020059335 U CN 201020059335U CN 201710627 U CN201710627 U CN 201710627U
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Abstract
The utility model discloses an accupoint meridian feeling massaging robot, which relates to a feeling and massaging appliance, and provides an accupoint meridian feeling massaging robot which has better safety, can operate a plurality of positions which are widely distributed on a human body in natural postures, and is particularly suitable for eliminating and massaging Ashi points. The accupoint meridian feeling massaging robot is provided with a control center, a vision position device, a mechanical motion device, a pressure monitoring device, an operating board and a speech device, wherein the mechanical motion device presses a massage device through using a mechanical arm to operate a self weight compression method through a pull rod, and the vision position device, the mechanical motion device, the pressure monitoring device, the operating board and the speech device are all connected with a control center.
Description
Technical field
This utility model relates to a kind of palpation, massage apparatus, especially relates to a kind of robot that is mainly used in the palpation and the massage of acupuncture points on the human body meridians, particularly Ashi point.
Background technology
Palpation is the basic examination method of acupuncture points on the human body meridians, belongs to the palpation in the traditional Chinese medical science " four diagnostic methods ".By palpation, can examine the situation of knowing the acupuncture points on the human body meridians, particularly find out Ashi point.Traditional palpation method of acupuncture points on the human body meridians mainly relies on pushing of hands, or manually pushes by simple tool (as small wood).Propose the point selection method of " is defeated with pain " from " interior warp ", discuss " Ah be'sing method " to Sun Simiao; From the abundant practice of the traditional Chinese medical science to Ashi point, to doctor trained in Western medicine to the concern of pressure pain point, though with pain be outstanding behaviours push that the abnormal sensory phenomenon is subjected to for a long time, extensive studies and utilization, the few of development of the examination method of Ashi point, pressure pain point.Though occurred being used for the tenderness instrument of human body in recent years, but still relied on manual operation, push dynamics, the process of pushing is difficult to accurate control.
Traditional massage method is to rely on hands or other positions of health of doctor to carry out, or utilizes the manpower instrument to implement.To the modern massage appliance that a great variety occurred, can partly replace manpower, but the massage instrument of " active " is still rare, especially Artificial Intelligence Instrument.The knowledge and the complex structure of general tcm diagnosis and prescription specialist system, and result's accuracy and expert's property admitted are dissatisfied, still are difficult to the requirement that reaches practical so far.
In recent years, the Medical Robot has appeared in the multiple medical operating, and service robot is also successively listed national key scientific research projects, national development planning in, but range of application is still limited.
Man-machine communication and interaction are robot behavior automatization, intelligentized basic demand.Because the complexity of human figure structure, the particularity of application, the palpation massage robot is higher to the composite request of system location, mechanical movement control aspect the motility of localized accuracy, operation, safety, work efficiency.Cost also is the key factor of restriction practicality.Thereby, still lack practical palpation, massage robot at present.
Publication number provides a kind of apparatus massage method for the application for a patent for invention of CN1759822, and massage appliance imitation manual massage method is implemented massage from quilt massage person's top.A kind of intelligent massaging robot that utilizes described method to implement massage is also disclosed.This massage robot has the intelligent-induction device, can detect, locate the acupuncture point of human body automatically, and massage is implemented at the acupuncture point accurately.This massage robot has " Chinese traditional massage specialist system ", can work out various personalized massage scheme according to quilt massage person's situation with to the requirement of massage, and the intelligent massaging robot has the voice suggestion ability, and the language of available standards sends prompting.
Publication number provides a kind of massage robot for the application for a patent for invention of CN201244171, be provided with time switch, reducing motor, the reducing motor outfan is connected with belt pulley, the belt pulley of input is connected with the bearing top circle upside, bottom bracket axle load under circle is takeed on machine in the bearing connects, the bearing top circle outside down connects with rod end bearing bar WEILIAN, circle is connected with massage arm upper end suit in the rod end bearing, spring upper end in massage arm lower end and fingerstall and the fingerstall is connected, the spring lower end refers to be connected with massage, and the massage arm middle part flexibly connects with the rod end bearing suit of robotic arm lower end.
Notification number provides a kind of automatic ambulation massage robot for the utility model patent of CN2817826, and electromotor is the massage power resources, and electromotor drives two pull bars on the drive plate, and it is movable back and forth up and down that pull bar spurs arm shape cross bar again.Simultaneously, electromotor drives the swing sleeve pipe of pull bar one end in the back and forth activity of casing rack cover the inside, thereby drives the base below the main body, under universal wheel and slide-bar effect, walks in the chute chassis.
Summary of the invention
The purpose of this utility model is to provide a kind of safety better, and operate at a plurality of positions that can extensively distribute to human body under natural position, is used in particular for the acupuncture points on the human body meridians palpation massage robot of Ashi point investigation and massage.
Described acupuncture points on the human body meridians palpation massage robot is provided with control centre, vision positioning device, mechanical movement means, pressing force monitoring device, operation panel and voice device.Control centre is by medical personnel's operation and supervision; Vision positioning device is used to measure and monitor the space coordinates of pushing the massage position, and the signal output part of vision positioning device meets control centre; Mechanical movement means is used to provide machine power, machinery location, carries out the operation of palpation massage manipulation, and the control input end of mechanical movement means connects the control output end of control centre; The pressing force monitoring device is used to monitor the pressing force value, and the signal input part of pressing force monitoring device is connected with mechanical movement means, and the signal output part of pressing force monitoring device meets control centre; Operation panel is used for man-machine communication and the interaction between prescription on individual diagnosis person and the robot, and so-called prescription on individual diagnosis person comprises the healthy people, patient and the experimenter that accept Ashi point examination and massage robot examination, massage, and operation panel meets control centre or carries out wireless telecommunications with control centre; Voice device is the another approach of man-machine interaction, voice device is used for robot voice prompting and session, auxiliary be used for prescription on individual diagnosis person's report and push reaction and send operational order, the signal input output end of voice device is connected with control centre or carries out wireless telecommunications with control centre.
Described vision positioning device can be provided with video camera, video camera fixture, image pick-up card (or video frequency collection card) and at least 1 visual cues (or visual beacon).Described video camera is fixed on the mechanical movement means or other places that are fit to by the video camera fixture, and the output signal end of video camera is through image acquisition clamping control centre, and described video camera can adopt the binocular ccd video camera; Vision positioning device is determined the space coordinates of target site according to the position of visual cues, described visual cues can be made into just alternate or/and alternate checkerboard visual cues, crosswise visual cues or the other forms of visual cues of different colours (for example black and white or other different colours), the location that can be used for different scale images resolution, during use, the back side of visual cues can be attached at body surface with medical double faced adhesive tape.
Described mechanical movement means can be provided with support, mechanical arm (or claiming mechanical hand, mechanical arm, robot), pull bar and push massage machine, described mechanical arm is located on the support, the control input end of mechanical arm meets control centre, mechanical arm is pushed massage machine by pull bar operation, carries out that machinery is located and by pressing massage.
Described mechanical arm can adopt three rectangular coordinate mechanical arms (or claiming three right angle coordinate manipulators, three Cartesian robots etc.), three rectangular coordinate mechanical arms are provided with X-axis arm, Y-axis arm and Z armshaft, wherein, the Z armshaft is provided with Z axle slide unit, and Z axle slide unit vertically moves.The control input end of three rectangular coordinate mechanical arms meets control centre.
Described pull bar top is connected with Z axle slide unit, and pull bar top and Z axle slide unit preferably flexibly connect, and the bottom of pull bar connects pushes massage machine.It is to be provided with upper fixing element on Z axle slide unit lateral surface top that described pull bar top and Z axle slide unit flexibly connect, and is provided with fixture down in Z axle slide unit lateral surface bottom; Upper fixing element is provided with the duct, following fixture is provided with down the duct, the internal diameter in last duct is greater than the internal diameter in following duct, pull bar is the reducing pull bar, and is upper coarse and lower fine, and pull bar passes the duct, the duct is passed down in the pull bar bottom, establish packing ring between pull bar and following fixture, or establish keeper on the pull bar between upper fixing element and the following fixture, described keeper can adopt nut.Like this, under action of gravity, draw rod positions is defined; And when pull bar was subjected to upwards active force greater than downward action of gravity, pull bar can move upward.
On mechanical arm, preferably be provided with the power-off brake device, the moving component of lockable mechanical arm during outage, for three rectangular coordinate mechanical arms, promptly be preferably in the Z armshaft and be provided with the power-off brake device, can lock Z axle slide unit immediately during outage, to prevent that pushing massage machine moves down, described power-off brake device can adopt power-off brake type electromagnetic brake.
The described massage machine of pushing can be provided with gravity weight, tubular spare, compression spring, force-bearing ring, load spare, goes up plate, lower plugboard, pin, push the force cell of massage assembly and pressing force monitoring device; The bottom of gravity weight connects tubular spare top cover, and the upper end of compression spring is fixed on tubular spare top cover inboard, and force-bearing ring is located at compression spring lower end; The pull bar of mechanical movement means passes gravity weight medium pore, tubular spare top cover medium pore, compression spring central authorities and force-bearing ring central authorities successively, and the pull bar lower end is fixed with load spare; The upper end of force cell force side is connected with tubular spare bottom, and the lower end of force cell force side connects goes up plate; The upper end of pushing massage assembly is connected with lower plugboard, and lower plugboard is connected with last plate by pin, is convenient to push the replacing of massage assembly; When compression spring full extension, leave a bit of (about 2cm) distance between load spare and the tubular spare bottom; The described plate of going up is provided with upper plate tooth and last plate interface, and lower plugboard is provided with lower plate tooth and lower plugboard interface; The described plate of going up is preferably established 3 upper plate teeth that are arranged in parallel, and described lower plugboard is preferably established 2 lower plate teeth that are arranged in parallel, and upper plate tooth, lower plate tooth can all be cuboid, and size is identical; Last plate is provided with at least 1 and goes up pin-and-hole, and lower plugboard is provided with at least 1 following pin-and-hole, when last plate and lower plugboard closely when slotting, last pin-and-hole is aimed at following pin-and-hole (corresponding).
Described pressing force monitoring device can be provided with force cell and data collecting card (or analog-digital converter), and described force cell is located at pushing in the massage machine of mechanical movement means, and the output signal of force cell is through data acquisition clamping control centre; Or described pressing force monitoring device is provided with pressure transducer and data collecting card (or analog-digital converter), and described pressure transducer is located at pushing in the massage machine of mechanical movement means, and the output signal of pressure transducer is through data acquisition clamping control centre.
Described operation panel can be provided with input equipment, and the output signal of input equipment meets control centre or carries out wireless telecommunications with control centre; Described input equipment is provided with pain key, fast right key, numb key, reactionless key " nothing-", initiating key, Pause key, mute key, pressurization key and decompression key; Described pain key preferably is provided with " a bit pain+", " obviously pain ++ ", " very pain +++", " unbearably painful ++ ++ " four buttons; Described fast right key preferably is provided with fast right key " weak+", fast right key " strong ++ "; Described numb key preferably is provided with numb key " weak+", numb key " strong ++ "; Described input equipment can be keyboard or touch screen; Described operation panel preferably is provided with display lamp or/and display screen.
Described voice device can be provided with microphone and speaker; The signal output part of microphone meets control centre or carries out wireless telecommunications with control centre, and the signal input part of speaker meets control centre or carries out wireless telecommunications with control centre; Described microphone and speaker can be built in operation panel.Microphone and speaker also can be arranged on other places that is fit to.Microphone preferably is furnished with switch, only opens when enabling.
Described control centre can adopt PC (personal computer, personal computer).Described PC comprises the program of Ashi point examination and massage robot examination massage operation, also comprises image analysis module, sound identification module etc.In each stage and the link of examination, massage flow process, PC is according to the behavior of the rule domination robot each side of examination, prescription, massage.
The utlity model has following characteristics:
1, utilization vision localization technology is carried out space orientation by visual cues to body surface, and monitoring objective position in real time, for the control of mechanical movement provides foundation.Adopt shape or/and the color vision sign is attached at body surface with medical double faced adhesive tape.Can adopt the visual cues of corresponding size or shape to the acupoint region commonly used that is dispersed in.
2, utilize mechanical arm, especially three rectangular coordinate robotic arm manipulation are pushed massage machine, can carry out accurate machinery location to the body surface that approaches horizontal plane, and in the vertical direction is implemented the palpation operation, vertically and on the horizontal direction is massaging; Adopt the diagnosis and treatment bed as main prescription on individual diagnosis place, can be used for the examination and the massage at a plurality of positions of human body.Can adopt suitable diagnosis and treatment bench to specific part.
3, adopt the deadweight pressurization, promptly utilize the own wt of pushing massage machine to carry out palpation and massage as pressing force; Adopt the compression spring that pressing force is cushioned, reach safety, gentle purpose of exerting pressure.
Though the deadweight pressurization is suitable in the vertical direction most and exerts pressure downwards, certain limitation is arranged, but simplified the mechanically actuated of palpation massage, the complexity of robot frame for movement and the difficulty of motor control have been reduced, strengthened mechanically operated safety, and reduced cost, and having improved work efficiency, palpation and massage are carried out in a plurality of positions that can extensively distribute to human body under natural position.
4, the human body subregion is treated, according to the human body characteristics, chosen under the nature position and can be in the level position, particularly comparatively wide, smooth body surface is massaged the position as palpation.Again according to proportional unit of body, body cun principle and locating acupoint by bone-length, determine the locus of target site in subregion, to set press points in proportion according to bone mark.Like this, guaranteed the relative position that each press points is determined, be applicable to the prescription on individual diagnosis person of different heights and build, made this robot to carry out automatic Ashi point investigation and massage, and have the location repeatability of height planning the zone.Set press points with proper proportion (as 0.5 proportional unit of body, body cun), can contain substantially, also can position, thereby finish the palpation and the massage of acupuncture points on the human body meridians automatically meridians (mainly being passages through which vital energy circulates) in the zone through the position, cave.Basic planning zone mainly contains back of the body waist foot sun district, omoplate district, burst preceding, outer, back zone, regiones cruris medialis, anterolateral crural district, posterior leg district.These zones are the decent positions that extensively distribute of six of sufficient three YIN and three YANGs, relate to meridian of Hand-TAI YANG and Yin Link Channel, Yin Link Vessel, Yangwei Channel, three eight extra-channels of yangqiao meridian, comprise altogether all back shu pointss interior 72 through the cave.
To the acupuncture points on the human body commonly used of single distribution, under special body position, adopt restricted area label method location, can remedy the deficiency of typical subregion position scope to a certain extent, also can examine massage at certain position or acupuncture points on the human body.
5, on Ashi point examination method and decision method, the main abnormal of pushing is felt to be divided into pain, right, numb three classes soon according to clinical experience.According to clinical custom the tenderness degree being divided into level Four, is five degree together with no tenderness altogether, mainly judges according to prescription on individual diagnosis person's sensation.The one-level (1 degree) and the position of above tenderness or other abnormal sensories occur and be judged to be Ashi point, otherwise be not.
6, adopt the process of pushing to record and narrate method to the judgement of tenderness degree, promptly with the body surface of speed contact more slowly, push, when pressing force reaches setting value or prescription on individual diagnosis person and can not tolerate, finish this and push.In the process of pushing, the record tenderness has or not, and writes down tenderness degree at different levels and the corresponding pressing force value that is occurred.The tenderness grade of certain press points (tenderness degree) is to the highest tenderness degree that should press points reaches in the palpation process.
The tenderness minimum sensibile at non-Ashi point position, tenderness threshold of tolerance need to increase pressing force, special examination.Can adopt the above-mentioned method that is similar to judgement right, numb degree soon.
7, the massage position choose employings " Ah be'sing method ", utilize the principle of " pushing the reacting positive position promptly is the target site of massaging ", can determine to massage efficiently the position; Simultaneously, can choose acupuncture points on the human body, meridians according to theory of Chinese medical science or clinical experience, realized the robot examination, the massage integrated.
8, use force cell monitoring pressing force, on the one hand can the precise quantification pressing operation, guarantee mechanically operated safety; On the other hand, constitute closed loop control, can accurately control and push process, the effect that the operation of robot is more pushed near staff with softening with mechanical movement means.
9, by vision localization monitoring, the monitoring of pressing force value, use operation panel and voice device, in man-machine communication and interaction, realized accurate location, precise quantification, intellectuality, the hommization of machine examination massage.Role in man-machine communication and the interaction and basic function:
Robot: implement examination and massage; The pressing force value of monitoring prescription on individual diagnosis person's position and machinery; Record palpation, massage reaction; The ceremony session is answered prescription on individual diagnosis person and is putd question to; To prescription on individual diagnosis person's guidance of going to a doctor, prompting position situation is sent safety warning; The report medical personnel; Requirement beginning, adjustment or shut-down operation according to prescription on individual diagnosis person and medical personnel.
Prescription on individual diagnosis person: the pressing massage reaction is pressed in report, proposes examination and presses mount request, sends operation beginning, time-out, command for stopping.
Medical personnel: keep an eye on, assist robot, prescription on individual diagnosis person instructs and accompanies and attends to.
10, this utility model has been taked following measure aspect handling safety, has characteristics safe in utilization.
1) position limits and protection.Operating position of the present utility model is limited to the examination massage district that has planned.When setting press points and massage scope in planning zone, the safety range of mechanism is set, body surface skeleton etc. is protected according to the positioning accuracy of robot.
2) dynamic monitoring of target site.Utilize vision positioning device that target site is carried out dynamic monitoring, prevent to move and cause the operating position improper because of position change, position.
3) maximum pressing force restriction.Adopt the button fixed form of opening of deadweight pressurization and pull bar that maximum pressing force is controlled at known limited range, ensured safety basically by pressing massage.Push desired microinching for robot, remove the frictional force between outside link and upper fixing element, the following fixture, under the normal condition, keep certain distance between pull bar lower end and the tubular spare bottom, the maximum pressing force value of robot promptly is the weight of pushing massage machine; When abnormal conditions cause tubular spare bottom to touch the pull bar lower end, but move on the relative mechanical arm of pushing drawing rod (Z axle slide unit), the maximum pressing force of robot in the vertical direction is the weight that the weight of pushing massage machine adds pull bar.
4) impact mitigation measure.The pressing force value monitored with closed loop control push speed,, reach gentle purpose of exerting pressure with the spring buffer mechanical force.
5) power-off protection.Be provided with the power-off brake device on mechanical arm, the moving component of lockable mechanical arm during outage avoids pushing massage machine owing to action of gravity is weighed down down.
6) can manually remove and push massage machine.Under powering-off state, because (band-type brake) braking, mechanical arm (Z axle slide unit) is locked.Be in pressed state just in case push massage machine, can utilize the distance between pull bar lower end and the tubular spare bottom, lift on the manpower and push massage machine, releasing is pushed; Because pull bar adopts and opens the button fixed form, can also be together with moving on the pull bar.
7) prescription on individual diagnosis person's Autonomous Control.When needed, prescription on individual diagnosis person can remove the operation of robot at any time by operation panel or voice mode.
8) to the location and the requirement of pressing force precision.The positioning accuracy of existing three rectangular coordinate mechanical arms can reach one of percentage millimeter to higher, the binocular vision positioner to nearer object distance and in a big way the positioning accuracy of visual field can reach one of percentage millimeter to higher, under the situation of force cell that adopts higher sensitivity and resolution and attention control system global response speed, this robot can reach higher comprehensive location and pressing force control accuracy, meet acupuncture and moxibustion therapy to the localized requirement of acupuncture points on the human body, and avoid mechanical force that prescription on individual diagnosis person is damaged.
Description of drawings
Fig. 1 is a structure composition frame chart of the present utility model.
Fig. 2 is the structure composition frame chart of this utility model embodiment.
Fig. 3 is that the structure of vision positioning device, mechanical movement means and the pressing force monitoring device of this utility model embodiment is formed sketch map.
Fig. 4 is that the structure of the visual cues of this utility model embodiment is formed sketch map.
Fig. 5 is pull bar fixing means and the device sketch map of this utility model embodiment.
Fig. 6 forms sketch map for the structure of pushing the massage assembly interface of this utility model embodiment.
Fig. 7 is that the structure of the operation panel panel of this utility model embodiment is formed sketch map.
Being labeled as of Fig. 1～7:
Force cell (or pressure transducer) 41, data collecting card (or analog-digital converter) 42.
Keyboard (or touch screen) 51, single-chip microcomputer (or other microcontrollers) 52; " a bit pain+" 5111, " obviously pain ++ " 5112, " very pain +++" 5113, " unbearably painful ++ ++ " 5114, fast right key " weak+" 5121, fast right key " strong ++ " 5122, numb key " weak+" 5131, numb key " strong ++ " 5132, reactionless key " nothing-" 514, initiating key 515, Pause key 516, mute key 517, pressurization key 518, decompression key 519.
Microphone 61, speaker 62.
The specific embodiment
Following examples will be further described this utility model in conjunction with the accompanying drawings.
Referring to Fig. 1, described acupuncture points on the human body meridians palpation massage robot is provided with control centre 1, vision positioning device 2, mechanical movement means 3, pressing force monitoring device 4, operation panel 5 and voice device 6.
Referring to Fig. 2～7, described control centre can adopt PC.Described PC comprises the program of acupuncture points on the human body meridians palpation massage robot palpation massage operation, also comprises image analysis module, sound identification module etc.In each stage and the link of palpation, massage flow process, PC is according to the behavior of the rule domination robot each side of palpation, prescription, massage.
Described vision positioning device is provided with video camera 21, video camera fixture 22, image pick-up card (or video frequency collection card) 23 and at least 1 visual cues (or visual beacon) 24.Described video camera 21 is fixed on the mechanical movement means 3 by video camera fixture 22, and the output signal end of video camera 21 meets PC through image pick-up card 23, and described video camera 21 can adopt the binocular ccd video camera; Vision positioning device is determined the space coordinates of target site according to the position of visual cues 24, described visual cues 24 can be made into just alternate or/and checkerboard visual cues, crosswise visual cues or the other forms of visual cues that black and white (or other colors) is alternate, the location that can be used for different scale images resolution, during use, the back side of visual cues 24 can be attached at body surface with medical double faced adhesive tape.
Described mechanical movement means 3 can be provided with support 31, mechanical arm (or claiming mechanical hand, mechanical arm, robot) 32 and corresponding motion control card 33 and motor driver 34, pull bar 35, push massage machine 36, described mechanical arm 32 is located on the support 31, the motor of mechanical arm 32 meets PC through motor driver 34, motion control card 33, mechanical arm 32 is pushed massage machine 36 by pull bar 35 operation, carries out that machinery is located and by pressing massage.
Described mechanical arm 32 can adopt three rectangular coordinate mechanical arms (or claiming three right angle coordinate manipulators, three Cartesian robots etc.), three rectangular coordinate mechanical arms are provided with X-axis arm 321, Y-axis arm 322 and Z armshaft 323, wherein, Z axle (arm) is perpendicular to horizontal plane; X-axis arm 321 is provided with X-axis track, X-axis motor, X-axis actuating device and X-axis slide unit (or slide block) 3211 at least, Y-axis arm 322 is provided with Y-axis track, Y-axis motor, Y-axis actuating device and Y-axis slide unit (or slide block) 3221 at least, and Z armshaft 323 is provided with Z axle track, Z axle motor, Z shaft drive and Z axle slide unit (or slide block) 3231 at least.Described X-axis motor, Y-axis motor and Z axle motor all can adopt servomotor or motor, and described X-axis actuating device, Y-axis actuating device and Z shaft drive all can adopt shaft coupling and ball screw; The X-axis arm 321 of three rectangular coordinate mechanical arms is located on the support 31, Y-axis arm 322 is located on the X-axis slide unit 3211, Z armshaft 323 is located on the Y-axis slide unit 3221, and described X-axis motor, Y-axis motor and Z axle motor all meet PC through motor driver 34, (three) motion control card 33.
The top of described pull bar 35 and Z axle slide unit 3231 (or moving component of other form mechanical arms) flexibly connect, and the bottom of pull bar 35 connects pushes massage machine 36.It is to be provided with upper fixing element 351 on Z axle slide unit 3231 lateral surface tops that described pull bar 35 tops and Z axle slide unit flexibly connect, and is provided with fixture 352 down in Z axle slide unit 3231 lateral surface bottoms; Upper fixing element 351 is provided with the duct, following fixture 352 is provided with down the duct, the internal diameter in last duct is greater than the internal diameter in following duct, pull bar 35 is the reducing pull bar, and is upper coarse and lower fine, and pull bar 35 passes the duct, the duct is passed down in pull bar 35 bottoms, establish packing ring 353 between pull bar 35 and following fixture 352, or establish keeper (not drawing among the figure) on the pull bar 35 between upper fixing element 351 and following fixture 352, described keeper can adopt nut.Like this, under action of gravity, draw rod positions is defined; And when pull bar was subjected to upwards active force greater than downward action of gravity, pull bar can move upward.
On mechanical arm 32, preferably be provided with the power-off brake device, the moving component of lockable mechanical arm 32 during outage, for three rectangular coordinate mechanical arms, preferably establish the power-off brake device on the Z armshaft 323, when outage the time, can lock Z axle slide unit 3231 immediately, to prevent that pushing massage machine 36 moves down, described power-off brake device can adopt power-off brake type electromagnetic brake.
The described massage machine 36 of pushing can be provided with gravity weight 361, tubular spare 362, compression spring 363, force-bearing ring 364, load spare 365, goes up plate 366, lower plugboard 367, pin 368, push the force cell 41 of massage assembly 369 and pressing force monitoring device 4; The bottom of gravity weight 361 connects tubular spare top cover 3621, and the upper end of compression spring 363 is fixed on tubular spare top cover 3621 inboards, and force-bearing ring 364 is located at compression spring 363 lower ends; The pull bar 35 of mechanical movement means 3 passes gravity weight 361 medium pores, tubular spare top cover 3621 medium pores, compression spring 363 central authorities and force-bearing ring 364 central authorities successively, and pull bar 35 lower ends are fixed with load spare 365; Force cell 41 can be located between tubular spare 362 and the last plate 366, and preferably the upper end (being the force side) with force cell 41 is connected with tubular spare 362 bottoms, plate 366 in the connection of the lower end of force cell 41 (also being the force side); The upper end of pushing massage assembly 369 is connected with lower plugboard 367, and lower plugboard 367 is connected with last plate 366 by pin 368, is convenient to push the replacing of massage assembly 369; When compression spring 363 full extension, leave a bit of (about 2cm) distance between load spare 365 and tubular spare 362 bottoms; The described plate 366 of going up is provided with upper plate tooth 3661 and last plate interface 3662, and lower plugboard 367 is provided with lower plate tooth 3671 and lower plugboard interface 3672; The described plate 366 of going up is preferably established 3 upper plate teeth 3661 that are arranged in parallel, and described lower plugboard 367 is preferably established 2 lower plate teeth 3671 that are arranged in parallel, and upper plate tooth 3661, lower plate tooth 3671 can all be cuboid, and size is identical; Last plate 366 is provided with at least 1 and goes up pin-and-hole 3663, and lower plugboard 367 is provided with at least 1 following pin-and-hole 3673, when last plate 366 and lower plugboard 367 closely when inserting, last pin-and-hole 3663 is aimed at following pin-and-hole 3673 (corresponding).
Described pressing force monitoring device 4 is provided with force cell (or pressure transducer) 41 and data collecting card (or analog-digital converter) 42, described force cell 41 is located at pushing in the massage machine 36 of mechanical movement means 3, and the output signal of force cell 41 meets PC through data collecting card 42.
Described operation panel 5 is provided with keyboard (or touch screen) 51 and single-chip microcomputer (or other microcontrollers) 52, and the output signal of keyboard 51 meets PC or carries out wireless telecommunications with PC through single-chip microcomputer; Described keyboard 51 can be made into the mobile phone size, is suitable for one-handed performance; Described keyboard 51 can be provided with pain key 511 (comprising " a bit pain+" 5111, " obviously pain ++ " 5112, " very pain +++" 5113, " unbearably painful ++ ++ " 5,114 four buttons), fast right key 512 (comprising fast right key " weak+" 5121, fast right key " strong ++ " 5122), numb key 513 (comprising numb key " weak+" 5131, numb key " strong ++ " 5132), reactionless key " nothing-" 514, initiating key 515, Pause key 516, mute key 517, pressurization key 518 and decompression key 519; Operation panel 5 also can be provided with display lamp or/and display screen.
Described voice device 6 is provided with microphone 61 and speaker 62; The signal output part of microphone 61 meets PC, and the signal input part of speaker 62 meets PC, and microphone, speaker also can carry out wireless telecommunications with PC; Described microphone 61 and speaker 62 can be built in operation panel 5.Microphone 61 and speaker 62 also can be arranged on other places that is fit to.Microphone 61 preferably is furnished with switch, only opens when enabling.
Below provide the using method of this utility model embodiment.
1) robot enters duty, welcomes to go to a doctor by forms such as voice, gathers prescription on individual diagnosis person's necessary data under medical personnel assist, and gets rid of unfavorable prescription on individual diagnosis object.
2) diagnosis and treatment method is introduced by robot, instructs prescription on individual diagnosis person to put position.Medical personnel check prescription on individual diagnosis person's position, accurately attach visual cues at the follow-up position, assist robot and prescription on individual diagnosis person to push the report content and the mode of reaction according to diagnosis and treatment content agreement, confirm that prescription on individual diagnosis person's grasp claims, sends instruction, reports the method for pushing reaction to robot, specifically comprise the use and the mode of discourse of operation panel, dual mode can be used in combination.
3) first visit person is carried out palpation examination operation.Any part of choosing non-affected part in the follow-up district tries operation, makes prescription on individual diagnosis person be familiar with, adapt to robot examination method.The tested speech device is determined prescription on individual diagnosis person's report manner to the recognition effect of prescription on individual diagnosis person's sound.
4) agree through prescription on individual diagnosis person that robot begins palpation of acupuncture points on the human body meridians or Ashi point investigation are carried out in the follow-up position.
To the press points of each setting, according to the report and corresponding pressing force value scope record examination process of prescription on individual diagnosis person to pushing reaction.The sensation of pushing when pushing the beginning prompt tone is heard in prescription on individual diagnosis person's report, as the reaction of " firm pushing "; Afterwards, as push and feel to change, promptly mode is reported by appointment; The sensation of pushing of pushing when finishing prompt tone is heard in report, as the reaction of maximum pressing force, finishes the inferior palpation operation of a press points.
5) screen display and report examination result formulate the massage scheme according to " Ah be'sing method ", or formulate the massage scheme according to theory of Chinese medical science or clinical experience.
6) Ashi point or acupuncture points on the human body meridians are massaged one by one.
7) can according to circumstances simplify voice suggestion and operating procedure to further consultation person, increase the contents such as cross-reference of palpation reaction.
Major function of the present utility model is to carry out the palpation of acupuncture points on the human body meridians, massage and tenderness test, particularly to the examination and the massage of Ashi point.Can be used for healthcare field, carry out routine physical examination and therapeutic massage; Can be used for medical field, carry out palpation and massage treatment; Can be used for scientific research field, for the acupuncture points on the human body meridians particularly Ashi point and pressure pain point research, palpation massage research, that pain research provides is objective, quantize down to automatization, intelligentized instrument and research platform.
Claims (11)
1. acupuncture points on the human body meridians palpation massage robot is characterized in that being provided with control centre, vision positioning device, mechanical movement means, pressing force monitoring device, operation panel and voice device; Control centre is by medical personnel's operation and supervision; Vision positioning device is used to measure and monitor the space coordinates of pushing the massage position, and the signal output part of vision positioning device meets control centre; Mechanical movement means is used to provide machine power, machinery location, carries out the operation of palpation massage manipulation, and the control input end of mechanical movement means connects the control output end of control centre; The pressing force monitoring device is used to monitor the pressing force value, and the signal input part of pressing force monitoring device is connected with mechanical movement means, and the signal output part of pressing force monitoring device meets control centre; Operation panel is used for man-machine communication and the interaction between prescription on individual diagnosis person and the robot, and operation panel meets control centre or carries out wireless telecommunications with control centre; Voice device is used for robot voice prompting and session, auxiliaryly is used for prescription on individual diagnosis person's report and pushes reaction and send operational order, and the signal input output end of voice device is connected with control centre or carries out wireless telecommunications with control centre.
2. acupuncture points on the human body meridians palpation massage robot as claimed in claim 1, it is characterized in that described vision positioning device is provided with video camera, video camera fixture, image pick-up card and at least 1 visual cues, the output signal end of video camera is through image acquisition clamping control centre.
3. acupuncture points on the human body meridians palpation massage robot as claimed in claim 2 is characterized in that described visual cues is alternate or/and checkerboard visual cues that different colours is alternate or crosswise visual cues for height.
4. acupuncture points on the human body meridians palpation massage robot as claimed in claim 1, it is characterized in that described mechanical movement means is provided with support, mechanical arm, pull bar, pushes massage machine, described mechanical arm is located on the support, the control input end of mechanical arm meets control centre, mechanical arm is pushed massage machine by pull bar operation, carries out that machinery is located and by pressing massage.
5. acupuncture points on the human body meridians palpation massage robot as claimed in claim 4, it is characterized in that described mechanical arm is three rectangular coordinate mechanical arms, three rectangular coordinate mechanical arms are provided with X-axis arm, Y-axis arm and Z armshaft, wherein, the Z armshaft is provided with Z axle slide unit, and Z axle slide unit vertically moves; The control input end of three rectangular coordinate mechanical arms meets control centre.
6. acupuncture points on the human body meridians palpation massage robot as claimed in claim 4, the top and the Z axle slide unit that it is characterized in that described pull bar flexibly connect, the bottom of pull bar connects pushes massage machine, it is to be provided with upper fixing element on Z axle slide unit lateral surface top that the top of described pull bar and Z axle slide unit flexibly connect, and is provided with fixture down in Z axle slide unit lateral surface bottom; Upper fixing element is provided with the duct, following fixture is provided with down the duct, the internal diameter in last duct is greater than the internal diameter in following duct, pull bar is the reducing pull bar, upper coarse and lower fine, pull bar passes the duct, and the duct is passed down in the pull bar bottom, between pull bar and following fixture, establish packing ring, or on the pull bar between upper fixing element and the following fixture, establish keeper.
7. acupuncture points on the human body meridians palpation massage robot as claimed in claim 4 is characterized in that being provided with the power-off brake device on mechanical arm.
8. acupuncture points on the human body meridians palpation massage robot as claimed in claim 4 is characterized in that the described force cell that massage machine is provided with gravity weight, tubular spare, compression spring, force-bearing ring, load spare, last plate, lower plugboard, pin, pushes massage assembly and pressing force monitoring device of pushing; The bottom of gravity weight connects tubular spare top cover, and the upper end of compression spring is fixed on tubular spare top cover inboard, and force-bearing ring is located at compression spring lower end; The pull bar of mechanical movement means passes gravity weight medium pore, tubular spare top cover medium pore, compression spring central authorities and force-bearing ring central authorities successively, and the pull bar lower end is fixed with load spare; The upper end of force cell force side is connected with tubular spare bottom, and the lower end of force cell force side connects goes up plate; The upper end of pushing massage assembly is connected with lower plugboard, and lower plugboard is connected with last plate by pin.
9. acupuncture points on the human body meridians palpation massage robot as claimed in claim 1, it is characterized in that described pressing force monitoring device is provided with force cell and data collecting card, described force cell is located at pushing in the massage machine of mechanical movement means, and the output signal of force cell is through data acquisition clamping control centre; Or
Described pressing force monitoring device is provided with pressure transducer and data collecting card, and described pressure transducer is located at pushing in the massage machine of mechanical movement means, and the output signal of pressure transducer is through data acquisition clamping control centre.
10. acupuncture points on the human body meridians palpation massage robot as claimed in claim 1 is characterized in that described operation panel is provided with input equipment, and the output signal of input equipment meets control centre or carries out wireless telecommunications with control centre; Described input equipment is provided with pain key, fast right key, numb key, reactionless key " nothing-", initiating key, Pause key, mute key, pressurization key and decompression key; Described pain key is provided with " a bit pain+", " obviously pain ++ ", " very pain +++", " unbearably painful ++ ++ " four buttons; Described fast right key is provided with fast right key " weak+", fast right key " strong ++ "; Described numb key is provided with numb key " weak+", numb key " strong ++ "; Described input equipment can be keyboard or touch screen; Described operation panel is provided with display lamp or/and display screen.
11. acupuncture points on the human body meridians palpation massage robot as claimed in claim 1 is characterized in that described voice device is provided with microphone and speaker; The signal output part of microphone meets control centre or carries out wireless telecommunications with control centre, and the signal input part of speaker meets control centre or carries out wireless telecommunications with control centre.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200593358U CN201710627U (en) | 2010-01-12 | 2010-01-12 | Accupoint meridian feeling massaging robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200593358U CN201710627U (en) | 2010-01-12 | 2010-01-12 | Accupoint meridian feeling massaging robot |
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| Publication Number | Publication Date |
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| CN201710627U true CN201710627U (en) | 2011-01-19 |
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| CN2010200593358U Expired - Lifetime CN201710627U (en) | 2010-01-12 | 2010-01-12 | Accupoint meridian feeling massaging robot |
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| CN (1) | CN201710627U (en) |
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| CN101766535B (en) * | 2010-01-12 | 2012-02-15 | 王朝晖 | Ashi point examination and massage robot |
| WO2014022948A1 (en) * | 2012-08-09 | 2014-02-13 | Wu Ching-Chung | Automatic image positioning system and method thereof for human body acupoint |
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| WO2014022948A1 (en) * | 2012-08-09 | 2014-02-13 | Wu Ching-Chung | Automatic image positioning system and method thereof for human body acupoint |
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| CN103830087A (en) * | 2014-03-05 | 2014-06-04 | 河北工业大学 | Tap massaging robot |
| CN103830087B (en) * | 2014-03-05 | 2015-06-10 | 河北工业大学 | Tap massaging robot |
| CN104398285A (en) * | 2014-12-10 | 2015-03-11 | 北京龙马负图科技有限公司 | Limb pressurization physiotherapy device operated by voices |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20110119 Effective date of abandoning: 20100112 |