CN206934323U - A kind of point massage system based on seven freedom mechanical arm - Google Patents
A kind of point massage system based on seven freedom mechanical arm Download PDFInfo
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- CN206934323U CN206934323U CN201720078701.6U CN201720078701U CN206934323U CN 206934323 U CN206934323 U CN 206934323U CN 201720078701 U CN201720078701 U CN 201720078701U CN 206934323 U CN206934323 U CN 206934323U
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Abstract
A kind of point massage system based on seven freedom mechanical arm is the utility model is related to, including：Massage bed, seven freedom mechanical arm, for realizing space 6DOF motion, and there is a redundant degree of freedom；End massage instrument.The beneficial effects of the utility model are：Device coordinates special end massage instrument to realize the massage therapy similar to doctor of chiropractic's gimmick using seven free mechanical arms；With simple tutorial function, acupuncture point point can be easily found by way of dragging；With power sensing and control function, the power size of acupuncture point point pressing can be detected, and applied massage force can be controlled；With mechanical arm crash protection function, it is ensured that excessive power will not be applied in massage processes, and the safety of operating personnel can be ensured；The motor pattern such as vibrate, press, rubbing, rotating, simulating the different massage manipulations of doctor of chiropractic；With system monitoring and analytic function, the effect of massage therapy can be effectively assessed.
Description
Technical field
Technical field of medical instruments is the utility model is related to, more particularly to a kind of acupuncture point based on seven freedom mechanical arm
Massage system.
Background technology
With the improvement of living standards, health care becomes the more and more urgent living needs of people.Traditional medicine
The treatment means such as massage, popular treatment for sunstroke by scraping the patient's neck, chest or back, cup, due to not needing drug administration, there are safe and effective, Small side effects.But this
A little therapies generally require the therapist of specialty, and the working strength of therapist is big, costly, this kind for the treatment of means of limit value
Popularization.In the last few years, the demand of massager was always maintained at powerful situation, but massager in the market is often electricity
Minor, electrode patch is pasted onto on human body, human body is stimulated by producing electric current.The massager of electronic type can not be effective
The massage manipulation of doctor of chiropractic's hand extruding is simulated, and due to the effect of electric current, the organs such as heart may be damaged.
Therefore, it is simple there is an urgent need to a kind of application and can effectively simulate the point massage system of doctor of chiropractic's gimmick.
The content of the invention
In order to overcome the shortcomings of that point massage system is in massaging way, massage manipulation etc. in the prior art, to realize
For the purpose of simple to operate, safely and effectively massage therapy, the utility model provides a kind of cave based on seven freedom mechanical arm
Position massage system.The device coordinates special end massage instrument to realize similar doctor of chiropractic's gimmick using seven free mechanical arms
Massage therapy；With simple tutorial function, acupuncture point point can be easily found by way of dragging；Sense and control with power
Function processed, can detect the power size of acupuncture point point pressing, and can control applied massage force；With mechanical arm crash protection
Function, it is ensured that excessive power will not be applied in massage processes, and the safety of operating personnel can be ensured；Vibrate, press, rub
The motor patterns such as stranding, rotation, simulate the different massage manipulations of doctor of chiropractic；, can be effective with system monitoring and analytic function
Assess the effect of massage therapy.
To achieve these goals, the present invention provides following technical scheme：
A kind of point massage system based on seven freedom mechanical arm, including：
Massage bed, the massage bed may be designed as common medical bed, can be lain low for patient or sitting；
Seven freedom mechanical arm, the seven freedom mechanical arm are arranged on the massage bed side, including slewing equipment,
One drive device, head rod, the second drive device, the second connecting rod, the 3rd drive device, four-drive device, the 5th
Drive device, described head rod one end and the first driving means, the head rod other end and described second
Drive device, described second connecting rod one end and it is connected with second drive device, the second connecting rod other end and institute
State the 3rd drive device, the four-drive device and described 3rd drive device one end, the 5th drive device with it is described
The other end of four-drive device is respectively formed joint, for realizing space 6DOF motion, and has a redundant degree of freedom；
End massage instrument, the end massage instrument are arranged on one end of the 5th drive device；
Control centre, the control centre are connected electrically in the seven freedom mechanical arm side；
End 6 DOF torque sensor, the end 6 DOF torque sensor are arranged on inside the end massage instrument,
Moment information when vibrating, press for experiencing detection, rubbing, the different massaging actions such as rotating.
Further, in addition to the support frame, the base that is arranged on below support frame as described above that are arranged on below the slewing equipment
Seat.
Further, the device for revolving and driving includes driven gear, turning motor, support base, floating bearing, the revolution
Motor drives the driven gear to operate by gear engagement, for mechanical arm in support frame as described above 360 deg rotating displaying, described time
Rotating shaft is held to be connected in the support base by neck.
Further, the driven gear is internal gear, and is meshed with the external gear of the motor.
Further, the first driving means, second drive device, the 3rd drive device, the 4 wheel driven
Dynamic device, the 5th drive device are motor driving, and are meshed with the internal gear of the joint, for driving mechanical
Arm six degree of freedom operates.
Further, the joint is mounted on joint torque sensor, and is connected electrically in the control centre, is used for
Stressing conditions in detection mechanical arm running.
Further, in addition to it is arranged on the contact of described end massage instrument one end.
Further, the contact can be single contact, double-contact or multiconductor.
Further, in addition to the computer of the control centre side is connected electrically in, for operation equipment.
The utility model have the advantage that including：
1st, the present invention is simple in construction, easy to operate, and safety coefficient is high, and whole massage therapy process can be monitored,
The effectively validity of the security of lifting massage therapy and appraisal procedure；
2nd, the seven freedom mechanical arm that the present invention uses is arranged on beside massage bed, has seven joints, Neng Goushi
Now more flexible massaging action；End is provided with sextuple torque sensor and massage instrument, can realize power detection and control
And the different massaging actions such as vibrate, press, rubbing, rotating；
3rd, end massage instrument of the invention has the structure types such as single contact, double-contact, multiconductor, can adapt to difference
Human body acupuncture point；Using environment-friendly rubber material, quality soft durometer, coefficient of friction are moderate, and human body will not be damaged；
4th, control centre of the invention is integrally controlled to seven freedom mechanical arm, sextuple torque sensor, end massage instrument
System, can realize seven freedom mechanical arm massaging action, control massage processes in torque, detection；And monitor and record and press
The information such as acupuncture point point, massaging action, torque during rubbing, and further massage effect can be assessed.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of point massage system construction drawing based on seven freedom mechanical arm described in the utility model；
Fig. 2 is massage instrument structure chart in end described in the utility model；
Fig. 3 is control centre's connection figure described in the utility model；
Fig. 4 is slewing equipment structural representation described in the utility model；
Fig. 5 is massage instrument single contact structural representation in end described in the utility model；
Fig. 6 is massage instrument double contact structure schematic diagram in end described in the utility model；
Fig. 7 is massage instrument multiconductor structural representation in end described in the utility model.
Description of reference numerals is as follows：
1st, pedestal；2nd, support frame；3rd, control centre；4th, slewing equipment；401st, driven gear；402nd, turning motor；403、
Floating bearing；404th, support base；5th, seven freedom mechanical arm；6th, first driving means；7th, head rod；8th, the second driving dress
Put；9th, the second connecting rod；10th, the 3rd drive device；11st, four-drive device；12nd, the 5th drive device；13rd, end massage work
Tool；1301st, contact；14th, massage bed；15th, joint torque sensor；16th, joint；17th, end 6 DOF torque sensor；18、
Computer.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical scheme will be carried out below
Detailed description.Obviously, described embodiment is only the utility model part of the embodiment, rather than whole implementation
Example.Based on the embodiment in the present invention, obtained by those of ordinary skill in the art are not on the premise of creative work is made
All other embodiment, belong to the scope protected of the present invention.
Embodiment one：
With reference to 1-Fig. 5 of figure, a kind of point massage system based on seven freedom mechanical arm is present embodiments provided, including：
Massage bed 14, the massage bed 14 may be designed as common medical bed, can be lain low for patient or sitting；
Seven freedom mechanical arm 5, the seven freedom mechanical arm 5 are arranged on the side of massage bed 14, including revolution dress
Put 4, first driving means 6, head rod 7, the second drive device 8, the second connecting rod 9, the 3rd drive device 10,4 wheel driven
Dynamic device 11, the 5th drive device 12, described one end of head rod 7 and the first driving means 6, the head rod
7 other ends and second drive device 8, described one end of second connecting rod 9 are with being connected with second drive device 8, described
The other end of second connecting rod 9 and the 3rd drive device 10, the four-drive device 11 and the 3rd drive device 10
One end, the 5th drive device 12 and the other end of the four-drive device 11 are respectively formed joint 16, for realizing space 6
The free degree is moved, and has a redundant degree of freedom；
End massage instrument 13, the end massage instrument 13 are arranged on one end of the 5th drive device 12；
Control centre 3, the control centre 3 are connected electrically in the side of seven freedom mechanical arm 5；
End 6 DOF torque sensor 17, the end 6 DOF torque sensor 17 are arranged on the end massage instrument 13
Inside, moment information when vibrating, press for experiencing detection, rubbing, the different massaging actions such as rotating.
Further, in addition to it is arranged on the support frame 2 of the lower section of slewing equipment 4, is arranged on the lower section of support frame as described above 2
Pedestal 1.
Further, the device for revolving and driving includes driven gear 401, turning motor 402, support base 404, floating bearing
403, the turning motor 402 drives the driven gear 401 to operate by gear engagement, for mechanical arm in support frame as described above
2 360 deg rotating displayings, the floating bearing 403 are connected in the support base 404 by neck.
Further, the driven gear 401 is internal gear, and is meshed with the external gear of the motor.
Further, the first driving means 6, second drive device 8, the 3rd drive device 10, described
Four-drive device 11, the 5th drive device 12 are motor driving, and are meshed with the internal gear at the joint 16, are used
Operated in driving mechanical arm six degree of freedom.
Further, joint torque sensor 15 is mounted at the joint 16, and is connected electrically in the control centre 3
On, for the stressing conditions in detection mechanical arm running.
Further, in addition to it is arranged on the contact 1301 of described one end of end massage instrument 13.
Further, the contact 1301 is single contact 1301.
Further, in addition to the computer 18 of the side of control centre 3 is connected electrically in, for operation equipment.
It is as follows using above-described embodiment：
The people for receiving treatment is lain on massage bed 14, taken according to the acupuncture point massaged lie on the back, the posture of prostrate or sitting；
According to treatment needs, required end massage instrument 13 is selected, and attach it to the end of seven freedom mechanical arm 5
End；
Start the dragging tutorial function of seven freedom mechanical arm 5 by control centre 3, operating personnel catch mechanical arm tail end
Driving machinery arm runs to first acupuncture point point being massaged, records first position by control centre 3, and pass through control
Center 3 sets the location point the different massaging actions such as to vibrate, press, rub or rotate；
Operating personnel catch mechanical arm tail end driving machinery arm to run to second acupuncture point point being massaged, by control
The heart 3 records second position, and by control centre 3 set the location point vibrate, press, rub or rotate etc. it is different by
Rub action；According to said method teaching the three, the four, the 5th waits the acupuncture point point of other massages；
The torque size of acupuncture point spot massage, and the time of each point massage are set by control centre 3；
Start the Motor execution function of seven freedom mechanical arm 5 by control centre 3, mechanical arm will be good according to above teaching
Acupuncture point point move to each acupuncture point point one by one, and enter changing the time by the massaging action of setting, massage torque size, massage time
Row massage motion；
When sextuple torque sensor 17 detects that the torque of massage exceedes limit value in massage processes, control centre 3 sends
Instruct control machine people to stop massage, ensure the security of massage therapy；
When mechanical arm collides with external environment in massage processes, the torque sensor of joint of mechanical arm 16 will detect
Abnormal to torque, control centre 3 sends instruction control machine people and stops massage, ensures the safety of operating personnel and surrounding environment；
After each acupuncture point point was all massaged, mechanical arm stop motion is simultaneously lifted, and massage therapy terminates, can be according to control
The moment information that center 3 gathers assesses massage therapy effect.
Embodiment two：
With reference to figure 1, Fig. 2, Fig. 3, Fig. 4, Fig. 6, present embodiments provide a kind of acupuncture point based on seven freedom mechanical arm by
Rub system, including：
Massage bed 14, the massage bed 14 may be designed as common medical bed, can be lain low for patient or sitting；
Seven freedom mechanical arm 5, the seven freedom mechanical arm 5 are arranged on the side of massage bed 14, including revolution dress
Put 4, first driving means 6, head rod 7, the second drive device 8, the second connecting rod 9, the 3rd drive device 10,4 wheel driven
Dynamic device 11, the 5th drive device 12, described one end of head rod 7 and the first driving means 6, the head rod
7 other ends and second drive device 8, described one end of second connecting rod 9 are with being connected with second drive device 8, described
The other end of second connecting rod 9 and the 3rd drive device 10, the four-drive device 11 and the 3rd drive device 10
One end, the 5th drive device 12 and the other end of the four-drive device 11 are respectively formed joint 16, for realizing space 6
The free degree is moved, and has a redundant degree of freedom；
End massage instrument 13, the end massage instrument 13 are arranged on one end of the 5th drive device 12；
Control centre 3, the control centre 3 are connected electrically in the side of seven freedom mechanical arm 5；
End 6 DOF torque sensor 17, the end 6 DOF torque sensor 17 are arranged on the end massage instrument 13
Inside, moment information when vibrating, press for experiencing detection, rubbing, the different massaging actions such as rotating.
Further, in addition to it is arranged on the support frame 2 of the lower section of slewing equipment 4, is arranged on the lower section of support frame as described above 2
Pedestal 1.
Further, the device for revolving and driving includes driven gear 401, turning motor 402, support base 404, floating bearing
403, the turning motor 402 drives the driven gear 401 to operate by gear engagement, for mechanical arm in support frame as described above
2 360 deg rotating displayings, the floating bearing 403 are connected in the support base 404 by neck.
Further, the driven gear 401 is internal gear, and is meshed with the external gear of the motor.
Further, the first driving means 6, second drive device 8, the 3rd drive device 10, described
Four-drive device 11, the 5th drive device 12 are motor driving, and are meshed with the internal gear at the joint 16, are used
Operated in driving mechanical arm six degree of freedom.
Further, joint torque sensor 15 is mounted at the joint 16, and is connected electrically in the control centre 3
On, for the stressing conditions in detection mechanical arm running.
Further, in addition to it is arranged on the contact 1301 of described one end of end massage instrument 13.
Further, the contact 1301 is double-contact.
Further, in addition to the computer 18 of the side of control centre 3 is connected electrically in, for operation equipment.
The present embodiment and the contact 1301 that differs only in of embodiment one are double-contact, the advantage is that double-contact shape
Formula is applied to be symmetrically distributed in the acupuncture point of human body both sides, and the width of the form of two contact 1301 is adjustable, can adapt to human body difference
The symmetrical acupuncture point of distance.
Embodiment three：
Reference chart Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 7 present embodiments provide a kind of acupuncture point based on seven freedom mechanical arm by
Rub system, including：
Massage bed 14, the massage bed 14 may be designed as common medical bed, can be lain low for patient or sitting；
Seven freedom mechanical arm 5, the seven freedom mechanical arm 5 are arranged on the side of massage bed 14, including revolution dress
Put 4, first driving means 6, head rod 7, the second drive device 8, the second connecting rod 9, the 3rd drive device 10,4 wheel driven
Dynamic device 11, the 5th drive device 12, described one end of head rod 7 and the first driving means 6, the head rod
7 other ends and second drive device 8, described one end of second connecting rod 9 are with being connected with second drive device 8, described
The other end of second connecting rod 9 and the 3rd drive device 10, the four-drive device 11 and the 3rd drive device 10
One end, the 5th drive device 12 and the other end of the four-drive device 11 are respectively formed joint 16, for realizing space 6
The free degree is moved, and has a redundant degree of freedom；
End massage instrument 13, the end massage instrument 13 are arranged on one end of the 5th drive device 12；
Control centre 3, the control centre 3 are connected electrically in the side of seven freedom mechanical arm 5；
End 6 DOF torque sensor 17, the end 6 DOF torque sensor 17 are arranged on the end massage instrument 13
Inside, moment information when vibrating, press for experiencing detection, rubbing, the different massaging actions such as rotating.
Further, in addition to it is arranged on the support frame 2 of the lower section of slewing equipment 4, is arranged on the lower section of support frame as described above 2
Pedestal 1.
Further, the device for revolving and driving includes driven gear 401, turning motor 402, support base 404, floating bearing
403, the turning motor 402 drives the driven gear 401 to operate by gear engagement, for mechanical arm in support frame as described above
2 360 deg rotating displayings, the floating bearing 403 are connected in the support base 404 by neck.
Further, the driven gear 401 is internal gear, and is meshed with the external gear of the motor.
Further, the first driving means 6, second drive device 8, the 3rd drive device 10, described
Four-drive device 11, the 5th drive device 12 are motor driving, and are meshed with the internal gear at the joint 16, are used
Operated in driving mechanical arm six degree of freedom.
Further, joint torque sensor 15 is mounted at the joint 16, and is connected electrically in the control centre 3
On, for the stressing conditions in detection mechanical arm running.
Further, in addition to it is arranged on the contact 1301 of described one end of end massage instrument 13.
Further, the contact 1301 is multiconductor.
Further, in addition to the computer 18 of the side of control centre 3 is connected electrically in, for operation equipment.
The present embodiment touches more with embodiment one, the multiconductor form that differs only in of embodiment two for two symmetrical row
Point, massaged suitable for position as human body back bladder warp.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
- A kind of 1. point massage system based on seven freedom mechanical arm, it is characterised in that including：Massage bed, the massage bed may be designed as common medical bed, can be lain low for patient or sitting；Seven freedom mechanical arm, the seven freedom mechanical arm are arranged on the massage bed side, including slewing equipment, the first drive Dynamic device, head rod, the second drive device, the second connecting rod, the 3rd drive device, four-drive device, the 5th driving Device, described head rod one end and the first driving means, the head rod other end and the described second driving Device, described second connecting rod one end and it is connected with second drive device, the second connecting rod other end and described the Three drive devices, the four-drive device and described 3rd drive device one end, the 5th drive device and the described 4th The other end of drive device is respectively formed joint, for realizing space 6DOF motion, and has a redundant degree of freedom；End massage instrument, the end massage instrument are arranged on one end of the 5th drive device；Control centre, the control centre are connected electrically in the seven freedom mechanical arm side；End 6 DOF torque sensor, the end 6 DOF torque sensor are arranged on inside the end massage instrument, are used for Impression detection such as vibrates, pressed, rubbing, rotating at moment information during different massaging actions.
- 2. the point massage system according to claim 1 based on seven freedom mechanical arm, it is characterised in that also include setting Put the support frame below the slewing equipment, the pedestal being arranged on below support frame as described above.
- 3. the point massage system according to claim 2 based on seven freedom mechanical arm, it is characterised in that the revolution Drive device includes driven gear, turning motor, support base, floating bearing, and the turning motor is engaged by gear and drives institute Driven gear operating is stated, institute is connected to by neck in support frame as described above 360 deg rotating displaying, the floating bearing for mechanical arm State in support base.
- 4. the point massage system according to claim 3 based on seven freedom mechanical arm, it is characterised in that described driven Gear is internal gear, and is meshed with the external gear of the motor.
- 5. the point massage system according to claim 1 based on seven freedom mechanical arm, it is characterised in that described first Drive device, second drive device, the 3rd drive device, the four-drive device, the 5th drive device It is motor driving, and is meshed with the internal gear of the joint, is operated for driving mechanical arm six degree of freedom.
- 6. the point massage system according to claim 1 based on seven freedom mechanical arm, it is characterised in that the joint Place is mounted on joint torque sensor, and is connected electrically in the control centre, in detection mechanical arm running Stressing conditions.
- 7. the point massage system according to claim 1 based on seven freedom mechanical arm, it is characterised in that also include setting Put in the contact of described end massage instrument one end.
- 8. the point massage system according to claim 7 based on seven freedom mechanical arm, it is characterised in that the contact Can be single contact, double-contact or multiconductor.
- 9. the point massage system according to claim 1 based on seven freedom mechanical arm, it is characterised in that also include electricity The computer of the control centre side is connected to, for operation equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720078701.6U CN206934323U (en) | 2017-01-22 | 2017-01-22 | A kind of point massage system based on seven freedom mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720078701.6U CN206934323U (en) | 2017-01-22 | 2017-01-22 | A kind of point massage system based on seven freedom mechanical arm |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814924A (en) * | 2018-07-09 | 2018-11-16 | 贺婷 | A kind of health-care medical scraping bed |
| CN109394520A (en) * | 2018-09-25 | 2019-03-01 | 北京纤纤秀健康科技有限公司 | A kind of multifunctional meridian dredging apparatus and its application method |
| CN109674647A (en) * | 2019-03-07 | 2019-04-26 | 西安伊蔓蒂电子科技有限公司 | A kind of massage robot |
| CN109758345A (en) * | 2019-03-07 | 2019-05-17 | 西安伊蔓蒂电子科技有限公司 | A kind of massaging manipulator based on six-DOF robot |
| CN110141498A (en) * | 2019-06-04 | 2019-08-20 | 辰耀智能装备(厦门)有限公司 | A kind of moxa-moxibustion smart collaboration robot and its operating method |
| CN111494202A (en) * | 2020-05-23 | 2020-08-07 | 南京艾益智能科技有限公司 | Acupuncture robot and full-automatic acupuncture method |
| CN114681279A (en) * | 2022-03-28 | 2022-07-01 | 嘉兴市妇幼保健院 | Female abdomen massage physical therapy device |
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2017
- 2017-01-22 CN CN201720078701.6U patent/CN206934323U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814924A (en) * | 2018-07-09 | 2018-11-16 | 贺婷 | A kind of health-care medical scraping bed |
| CN109394520A (en) * | 2018-09-25 | 2019-03-01 | 北京纤纤秀健康科技有限公司 | A kind of multifunctional meridian dredging apparatus and its application method |
| CN109674647A (en) * | 2019-03-07 | 2019-04-26 | 西安伊蔓蒂电子科技有限公司 | A kind of massage robot |
| CN109758345A (en) * | 2019-03-07 | 2019-05-17 | 西安伊蔓蒂电子科技有限公司 | A kind of massaging manipulator based on six-DOF robot |
| CN110141498A (en) * | 2019-06-04 | 2019-08-20 | 辰耀智能装备(厦门)有限公司 | A kind of moxa-moxibustion smart collaboration robot and its operating method |
| CN111494202A (en) * | 2020-05-23 | 2020-08-07 | 南京艾益智能科技有限公司 | Acupuncture robot and full-automatic acupuncture method |
| CN111494202B (en) * | 2020-05-23 | 2024-03-01 | 南京艾益智能科技有限公司 | Acupuncture robot and full-automatic acupuncture method |
| CN114681279A (en) * | 2022-03-28 | 2022-07-01 | 嘉兴市妇幼保健院 | Female abdomen massage physical therapy device |
| CN114681279B (en) * | 2022-03-28 | 2024-02-13 | 嘉兴市妇幼保健院 | Female abdomen massage physiotherapy device |
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