CN209019377U - Integrated form bionics massage robot based on flexible drive - Google Patents

Abstract

The utility model relates to a kind of integrated form bionics massage robot based on flexible drive, belongs to flexible drive and bionic mechanical field.The robot is made of bionics massage elbow unit, bionics massage hand unit, infrared detection unit, gear unit, control unit and support plinth.Bionics massage elbow unit based on Pneumatic artificial muscle and bionics massage hand unit can simulate hand, the rubbing of ancon, by, the massaging actions such as rub, pinch.In addition, be integrated in bionics massage hand unit, the flexible sensor in bionics massage elbow unit can measure massaged region tissue hardness, control unit can select corresponding massage force for specified massaging action accordingly.The utility model functional integration is high, Coupled Rigid-flexible has excellent performance, is compact-sized, effective characterization method and evaluation mechanism can be provided for massaging qualities, and massage effect is further promoted, there is significant application value in fields such as home-services robot, medical rehabilitations.

Description

Integrated form bionics massage robot based on flexible drive

Technical field

The utility model relates to flexible drive and technical field of bio-simulation machinery, in particular to a kind of collection based on flexible drive Accepted way of doing sth bionics massage robot.The utility model can detect at many levels massaged region physiological status and implement specific aim Body massaging, to optimization massage effect, establish effect assessment and monitoring mechanism, alleviate masseur's operating pressure with important meaning Justice.Effective laboratory facilities are provided to disclose massaging mechanism and curative effect affecting laws.

Background technique

Massage be it is a kind of by external force caused by " gimmick " in the soft tissue, fascia, ligament of human body privileged site, To soften tissue, improve blood circulation, reach the method for physical therapy purpose.With the development of medical technology, Chinese traditional massage skill Art is more and more widely used in clinical practice.At present in clinical application still based on manually massaging, massage processes In, masseur needs according to the specific state of an illness of patient, with different tact skills one just like the position of force, size, direction, Frequency etc., can be only achieved ideal curative effect.So Chinese traditional massage needs a large amount of essences of masseur's investment to the more demanding of masseur Power and physical strength, and the quantity of more ground masseur is unable to satisfy doctors and patients' demand at present.Therefore, masseur can be alleviated by researching and developing one kind Operating pressure, raising massage efficiency, the auxiliary intelligence massage robot of promotion massage effect seems particularly necessary.

One complete integrated form bionics massage robot must have enough dexterities and intelligence, be related to giving birth to The multiple fields such as object engineering, MEMS, bionics and intelligent control are the complex engineerings of a multidisciplinary span.It should It is driven using small in size, compact-sized novel flexible driver, to promote the dexterity of massage mechanism.In addition, using Thermal imaging member, near-infrared blood vessel imaging unit are as non-contact detection module, so as to influence to the greatest extent on tissue Physiologic information is detected in the case that possibility is small.Meanwhile use it is small in size, it is easy for installation, tissue is influenced it is small, easy of integration Novel flexible sensor perceptually unit, can be obviously improved massaging hand intelligence degree.But from the point of view of present circumstances, in the market The instrument of appearance is mostly the instrument of approximate simulation massage manipulation, such as massager and massage armchair of various brands, and gimmick is single, only It can play the role of health care, loosen and relieve fatigue, it is unobvious to the effect for the treatment of disease.And domestic scholars are about based on novel The research of parallel flexible driver and near-infrared blood vessel imaging is still in the primary stage, research focus primarily upon driver and at As the structure design and theoretical modeling of device.Shen Yonggen proposes a kind of posture adjustable type medical treatment arm-massage machine people；Cheng Lanti A kind of Width adjustable medical treatment arm-massage machine people out；Terrestrial facies dragon proposes a kind of novel massage manipulator of massage armchair.But he Designed massaging manipulator massage functions it is single, majority is opened loop control, generallys use rigidity driving and transmission mechanism, soft Property it is not good enough, and do not account for the modules such as how will test, sense and be integrated in mechanism, it is intelligent not to be able to satisfy growing massage It is required that.

To sum up, exploitation is able to detect massaged region physiological status and in real time for sex massage, and can be to massaging action and power Degree carries out the integrated form massage robot of closed-loop control, is very necessary.

Summary of the invention

The purpose of this utility model is to provide a kind of integrated form bionics massage robot based on flexible drive solves existing Have massaging manipulator massage functions it is single, it is flexible it is insufficient, be lack of pertinence, be difficult to the problems such as intelligent control is carried out to massage.This Utility model is by bionics massage elbow unit, bionics massage hand unit, infrared detection unit, gear unit, control unit and bearing Pedestal composition.Infrared detection unit detection massaged region physiologic information simultaneously feeds back to control unit, by control unit Tactic selection Targetedly therapy and bionics massage elbow unit and bionics massage hand unit are driven, so that robot be made to realize that corresponding massage is dynamic Make, at the same time, measurement and feedback by a variety of flexible sensors to information such as massage force, tissue hardness are realized to pressing The prediction and control for dynamics of rubbing.The utility model is a kind of height collection that can be realized diversification massage and massage effect feedback At device, effective characterization method and evaluation mechanism are provided for human body massage effect, is also announcement Chinese traditional massage mechanism and curative effect shadow It rings rule and provides effective experimental approach.

The above-mentioned purpose of the utility model is achieved through the following technical solutions:

Integrated form bionics massage robot based on flexible drive, including bionics massage elbow unit, bionics massage hand unit, Infrared detection unit, gear unit, control unit and support plinth；Wherein, the lifting cylinder of the lifting module in gear unit 26 are mounted on the inside of the cylinder saddle on support plinth, and control unit lower end bracket 19 is mounted on the attachment base 12 of lifting module On, the revolution module in gear unit is installed on the annular convex platform of 5 bottom surface of main box of control unit, and the row for passing through lower end Star gear 11 is meshed with the central gear 20 of control unit lower end, and the revolution of main box 5 is realized by gear-driven mode Movement；Bionics massage elbow unit, bionics massage hand unit, infrared detection unit are respectively arranged in the three of the main body case of control unit A side；Robot is driven by compressed air.

The bionics massage hand unit is: 3-PRS parallel institution connected, hand by screw thread pair and bionical palm tail portion 1 Parallel flexible drive module is connected by the palm pedestal 62 of screw thread pair and bionical palm, hand tactilely-perceptible module be integrated in it is imitative Green hand slaps the centre of the palm and the five fingers finger tip surface, hand piezoelectric vibrator module are integrated in inside the five fingers finger tip, ultrasound-driven module integrates In the nearly thumb end of bionical palm, hand flexible skin 21 and palm pedestal 62 are connected by seccotine, envelope is in bionical palm Surface.

The 3-PRS parallel institution (P: prismatic pair, R: revolute pair, S: spherical pair) includes the flexible gas of three identical hands Cylinder 30, fixed platform 52, moving platform 51, nine axis Bluetooth gyroscopes 31, fixed platform 52, moving platform 51 respectively with main box 5, bionic hand The palm is connected by screw thread pair, and the piston-rod end of hand telescopic cylinder 30 is connected by spherical pair and fixed platform 52, cylinder block end End is connected by revolute pair and moving platform 51, and nine axis Bluetooth gyroscopes 31 are connected by screw thread pair and moving platform 51；

The hand parallel flexible drive module includes three hand Pneumatic artificial muscles, 58, finger tip pedestals 57, is referred to There are three the threaded holes and a screw thread close to circumferential edges in 120 degree of circular symmetric distributions for the processing of 57 bottom surface of end group seat Hole；Three hand Pneumatic artificial muscles 58 are connected in 120 ° of circular symmetric distributions by screw thread pair and 57 rigidity of finger tip pedestal；

The hand piezoelectric vibrator module includes the first bending vibration block 70, the second bending vibration block 71, the first, second bending vibration block center It is threaded through-hole, is successively passed through from top to bottom with the center stand column 72 being machined in externally threaded 57 groove of finger tip pedestal Screw thread pair rigid connection；

The ultrasound-driven module is by ultrasound electric machine 64, cyclic annular bipolar magnet 40, non-contact type magnetic angular displacement sensor 41, thumb mounting base 63 is constituted, and the output shaft 66 of ultrasound electric machine 64 is super by realizing with the hole of thumb mounting base 63 interference fit Acoustic-electric machine 64 and thumb mounting base 63 are connected, and it is close that non-contact type magnetic angular displacement sensor 41 by seccotine is fixed on palm On the rectangular recess inner wall at thumb end, the drive shaft 67 of cyclic annular 40 inner hole of bipolar magnet and ultrasound electric machine 64 is interference fitted；

The hand tactilely-perceptible module includes finger tip fexible film piezoresistance sensor 55, palm fexible film pressure drag sensing Device 68, miniature reflective laser displacement sensor 48, finger tip top cover 56,56 inner surface of finger tip top cover is threaded, with finger tip Pedestal 57 is rigidly connected by screw thread pair, using seccotine by finger tip fexible film piezoresistance sensor 55, palm flexible thin membrane pressure Resistance sensor 68 is adhered to the spherical surface of finger tip top cover 56, in the plane of the palm centre of the palm respectively, and miniature reflective laser displacement passes Sensor 48 is connected by screw thread pair and finger tip pedestal 57；

The bionical palm includes palm body and terminal plate 22, and wherein palm body is by palm pedestal 62, four upper branch Strut 59 and tail portion 1 form, and palm pedestal 62, thumb mounting base 63 and every 59 join domain of upper support bar are machined with 3 In the counter sink that 120 degree of circular symmetrics are distributed, matched with the size of the lower connection end cap 79 of pneumatic muscles, and lower connection end cap 79 Distal outer surface is machined with external screw thread, drive module end and 59 peripheral through holes transition fit of upper support bar, and passes through hand six Angle thin nut 61 and the fixed locking of hand spring washer 60, there are four counter sinks for 22 4 right angle processing of terminal plate, pass through spiral shell Line pair and palm pedestal 62 are connected.

The bionics massage elbow unit is: the flexible module of parallel connection is solid by screw thread pair and ancon parallel flexible drive module Company, ancon piezoelectric vibrator module, point of elbow tactilely-perceptible module be integrated in inside point of elbow respectively, point of elbow surface, ancon flexible skin 42 ends are adhered to 46 base circumference edge of point of elbow pedestal by seccotine.

The flexible module in parallel includes three identical ancon telescopic cylinders 9, fulcrum bearing 34, miniature reflective laser position The main box 5 of displacement sensor 48, fulcrum bearing 34 and control unit is rigidly connected by screw thread pair, and three ancon telescopic cylinders 9 divide It is not connected rigidly with small-sized 6 end flange of rotary cylinder, fulcrum bearing 34 by screw thread pair, miniature reflective laser displacement sensor 48 are rigidly connected with small-sized 6 end flange of rotary cylinder by screw thread pair；Circular through hole is machined at 2 cylinder boss of ancon support And keyway, rigidity is connect by flat key with small-sized 6 projecting shaft of rotary cylinder and is connected, 2 top surface of ancon support sets that there are three in 120 degree The counter sink of circular symmetric formula distribution, matches with ancon Pneumatic artificial muscle 47, and passes through ancon hexagon thin nut 50 and elbow The fixed locking of portion's spring washer 49；Non-contact type magnetic angular displacement sensor 41, cyclic annular bipolar magnet 40 are divided using seccotine It is not adhered to groove inner wall, the 6 projecting shaft end of small-sized rotary cylinder at nearly small-sized 6 end of rotary cylinder of ancon support 2；

The ancon parallel flexible drive module includes three ancon Pneumatic artificial muscles, 47, point of elbow pedestals 46, elbow There are three the threaded holes being distributed in 120 degree circular symmetrics for the processing of 46 bottom surface of end group seat, connect inside ancon parallel flexible drive module It is identical as hand parallel drive module to connect relationship；

Composition and connection relationship are identical as hand piezoelectric vibrator module inside the ancon piezoelectric vibrator module 45；

The point of elbow tactilely-perceptible module includes point of elbow fexible film piezoresistance sensor 43, miniature reflective laser displacement biography Sensor 48, point of elbow top cover 44,44 inner surface of point of elbow top cover are threaded, and are rigidly connected, are adopted by screw thread with point of elbow pedestal 46 Point of elbow fexible film piezoresistance sensor 43 is adhered on the spherical surface of point of elbow top cover 44 with seccotine；Miniature reflective laser Displacement sensor 48 is connected by screw thread pair and 2 rigidity of ancon support.

The infrared detection unit is: the construction of the flexible module of parallel connection flexible mould in parallel with bionics massage hand unit The construction of block is identical；Small-sized 6 projecting shaft of rotary cylinder is connect by flat key with 34 inner hole of fulcrum bearing and is connected；It will be non-using seccotine Contact magnetism angular displacement sensor 41, cyclic annular bipolar magnet 40 are adhered to the recessed of nearly small-sized 6 end of rotary cylinder of mounting base 8 respectively Slot inner wall, 6 projecting shaft end of small-sized rotary cylinder；CMOS camera 7, far infrared thermal imaging module 38 pass through screw thread pair and installation Seat 8 is connected；37 end flange of LED array ring is embedded in 8 annular groove of mounting base, to be connected with mounting base 8.

The gear unit lifting module and revolution module, wherein lifting module is: lifting cylinder 26 is installed on lifting It in 14 hole of module support, and is rigidly connected by screw thread pair, the piston rod end of lifting cylinder is spherical linkage, with attachment base 12 It constitutes and is flexibly connected；Feather key 25 by screw thread pair be fixed on lifting 14 side of module support keyway in, 13 inner hole of guide sleeve with 14 outer round surface clearance fit of module support is gone up and down, and is equipped with keyway on the inside of guide sleeve 13, is matched with feather key 25；Attachment base 12 It is connected by screw thread and 13 rigidity of guide sleeve；Sensor support base 17 is connected on pedestal 15 by screw thread pair, and magnetostrictive displacement passes Sensor 18 is connected by screw thread pair and sensor support base 17；Revolution module is: rotary cylinder 10 passes through screw thread pair and 5 bottom of main box The annular convex platform in face is rigidly connected；Planetary gear 11 is connect with 10 lower end projecting shaft of rotary cylinder by flat key, and passes through hexagonal Nut 33 is locked；The flange at the intermediate position of central gear 20 and bracket 19 is rigidly connected by screw thread, passes through planetary gear 11 With 20 engaged transmission of central gear to drive control unit to do rotary motion；32 projecting shaft of potentiometer and 10 upper end of rotary cylinder Axle sleeve interference fit is fixed on 5 inside bottom surface of main box by screw thread pair in such a way that elongated slot is fixed.

The control unit is: support shaft 29 and main box 5 are rigidly connected by screw thread pair, are installed in bracket 19 In heart hole, upper and lower ends with the bearing of tapered roller bearing 28, locked using round nut 27 by lower end；Cover board 4, small-sized touch are shown Screen 3 is connected by screw thread pair and main box 5.

The support plinth is: the processing of 15 end of pedestal is fluted, is machined between groove and lifting module support 14 Through-hole；Lifting module support 14 is connected firmly by screw thread pair and 12 rigidity of attachment base；Magnetostrictive displacement sensor 18, four universal Castor 16 is connected by screw thread pair and 15 rigidity of pedestal.

In the bionics massage hand unit, three hand telescopic cylinders 30 of 3-PRS parallel institution are in 120 degree of circular symmetrics Formula distribution and it is parallel to each other, fixed platform 52 is in equilateral triangle, and the axis of three on fixed platform revolute pair be in coplanar concurrent, At this time moving platform 51 have 4 freedom degrees: along X-axis move and small-scale space three-dimensional rotation, nine axis Bluetooth gyroscopes 31 The information such as 51 pose of real-time detection moving platform, speed, acceleration and control unit can be fed back to realize to hand exercise Closed-loop control；57 bottom center of hand parallel flexible drive module middle finger end group seat is equipped with what lower support bar 73 was formed with sliding sleeve 74 Prismatic pair, sliding sleeve 74 can be moved up and down along lower support bar 73；Hand Pneumatic artificial muscle 58 is by outer layer spring steel wire 77, interior Layer rubber tube 78, upper connection end cap 76, lower connection end cap 79, pipe fitting 81 form, wherein upper and lower connection end cap 76,79 and rubber For 78 pressure injection of sebific duct at an entirety, spring steel wire 77 is closely looped around 78 outer surface of rubber tube, the both ends difference of spring steel wire 77 It is welded with upper and lower connection end cap 76,79, pipe fitting 81 is connect with fluid inlet 80 by screw thread pair, and fluid inlet 80 is for leading to Enter compressed air；Three pneumatic muscles are in 120 ° of circular symmetric distributions, and when being passed through compressed air thereto, axial elongation is released Deflation body, returns to original state, and the size of the ventilatory capacity by controlling three pneumatic muscles can be realized the axis of the module To elongation and space multi-direction bending, to simulate the massaging action of human hand；First bending vibration block 70 in hand piezoelectric vibrator module It include two panels piezoelectric ceramic piece 82 and a piece of electrode slice 83 with the second bending vibration block 71, two panels piezoelectric ceramic piece 82 is by electrode slice 83 It is clipped in the middle, the polarization subregion that every piezoelectric ceramic piece 82 has two polarization directions in left and right opposite, and two panels piezoelectric ceramic piece 82 the polarization subregion of the same side polarization direction on the contrary, apply on two bending vibration blocks has respectivelyThe high-frequency electrical of phase difference Press signal, will inspire two spatially and temporally on all haveThe high frequency flexural vibration mode of phase difference, so that center Particle on column 72 planar makees elliptic motion, and drives finger tip top cover 56 to make micro- a small range around axis by rubbing action 360 degree of high-frequency rotatings movement；The output shaft 66 of ultrasound electric machine 64 in ultrasound-driven module rotates output torque, to drive Thumb mounting base 63 and cyclic annular bipolar magnet 40 realize rotary motion, and non-contact type magnetic angular displacement sensor 41 passes through detection The rotational angle of cyclic annular bipolar magnet 40 measures the precise angular displacement of thumb mounting base 63 and feeds back to control unit；It is passed through pressure Contracting air, hand parallel flexible drive module axial elongation, when finger tip indentation massaged region generates juxtaposition metamorphose, hand tactile Finger tip fexible film piezoresistance sensor 55 in sensing module utilizes the contact force of piezoresistive effect measurement finger tip and massaged region simultaneously Control unit is fed back to, meanwhile, the measurement driving mould of miniature reflective laser displacement sensor 48 being installed on finger tip top cover 56 Block axial elongation simultaneously feeds back to control unit, characterizes the hard of massaged region by the ratio of contact force value and axial elongation Degree；Hand flexible skin 21 is the integral type variable density soft body structure prepared using latex material 3D printing, with a thickness of 2mm, Multiple notches are equipped with, the electric appliance cable convenient for bending vibration block, sensor, ultrasound electric machine 64 etc. is therefrom drawn, which leans on The packed density of nearly finger belly side material is less than close to the packed density for referring to back side material, and 5 finger tip surfaces are distributed with Granular protrusion micro array structure 53；Bionical palm is the integral structure printed using nylon material, 22 4 right angles of terminal plate There are four counter sinks for place's processing, are connected by screw thread pair and palm pedestal 62；It is internal to have a groove structure, on upper support bar 59 End ballhead is in contact with the bowl-shape face 75 of 74 lower end of sliding sleeve, and it is in 120 degree of rings that the end of tail portion 1, which is equipped with circular groove 54 and three, The threaded hole of shape symmetrical expression distribution.

Three ancon telescopic cylinders 9 of the flexible module of parallel connection are in 120 degree of circular symmetric formulas in the bionics massage elbow unit Distribution, under the driving of compressed air, three ancon telescopic cylinders 9 export same displacement, three-jaw bracket 35 in fulcrum bearing 34 The slotted collar 39 of three circular symmetrics distribution is matched with the cylinder body of three ancon telescopic cylinders 9 respectively；Ancon parallel flexible The structure feature of point of elbow pedestal 46 is identical as finger tip pedestal 57 in drive module；2 bottom surface of ancon support is equipped with circular groove, center Equipped with upper support bar, upper support bar upper end ballhead is in contact with the bowl-shape face of the sliding sleeve lower end of point of elbow pedestal 46；Ancon is pneumatic The Nomenclature Composition and Structure of Complexes feature of artificial-muscle 47 is identical as hand Pneumatic artificial muscle 58, and three pneumatic muscles are in 120 ° of circular symmetrics Distribution, when being passed through compressed air thereto, axial elongation discharges gas, returns to original state, by controlling three gas The size of the ventilatory capacity of dynamic muscle, can be realized the axial elongation and space multi-direction bending of drive module, to simulate people's ancon Spiral palm-rubbing technique massage；The feature of ancon piezoelectric vibrator module 45 is identical as hand piezoelectric vibrator module；Compressed air is passed through, Ancon parallel flexible drive module axial elongation, when point of elbow indentation massaged region generates juxtaposition metamorphose, point of elbow tactilely-perceptible mould Point of elbow fexible film piezoresistance sensor 43 in block measures the contact force of point of elbow and massaged region using piezoresistive effect and feeds back to Control unit, meanwhile, it is axial that the miniature reflective laser displacement sensor 48 being installed on point of elbow top cover 44 measures drive module Elongation simultaneously feeds back to control unit, the hardness of massaged region is characterized by the ratio of contact force value and axial elongation, after being The continuous massage force for selecting specified massaging action provides reference；The ancon flexible skin 42 is using latex material 3D printing system Standby integral type soft body structure, envelope which is provided with notch in point of elbow surface with a thickness of 2mm, be convenient for bending vibration block, sensor Deng electric appliance cable therefrom draw, and graininess protrusion micro array structure 53 is distributed in skin surface, is capable of increasing and massage area Frictional force when domain contacts.

Flexible inside modules structure feature in parallel is identical as described in bionics massage elbow unit in the infrared detection unit； In the embedded circumferentia for being symmetrically distributed in LED array ring 37 of 24 near-infrared LED spherical sources 36, to enhance near infrared light Exposure intensity, area；CMOS camera 7 is installed in the groove right above LED array ring 37, being capable of captured in real-time near infrared light photograph The blood-vessel image of the place's of penetrating massaged region simultaneously feeds back to control unit；7 camera lens part of CMOS camera is equipped with filter, for filtering Visible light；Far infrared thermal imaging module 38 is by acquiring the far infrared radiation of massaged region and feeding back to control unit, thus instead Mirror the temperature field on massaged region surface.

Lifting cylinder 26 is mounted in the hole of lifting module support 14 in the gear unit, passes through control compressed air Flow direction and flow are to realize the elevating movement of 26 piston of lifting cylinder, so that attachment base 12 and guide sleeve 13 be driven to make lifting fortune Dynamic, the single-rod piston end of cylinder is spherical linkage, is flexibly connected with the composition of attachment base 12；Key screw hole has been formed on feather key 25 24, so that key is exited keyway to be screwed into screw；13 inner hole of guide sleeve and lifting 14 outer round surface clearance fit of module support, in addition, Keyway is equipped on the inside of guide sleeve 13, by matching with 25 side of feather key, to realize the relative rectilinear of keyway Yu feather key 25 Movement；12 column part outer surface of attachment base is equipped with a through-hole, passes through convenient for pneumatic circuit, and column part and flange section are cast There is six roots of sensation reinforcing rib；13 bottom side of guide sleeve is equipped with a cylindrical bump, is interference fitted with floated 23 inner hole of magnetic patch, can follow and lead Set 13 makees elevating movement, is suspended using the magnetostrictive displacement sensor 18 of the flexible measuring principle of contactless mangneto by detection The change in location of formula magnetic patch 23 is to which real-time measurement lifting is displaced and feeds back to control unit；Rotary cylinder 10 be exposed to body it Outside, the rotation that 10 movable vane piece of rotary cylinder is realized by the flow direction and flow that control compressed air, to drive output shaft and row 11 rotation of star gear, since planetary gear 11 is meshed with fixed central gear 20, so that planetary gear 11 be forced to generate public affairs Turn, it is final to realize control unit around the rotary motion of 29 axis of support shaft；With the potentiometer of 10 upper end axle sleeve of rotary cylinder cooperation 32 rotate with output shaft synchronous, can the rotation of real-time detection cylinder angle and feed back to control unit.

Main box 5 in described control unit is for placing the electrical components such as control circuit board, with bionics massage hand list It is equipped with equilateral triangle connected in star in the middle part of the connected side of member, upper and lower two sides are equipped with rectangle groove, in the side opposite with the side Portion is equipped with a circular through hole, and two sides being connected with bionics massage elbow unit, infrared detection unit are equipped with a circle Through-hole, a circular groove；5 top surface of main box is set there are two ladder-like square hole, is respectively used to installation cover board 4 and small-sized touch is aobvious Display screen 3；By the opening and closing of cover board 4, the installation and adjustment of inner control member are realized；Small-sized touch display screen 3 can be shown in real time Show the relevant informations such as massage force, tissue hardness, blood flow state, meanwhile, operator can be by user interface to control unit Input instruction；5 bottom surface of main box is equipped with large and small two circular boss, is equipped with reinforcing rib around boss, inside is equipped with rank Stepped recess, for installing rotary cylinder, bearing assembly；In bearing assembly, the rank that is installed in support shaft 29 inside bracket 19 In terraced hole, reinforcing rib is equipped with outside bracket 19.

The support plinth is by being installed on the multivariant movement of the universal caster wheel 16 of 15 bottom surface four corners of pedestal, energy Enough realize the Multidirectional motion in space；The processing of 15 end of pedestal is fluted, is easily installed the air pressures such as air compressor, air pressure valve member Part, groove vicinity are equipped with baffle；It is machined with through-hole between groove and lifting module support 14, is passed therethrough convenient for pneumatic circuit； It is machined with stepped throughhole inside lifting module support 14, convenient for the positioning and installation of lifting cylinder 26, reinforcing rib is in 60 degree of rings Shape symmetrical expression is distributed in its inner wall；It goes up and down 14 outer wall of module support and is machined with key close to 18 side of magnetostrictive displacement sensor Slot, feather key 25 are mounted in the keyway, to realize the connection and opposite sliding with guide sleeve 13.

The utility model has the beneficial effects that: the utility model is compact-sized, man-machine compared with traditional massage robot Interactivity is strong, functional integration is high, intelligence degree is high, wherein massaging hand size is slightly larger than manpower actual size.By remote Detection and feedback of the near-infrared unit to massaged region blood flow state, the distribution of surface heat, control unit can diagnose disease according to this Stove position simultaneously selects a set of corresponding massotherapy；It, can by actuating station by the combination of multiple parallel flexible drive modules The flexible massaging action of smoothly diversification is realized by process；In addition, contact force and axial elongation as obtained by sensor measurement The hardness of ratio characterization massaged region realized pair in this, as reference quantity that is subsequently selected, adjusting different massaging action dynamics Massage force closed-loop control；Meanwhile human-computer interaction interface is not only convenient for manual operation, and can in real time, intuitively reflect massage The information such as region physiological status, massage force, hardness；To optimization massage effect, establish effect assessment and monitoring mechanism, alleviation by Teacher of the rub'ssing operating pressure is of great significance, and provides effective laboratory facilities to disclose Chinese traditional massage mechanism and curative effect affecting laws.

Detailed description of the invention

Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application, The illustrative example and its explanation of the utility model do not constitute the improper limit to the utility model for explaining the utility model It is fixed.

Fig. 1 is the overall appearance schematic diagram of the utility model；

Fig. 2 is the main view schematic diagram of the utility model；

Fig. 3 is the A-A schematic cross-sectional view of Fig. 2；

Fig. 4 is the infrared detection unit overall appearance schematic diagram of the utility model；

Fig. 5 is the middle-size and small-size rotary cylinder of infrared detection unit of the utility model, mounting base structural front view；

Fig. 6 is the middle-size and small-size rotary cylinder of infrared detection unit of the utility model, installation holder structure right view；

Fig. 7 is the bionics massage elbow unit overall appearance schematic diagram of the utility model；

Fig. 8 is the middle-size and small-size rotary cylinder of bionics massage elbow unit, ancon parallel flexible drive module knot of the utility model Structure side view；

Fig. 9 is the ancon parallel flexible drive module component explosive view of the utility model；

Figure 10 is the 3PRS parallel institution overall appearance schematic diagram of the utility model；

Figure 11 is the 3PRS parallel institution structural front view of the utility model；

Figure 12 is fixed platform structural front view in the 3PRS parallel institution of the utility model；

Figure 13 is the hand overall appearance structural representation of the utility model；

Figure 14 is the bionical palm of the utility model, finger surface structure schematic diagram；

Figure 15 is the bionical palm, finger structure main view of the utility model；

Figure 16 is the bionical palm, finger structure rearview of the utility model；

Figure 17 is the bionical palm surface structure schematic diagram of the utility model；

Figure 18 is the bionical palm structure sectional view of the utility model；

Figure 19 is the D-D schematic cross-sectional view of Figure 18；

Figure 20 is the bionic finger component explosive view of the utility model；

Figure 21 is the hand finger tip base construction schematic diagram of the utility model；

Figure 22 is the schematic top plan view of Figure 21；

Figure 23 is hand Pneumatic artificial muscle (ancon Pneumatic artificial muscle) structural schematic diagram of the utility model；

Figure 24 is the piezoelectric ceramics polarization subregion schematic diagram of the first, second bending vibration block of the utility model；

Figure 25 is the spiral palm-rubbing technique schematic diagram of ancon of the utility model.

In figure: 1, tail portion；2, ancon support；3, small-sized touch display screen；4, cover board；5, main box；6, small-sized revolution gas Cylinder；7, CMOS camera；8, mounting base；9, ancon telescopic cylinder；10, rotary cylinder；11, planetary gear；12, attachment base；13, it leads Set；14, module support is gone up and down；15, pedestal；16, universal caster wheel；17, sensor support base；18, magnetostrictive displacement sensor； 19, bracket；20, central gear；21, hand flexible skin；22, terminal plate；23, floated magnetic patch；24, key screw hole is played；25, it leads Xiang Jian；26, lifting cylinder；27, round nut；28, tapered roller bearing；29, support shaft；30, hand telescopic cylinder；31, nine axis Bluetooth gyroscope；32, potentiometer；33, hex nut；34, fulcrum bearing；35, three-jaw bracket；36, near-infrared LED spherical source； 37, LED array ring；38, far infrared thermal imaging module；39, slotted collar；40, cyclic annular bipolar magnet；41, non-contact type magnetic Angular displacement sensor；42, ancon flexible skin；43, point of elbow fexible film piezoresistance sensor；44, point of elbow top cover；45, ancon pressure Electric tachometer indicator module；46, point of elbow pedestal；47, ancon Pneumatic artificial muscle；48, miniature reflective laser displacement sensor；49, elbow Portion's spring washer；50, ancon hexagon thin nut；51, moving platform；52, fixed platform；53, graininess protrusion micro array structure；54, Circular groove；55, finger tip fexible film piezoresistance sensor；56, finger tip top cover；57, finger tip pedestal；58, hand artificial pneumatic flesh Meat；59, upper support bar；60, hand spring washer；61, hand hexagon thin nut；62, palm pedestal；63, thumb mounting base； 64, ultrasound electric machine；65, binding post；66, output shaft；67, drive shaft；68, palm fexible film piezoresistance sensor；69, " Z " word Shape rectangle groove；70, the first bending vibration block；71, the second bending vibration block；72, center stand column；73, lower support bar；74, sliding sleeve；75, bowl Shape face；76, upper connection end cap；77, spring steel wire；78, rubber tube；79, lower connection end cap；80, fluid inlet；81, pipe fitting； 82, piezoelectric ceramic piece；83, electrode slice.

Specific embodiment

The detailed content and its specific embodiment of the utility model are further illustrated with reference to the accompanying drawing.

Referring to shown in Fig. 1 to Figure 25, the integrated form bionics massage robot based on flexible drive of the utility model, including Bionics massage elbow unit, bionics massage hand unit, infrared detection unit, gear unit, control unit and support plinth.Firstly, Massage robot is moved to designated position, massaged region blood flow state, surface heat are distributed by far and near infrared unit Detection and feedback, control unit analyze conditions of patients according to this and select a set of corresponding massotherapy.It is passed through compressed air, is made The ancon parallel flexible drive module axial elongation of bionics massage elbow unit, so that point of elbow axial elongation is driven, when point of elbow is pressed into When massaged region generates juxtaposition metamorphose, the utilization piezoresistive effect measurement contact force size of point of elbow fexible film piezoresistance sensor 43 is simultaneously anti- It feeds control unit, meanwhile, the miniature reflective laser displacement sensor 48 for being installed on point of elbow pedestal 46 measures its axial elongation Control unit is measured and fed back to, the hardness number of massaged region is characterized by the ratio of contact force value and axial elongation, control is single Member determines the strength of different massaging actions as reference quantity, to pass through the ventilation for changing more Pneumatic artificial muscles Amount realizes the specified ancon of specified dynamics, hand massage movement.Simulation refer to by, refer to rub make when, pass through finger tip fexible film The detection of piezoresistance sensor 55, feedback, realize the closed-loop control of massage force, meanwhile, hand piezoelectric vibrator module is receiving phase Potential difference isThe excitation of two high-frequency voltage signals after driving finger tip make the high-frequency vibration of micro- a small range, it is further, and macro It sees massaging action and combines realization macro and micro servo；When realizing the massage of ancon palm-rubbing technique, pass through point of elbow fexible film piezoresistance sensor 43 detection, feedback, realize the closed-loop control of massage force, meanwhile, ancon piezoelectric vibrator module 45 is receiving phase difference The excitation of two high-frequency voltage signals after driving point of elbow make the high-frequency vibration of micro- a small range；Realizing more finger groups such as the five fingers kneading Close massaging action when, can by driving 64 output shaft 66 of ultrasound electric machine rotate output torque, thus drive thumb mounting base 63 with And cyclic annular bipolar magnet 40 realizes rotary motion, expands the motion range of thumb, meanwhile, it is passed by non-contact type magnetic angular displacement Sensor 41 measures the precise angular displacement of thumb mounting base 63 and timely feedbacks, and realizes the closed loop control to thumb position rotation angle degree System；It, can be by being pasted onto the palm fexible film piezoresistance sensor in the centre of the palm when realizing that full palm pressing, the full palm such as push away at the massaging actions 68 detection contact force sizes simultaneously timely feedback, to realize the closed-loop control of massage force.After massage processes, lead to again Near-infrared unit is detected and is fed back to massaged region blood flow state, the distribution of surface heat too far, and control unit is evaluated accordingly Massage curative effect simultaneously shows relevant information on small-sized 3 mountain of touch display screen.In addition, small-sized touch display screen 3 can in massage processes The information such as real-time display massaged region physiological status, massage force, hardness, user can input in user interface according to actual needs Instruction.

Three hand telescopic cylinders 30 of the 3-PRS parallel institution in the bionics massage hand unit are right in 120 degree of annulars Title formula distribution and it is parallel to each other, fixed platform 52 is in equilateral triangle, and the axis of three on platform revolute pair be in coplanar concurrent, At this time moving platform 51 have 4 freedom degrees: along X-axis move and small-scale space three-dimensional rotation, nine axis Bluetooth gyroscopes 31 The information such as 51 pose of real-time detection moving platform, speed, acceleration and control unit can be fed back to realize to hand exercise Closed-loop control, meanwhile, the mode of Bluetooth transmission also avoids complicated electric appliance cable arrangement；In hand parallel flexible drive module 57 bottom center of finger tip pedestal is equipped with the prismatic pair that lower support bar 73 and sliding sleeve 74 form, and sliding sleeve 74 can be along lower support bar 73 It moves up and down；Hand Pneumatic artificial muscle 58 is by outer layer spring steel wire 77, internal layer rubber tube 78, upper connection end cap 76, lower connection End cap 79, pipe fitting 81 form, wherein upper and lower connection end cap (76,79) and 78 pressure injection of rubber tube are at an entirety, spring steel Silk 77 is closely looped around 78 outer surface of rubber tube, and the both ends of spring steel wire 77 are welded with upper and lower connection end cap (76,79) respectively, Pipe fitting 81 is connect with fluid inlet 80 by screw thread pair, and fluid inlet 80 is for being passed through compressed air；Three pneumatic muscles are in 120 ° of circular symmetric distributions, when being passed through compressed air thereto, axial elongation discharges gas, returns to original state, and leads to The size for crossing the ventilatory capacity of three pneumatic muscles of control, can be realized the axial elongation and multi-direction bending of the module, to simulate The massaging action of human hand；The first bending vibration block 70 and the second bending vibration block 71 are used to generate bending vibration in hand piezoelectric vibrator module It is dynamic, and can be by the Vibration propagation to finger tip top cover 56, apply on two bending vibration blocks has respectivelyThe high frequency voltage of phase difference Signal, will inspire two spatially and temporally on all haveThe high frequency flexural vibration mode of phase difference, so that center is vertical Particle on column 72 planar makees elliptic motion, and drives finger tip top cover 56 to make micro- a small range around axis by rubbing action The movement of 360 degree of high-frequency rotatings goes forward side by side one to be aided with the microcosmic high-frequency vibration of finger tip while realizing macroscopical massaging action Step promotes massage effect；The output shaft 66 of ultrasound electric machine 64 in ultrasound-driven module rotates output torque, to drive thumb Mounting base 63 and cyclic annular bipolar magnet realize rotary motion, and non-contact type magnetic angular displacement sensor 41 is cyclic annular double by detection The rotational angle of pole magnet 40 measures the precise angular displacement of thumb mounting base 63 and feeds back to controller, is advantageously implemented to thumb Refer to accurately controlling for position rotation angle；It is passed through compressed air, finger tip parallel flexible drive module axial elongation refers to drive Axial elongation is held, the finger tip fexible film when finger tip indentation massaged region generates juxtaposition metamorphose, in hand tactilely-perceptible module Piezoresistance sensor 55 measures the contact force of finger tip and massaged region using piezoresistive effect and feeds back to control unit, meanwhile, installation Drive module axial elongation is measured in the miniature reflective laser displacement sensor 48 on finger tip pedestal 57 and feeds back to control Unit characterizes the hardness of massaged region by the ratio of contact force value and axial elongation；Hand flexible skin 21 is using cream The integral type variable density soft body structure of glue material 3D printing preparation, which is provided with multiple notches, convenient for bending vibration block, sensor, surpass The electric appliance cable of acoustic-electric machine 64 etc. is therefrom drawn, which is less than close to the packed density of finger belly side material close to finger back The packed density of side material, is advantageously implemented the bending motion of finger inwardly, and that graininess is distributed with is convex on 5 finger tip surfaces Micro array structure 53 is played, frictional force when contacting with massaged region is capable of increasing；Bionical palm includes palm body and terminal plate 22, wherein palm body is the integral structure using nylon material 3D printing, has enough toughness and intensity, in palm Portion is equipped with " Z " shape rectangle groove 69, it can reduce the overall weight of massaging manipulator, meanwhile, convenient for pacifying inside massaging hand Fill the auxiliary elements such as pneumatic circuit, the nearly thumb end of palm sets that there are two rectangular recess, and the groove on the back of the hand is super for placing Acoustic-electric machine 64 and non-contact type magnetic angular displacement sensor 41, positioned at palmar side groove with " Z " shape rectangle groove 69 It is connected, for drawing the pneumatic line of thumb parallel drive unit, palm thumb end side surface is equipped with circular through hole, convenient for super The output shaft 66 of acoustic-electric machine 64 passes through and connect with thumb mounting base 63, the electric appliance cable of the elements such as sensor, ultrasound electric machine 64 It successively draws from palm groove, flexible skin notch, is connect with the front-seat binding post 65 of the tail portion 1 on the terminal plate 22, Conducting wire on the heel row binding post 65 of tail portion 1 from above the tail portion 1 around with it is subsequent can the control unit in mechanism connect；On 59 upper end ballhead of support rod is in contact with the bowl-shape face 75 of 74 lower end of sliding sleeve, can be when parallel drive flexible unit moves certainly The position for adapting to adjustment spherical pair, to improve the rigidity and robust motion of the driving unit；Bionical 1 end of palm tail portion It is machined with circular groove 54 and 3 threaded holes in the distribution of 120 degree of circular symmetric formulas, to be connect with 3-PRS parallel institution, from And massaging hand is made to obtain bigger space；

Three telescopic cylinders 9 of the flexible module of ancon parallel connection in the bionics massage elbow unit are in 120 degree of circular symmetrics Formula distribution, under the driving of compressed air, three telescopic cylinders 9 export same displacement, the three of three-jaw bracket 35 in fulcrum bearing 34 The slotted collar 39 of a circular symmetric distribution is matched with the cylinder body of three telescopic cylinders 9 respectively, is able to ascend flexible mould in parallel The structural rigidity of block；The structure feature of point of elbow pedestal 46 is identical as finger tip pedestal 57 in ancon parallel flexible drive module；Ancon 2 bottom surface of support is equipped with circular groove, and center is equipped with upper support bar, the sliding sleeve 74 of upper support bar upper end ballhead and point of elbow pedestal 46 The bowl-shape face of lower end is in contact, and the position of spherical pair can be adaptively adjusted when drive module moves, 2 top surface of ancon support is set There are three the counter sinks in the distribution of 120 degree of circular symmetric formulas；The Nomenclature Composition and Structure of Complexes feature and hand of ancon Pneumatic artificial muscle 47 Pneumatic artificial muscle 58 is identical, and three pneumatic muscles are in 120 ° of circular symmetric distributions, when being passed through compressed air thereto, axial direction Elongation discharges gas, returns to original state, and the size of the ventilatory capacity by controlling three pneumatic muscles can be realized drive The axial elongation and multi-direction bending of dynamic model block, to simulate the spiral palm-rubbing technique massage of people's ancon；Ancon piezoelectric vibrator module 45 Feature it is identical as hand piezoelectric vibrator module；It is passed through compressed air, parallel flexible drive module axial elongation, to drive elbow Axial elongation is held, the point of elbow fexible film when point of elbow indentation massaged region generates juxtaposition metamorphose, in point of elbow tactilely-perceptible module Piezoresistance sensor 43 measures the contact force of point of elbow and massaged region using piezoresistive effect and feeds back to control unit, meanwhile, installation Parallel flexible drive module axial elongation and anti-is measured in the miniature reflective laser displacement sensor 48 on point of elbow pedestal 46 Control unit of feeding is massaged by the hardness of the ratio of contact force value and axial elongation characterization massaged region for subsequent adjustment Dynamics provides reference quantity；The ancon flexible skin 42 is the integral type soft body structure prepared using latex material 3D printing, It is equipped with notch, is therefrom drawn convenient for the electric appliance cable of bending vibration block, sensor etc., and that graininess protrusion is distributed with is micro- for skin surface Array structure 53 is capable of increasing frictional force when contacting with massaged region；

Flexible inside modules structure feature in parallel is identical as described in bionics massage elbow unit in the infrared detection unit； In the embedded circumferentia for being symmetrically distributed in LED array ring 37 of 24 near-infrared LED spherical sources 36, to enhance near infrared light Exposure intensity, area, according to the ability of deoxy-hemoglobin absorption near infrared light in blood considerably beyond oxyhemoglobin this One principle shows vein after powerful near infrared light is absorbed by the reduced hemoglobin in tissue passages through which vital energy circulates；CMOS camera 7 Be installed in the groove right above LED array ring 37, can at captured in real-time near infrared light massaged region blood-vessel image And control unit is fed back to, 7 camera lens part of CMOS camera is equipped with filter, for filtering visible light；Due to black body radiation In the presence of all according to the different far red lights to external radiation specific wavelength of temperature, thermal imaging module passes through inside it any object Object is imaged in the CCD element sensitive to far infrared, to reflect the temperature field on massaged region surface and image disappears Breath feeds back to control unit；

Lifting module in the gear unit is by the flow direction and flow of control compressed air to realize lifting cylinder The elevating movement of 26 pistons, so that attachment base 12 and guide sleeve 13 be driven to make elevating movement, the single-rod piston end of cylinder is spherical shape Hinge is flexibly connected with the composition of attachment base 12, can make up robot automatically during the work time since moment variations cause The caused error of 13 inclination of set；It has been formed with key screw hole 24 on feather key 25, so that key is exited keyway to be screwed into screw；Guide sleeve 13 Inner hole and lifting 14 outer round surface clearance fit of module support, in addition, on the inside of guide sleeve 13 be equipped with keyway, by with 25 side of feather key Face matches, to realize the linear relative movement of keyway Yu feather key 25, limits fortune of the guide sleeve 13 in addition to elevating movement It is dynamic, the guiding performance of elevating mechanism is improved, meanwhile, guide sleeve 13 can be avoided the change of bending caused by control unit gravity torque Shape, to enhance the rigidity of lifting part structure and the stationarity of elevating movement；13 bottom side of guide sleeve is equipped with a cylindrical bump, with Floated 23 inner hole of magnetic patch interference fit is surveyed so as to follow guide sleeve 13 to make elevating movement using contactless mangneto is flexible The magnetostrictive displacement sensor 18 of principle detection is measured by detecting the change in location of floated magnetic patch 23 to real-time measurement liter Demotion is moved and is fed back；12 column part side of attachment base is equipped with a through-hole, passes through convenient for pneumatic circuit, column part and flange Part is cast with six roots of sensation reinforcing rib with enhancing structure rigidity；It turns round module and revolution is realized by the flow direction and flow of control compressed air The rotation of cylinder movable vane piece due to planetary gear 11 and is fixed on bracket 19 to drive output shaft and 11 rotation of planetary gear On central gear 20 be meshed, it is final to realize control unit around 29 axis of support shaft so that planetary gear 11 be forced to generate revolution The rotary motion of line；In addition, rotary cylinder is exposed to except body, it is easily installed and repairs, meanwhile, also enhance control unit The rigidity of rotating part, and partial equilibrium can be played the role of in control unit turning course；Match with rotary cylinder upper end axle sleeve The potentiometer 32 of conjunction is rotated with output shaft synchronous, is rotated angle so as to real-time detection cylinder and is fed back；

Main box 5 is for placing the electrical components such as control circuit board in described control unit, with bionics massage hand unit Equilateral triangle connected in star is equipped in the middle part of connected side, for installing fixed platform 52, upper and lower two sides are equipped with rectangle groove, are convenient for Hand electric appliance cable passes through with pneumatic circuit；It is equipped with a circular through hole in the middle part of the side opposite with the side, is easily installed The pipeline of gas-pressure component in support plinth groove passes through；Two sides being connected with bionics massage elbow unit, infrared detection unit Face is equipped with a circular through hole, a circular groove, and through-hole is convenient for the electric appliance cable of two units and pneumatic circuit to pass through, recessed Slot is used to install the fulcrum bearing 34 in flexible module in parallel；5 top surface of main box is set there are two ladder-like square hole, is respectively used to install Cover board 4 and small-sized touch display screen 3；By the opening and closing of cover board 4, the installation and adjustment of inner control member are realized；Small-sized touch Display screen 3 can the relevant informations such as real-time display massage force, tissue hardness, blood flow state, meanwhile, operator can pass through use Family interface inputs to control unit and instructs；5 bottom surface of main box is equipped with large and small two cylindrical boss, is equipped with and adds around boss Strengthening tendons, inside are equipped with cascade groove, are easily installed rotary cylinder, bearing assembly.Wherein, ladder is machined with inside bracket 19 Hole, outside are equipped with reinforcing rib, can play the role of protecting support shaft 29 and promote supporting structure rigidity.

The support plinth is mobile by the multiple degrees of freedom for being installed on the universal caster wheel 16 of 15 bottom surface four corners of pedestal, can It realizes the Multidirectional motion in space, expands working space；The processing of 15 end of pedestal is fluted, for placing the air pressures such as air pressure valve member Part, groove vicinity are equipped with baffle, can play protection and position-limiting action to gas-pressure component；Between groove and lifting module support 14 It is machined with through-hole, is passed therethrough convenient for pneumatic circuit；It is machined with stepped throughhole inside lifting module support 14, is convenient for lifting air The positioning and installation of cylinder 26, reinforcing rib are distributed in its inner wall in 60 degree of circular symmetric formulas, are able to ascend seat structure stability；Base Seat outer wall is machined with keyway close to 18 side of magnetostrictive displacement sensor, can match with feather key 25, to realize and lead The connection of set 13 and opposite sliding.

Embodiment:

Referring to figs. 1 to Figure 25, the utility model is a kind of integrated form flexible drive bionics massage machine for body massaging Device people, suitable for the massage of each tissue site of human body, functional integration is high, Coupled Rigid-flexible has excellent performance, is compact-sized, is intelligent Change degree is high, the pushing away of analog manpower, by, the massaging actions such as rub, pinch, be especially suitable for the massage at back, neck, abdomen.This reality That intelligentized assistant massaging device is provided for manual massage with novel direct effect, can alleviate masseur's operating pressure, Improve massage efficiency.The robot is by bionics massage elbow unit, bionics massage hand unit, infrared detection unit, gear unit, control Unit and support plinth composition processed.Wherein, infrared detection unit by detection massaged region blood flow state and heat distribution from And reflecting the pathologic condition of linked groups, control unit is analysed and compared in database accordingly, is diagnosed conditions of patients and is generated one Cover corresponding massotherapy.Bionics massage elbow unit and bionics massage hand unit based on Pneumatic artificial muscle can simulate hand Portion, the rubbing of ancon, by, the massaging actions such as rub, pinch.In addition, being integrated in bionics massage hand unit, soft in bionics massage elbow unit Property sensor can measure massaged region tissue hardness, control unit can be pressed for specified massaging action selection accordingly accordingly It rubs dynamics.The utility model functional integration is high, Coupled Rigid-flexible has excellent performance, is compact-sized, can be provided with for massaging qualities Characterization method and evaluation mechanism are imitated, and further promotes massage effect, is had in fields such as home-services robot, medical rehabilitations Significant application value.Lifting module is mounted on support plinth, and control unit is mounted in lifting module.Revolution module is installed on Control unit bottom surface, and be meshed by the planetary gear 11 of lower end with the central gear 20 of control unit lower end.Bionics massage Elbow unit, bionics massage hand unit, infrared detection unit are respectively arranged in three sides of control unit main box 5.Robot Mainly driven by compressed air.

In specific massage processes, firstly, massage robot is moved to designated place, control unit control gear unit, The movement of the flexible module of parallel connection etc. makes infrared detection unit be in the surface for needing the massaged region detected, first by CMOS camera 7 captured in real-time are formed by blood flow image information by specific wavelength near infrared light appointed part to feed back to control single Member, then the image information that far infrared thermal imaging module 38 acquires the distribution of massaged region heat is fed back into control unit, control is single Member is analysed and compared in database accordingly, is diagnosed conditions of patients and is generated a set of corresponding massotherapy.It then automatically will be bionical Massage elbow unit is moved to the top for needing massage part, and being passed through compressed air stretches ancon parallel flexible drive module axially Long, when point of elbow indentation massaged region generates juxtaposition metamorphose, point of elbow fexible film piezoresistance sensor 43 is measured using piezoresistive effect Contact force value simultaneously feeds back to control unit.Meanwhile the miniature reflective laser displacement sensor 48 for being installed on point of elbow pedestal 46 is surveyed Amount parallel drive unit axial elongation simultaneously feeds back to control unit, is pressed by the ratio of contact force value and axial elongation characterization It rubs the hardness number in region.Control unit determines the dynamics of different massaging actions as reference quantity, thus according to both constant current modulations Method changes the ventilatory capacity of more Pneumatic artificial muscles to realize the plurality of massage operations of specified dynamics.

If want realize refer to by, refer to and rub massage, control unit by adjust hand parallel drive module ventilatory capacity realize refers to Determine the finger of dynamics by, refer to and rub work that and timely feedbacking by finger tip fexible film piezoresistance sensor 55 realizes finger tip massage power The closed-loop control of degree.In addition, the graininess protrusion micro array structure 53 of 21 the five fingers finger tip surface of hand flexible skin distribution, it can Increase frictional force when contacting with massaged region.While realizing macroscopic view massage, hand piezoelectric vibrator module is receiving phase Difference isTwo high-frequency voltage signals excitation after, can inspire two spatially and temporally on all havePhase difference High frequency flexural vibration mode, so that finger tip be driven to make the high-frequency vibration of micro- a small range.

If wanting to realize, the spiral palm-rubbing technique of ancon is massaged, and control unit is by adjusting the logical of ancon parallel flexible drive module Tolerance realizes specified dynamics, and timely feedbacking by point of elbow fexible film piezoresistance sensor 43, realizes point of elbow massage force Closed-loop control.In addition, the graininess protrusion micro array structure 53 of 42 surface of ancon flexible skin distribution, is capable of increasing and massages Frictional force when region contacts.While realizing macroscopic view massage, ancon piezoelectric vibrator module 45 is receiving phase difference's After the excitation of two high-frequency voltage signals, can inspire two spatially and temporally on all haveThe high frequency flexural of phase difference Mode of oscillation, so that point of elbow be driven to make the high-frequency vibration of micro- a small range.

If wanting to realize that the five fingers kneading etc. refers to combination massage more, control unit is by adjusting more hand Pneumatic artificial muscles More fingers that 58 ventilatory capacity simulates specified dynamics combine massaging action.If it is impossible to meet want for the original space of thumb at this time It asks, then can rotate output torque by driving 64 output shaft 66 of ultrasound electric machine, to drive thumb attachment base 12 and cyclic annular pair Pole magnet 40 realizes rotary motion, expands the motion range of thumb.Meanwhile it being examined by non-contact type magnetic angular displacement sensor 41 The rotational angle of cyclic annular bipolar magnet 40 is surveyed to measure the precise angular displacement of thumb mounting base 63 and timely feedback, and passes through finger tip Fexible film piezoresistance sensor 55 timely feedbacks finger tip massage dynamics, realizes close to thumb position rotation angle degree respectively Ring control and the closed-loop control of finger tip massage dynamics.

If wanting to realize that palm class massaging action, the control units such as the full palm presses, the full palm pushes away keep five hand parallel flexibles The original state of drive module is constant, and only realizes the pushing of palm part, the movement such as flat-pushing.By being adhered to centre of the palm plane Palm fexible film piezoresistance sensor 68 detect and contact force size and timely feedback, to realize the closed loop control of massage force System.

After the completion of a set of massage course for the treatment of, massage part physiological status detect again by infrared detection unit and anti- Feedforward information, control unit make therapeutic evaluation accordingly and show relevant information by small-sized 3 user interface of touch display screen.Massage In the process, display screen can the information such as the distribution of real-time display massaged region heat, massage force, hardness, and user can be according to need It to be inputted and be instructed to control unit by user interface.

The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for ability For the technical staff in domain, there can be various modifications and variations.It is all to any modification, equivalent replacement made by the utility model, Improve etc., it should be included within the scope of protection of this utility model.

Claims (7)

1. a kind of integrated form bionics massage robot based on flexible drive, it is characterised in that: including bionics massage elbow unit, imitate Raw massaging hand unit, infrared detection unit, gear unit, control unit and support plinth；Wherein, the lifting mould in gear unit The lifting cylinder (26) of block is mounted on the inside of the cylinder saddle on support plinth, and control unit lower end bracket (19) is mounted on liter On the attachment base (12) for dropping module, the revolution module in gear unit is installed on the annular of main box (5) bottom surface of control unit It on boss, and is meshed by the planetary gear of lower end (11) with the central gear (20) of control unit lower end, is passed by gear Dynamic mode realizes the rotary motion of main box (5)；Bionics massage elbow unit, bionics massage hand unit, infrared detection unit point It is not installed on three sides of the main body case of control unit；Robot is driven by compressed air.

2. the integrated form bionics massage robot according to claim 1 based on flexible drive, it is characterised in that: described Bionics massage hand unit is: 3-PRS parallel institution is connected by screw thread pair and bionical palm tail portion (1), hand parallel flexible drives Dynamic model block is connected by the palm pedestal (62) of screw thread pair and bionical palm, hand tactilely-perceptible module is integrated in bionical palm and slaps The heart and the five fingers finger tip surface, hand piezoelectric vibrator module are integrated in inside the five fingers finger tip, ultrasound-driven module is integrated in bionic hand Nearly thumb end is slapped, hand flexible skin (21) and palm pedestal (62) are connected by seccotine, envelope is in bionical palm surface；

The 3-PRS parallel institution includes three identical hand telescopic cylinders (30), fixed platform (52), moving platforms (51), nine Axis Bluetooth gyroscope (31), fixed platform (52), moving platform (51) are connected with main box (5), bionical palm by screw thread pair respectively, The piston-rod end of hand telescopic cylinder (30) is connected by spherical pair and fixed platform (52), cylinder block end by revolute pair with Moving platform (51) is connected, and nine axis Bluetooth gyroscopes (31) are connected by screw thread pair and moving platform (51)；

The hand parallel flexible drive module includes three hand Pneumatic artificial muscles (58), a finger tip pedestal (57), is referred to There are three the threaded holes and a screw thread close to circumferential edges in 120 degree of circular symmetric distributions for the processing of end group seat (57) bottom surface Hole；Three hand Pneumatic artificial muscles (58) are rigidly solid by screw thread pair and finger tip pedestal (57) in 120 ° of circular symmetric distributions Even；

The hand piezoelectric vibrator module includes the first bending vibration block (70), the second bending vibration block (71), the first, second bending vibration block center Be threaded through-hole, from top to bottom successively with the center stand column (72) that is machined in externally threaded finger tip pedestal (57) groove It is rigidly connected by screw thread pair；

The ultrasound-driven module is by ultrasound electric machine (64), cyclic annular bipolar magnet (40), non-contact type magnetic angular displacement sensor (41), thumb mounting base (63) is constituted, and the output shaft (66) of ultrasound electric machine (64) passes through the hole interference with thumb mounting base (63) Being connected for ultrasound electric machine (64) and thumb mounting base (63) is realized in cooperation, and non-contact type magnetic angular displacement sensor (41) passes through strong Power glue is fixed on the rectangular recess inner wall at the nearly thumb end of palm, the drive of cyclic annular bipolar magnet (40) inner hole and ultrasound electric machine (64) Moving axis (67) interference fit；

The hand tactilely-perceptible module includes finger tip fexible film piezoresistance sensor (55), palm fexible film piezoresistance sensor (68), miniature reflective laser displacement sensor (48), finger tip top cover (56), finger tip top cover (56) inner surface are threaded, It is rigidly connected with finger tip pedestal (57) by screw thread pair, using seccotine by finger tip fexible film piezoresistance sensor (55), palm Fexible film piezoresistance sensor (68) is adhered to the spherical surface of finger tip top cover (56), in the plane of the palm centre of the palm respectively, miniature anti- Formula laser displacement sensor (48) are penetrated to be connected by screw thread pair and finger tip pedestal (57)；

The bionical palm includes palm body and terminal plate (22), and wherein palm body is by palm pedestal (62), four upper branch Strut (59) and bionical palm tail portion (1) composition, palm pedestal (62), thumb mounting base (63) and every upper support bar (59) connect It connects region and is machined with 3 counter sinks in the distribution of 120 degree of circular symmetrics, the size with the lower connection end cap (79) of pneumatic muscles Matching, and lower connection end cap (79) distal outer surface is machined with external screw thread, leads to around drive module end and upper support bar (59) Hole transition fit, and locked by the way that hand hexagon thin nut (61) and hand spring washer (60) are fixed, terminal plate (22) four There are four counter sinks for right angle processing, are connected by screw thread pair and palm pedestal (62).

3. the integrated form bionics massage robot according to claim 1 based on flexible drive, it is characterised in that: described Bionics massage elbow unit is: the flexible module of parallel connection is connected by screw thread pair and ancon parallel flexible drive module, ancon piezoelectricity shakes Submodule, point of elbow tactilely-perceptible module be integrated in inside point of elbow respectively, point of elbow surface, and ancon flexible skin (42) end passes through strong Power gluing invests point of elbow pedestal (46) base circumference edge；

The flexible module in parallel includes three identical ancon telescopic cylinders (9), fulcrum bearing (34), miniature reflective laser positions The main box (5) of displacement sensor (48), fulcrum bearing (34) and control unit is rigidly connected by screw thread pair, the flexible gas of three ancons Cylinder (9) is rigidly connected with small-sized rotary cylinder (6) end flange, fulcrum bearing (34) by screw thread pair respectively, and miniature reflective swashs Optical displacement sensor (48) and small-sized rotary cylinder (6) end flange are rigidly connected by screw thread pair；Ancon support (2) cylinder is convex It is machined with circular through hole and keyway at platform, rigidity is connect by flat key with small-sized rotary cylinder (6) projecting shaft and is connected, ancon support (2) top surface is set there are three the counter sink in the distribution of 120 degree of circular symmetric formulas, is matched with ancon Pneumatic artificial muscle (47), and Pass through ancon hexagon thin nut (50) and the fixed locking of ancon spring washer (49)；Using seccotine by non-contact type magnetic angle position Displacement sensor (41), cyclic annular bipolar magnet (40) are adhered to respectively in the groove at nearly small-sized rotary cylinder (6) end of ancon support (2) Wall, small-sized rotary cylinder (6) projecting shaft end；

The ancon parallel flexible drive module includes three ancon Pneumatic artificial muscles (47), a point of elbow pedestal (46), elbow There are three the threaded holes being distributed in 120 degree circular symmetrics for the processing of end group seat (46) bottom surface, inside ancon parallel flexible drive module Connection relationship is identical as hand parallel drive module；

Composition and connection relationship are identical as hand piezoelectric vibrator module inside the ancon piezoelectric vibrator module (45)；

The point of elbow tactilely-perceptible module includes point of elbow fexible film piezoresistance sensor (43), miniature reflective laser displacement sensing Device (48), point of elbow top cover (44), point of elbow top cover (44) inner surface are threaded, rigidly solid by screw thread with point of elbow pedestal (46) Even, point of elbow fexible film piezoresistance sensor (43) is adhered on the spherical surface of point of elbow top cover (44) using seccotine；It is miniature Reflective laser displacement sensor (48) is rigidly connected by screw thread pair and ancon support (2).

4. the integrated form bionics massage robot according to claim 1 based on flexible drive, it is characterised in that: described Infrared detection unit is: the construction of the flexible module of parallel connection is identical as the flexible construction of module of the parallel connection in bionics massage hand unit； Small-sized rotary cylinder (6) projecting shaft is connect by flat key with fulcrum bearing (34) inner hole and is connected；Using seccotine by Non-contact Magnetic Property angular displacement sensor (41), cyclic annular bipolar magnet (40) be adhered to the recessed of nearly small-sized rotary cylinder (6) end of mounting base (8) respectively Slot inner wall, small-sized rotary cylinder (6) projecting shaft end；CMOS camera (7), far infrared thermal imaging module (38) pass through screw thread pair It is connected with mounting base (8)；LED array ring (37) end flange is embedded in mounting base (8) annular groove, thus with mounting base (8) It is connected.

5. the integrated form bionics massage robot according to claim 1 based on flexible drive, it is characterised in that: described Gear unit goes up and down module and revolution module, wherein lifting module is: lifting cylinder (26) is installed on lifting module support (14) It in hole, and is rigidly connected by screw thread pair, the piston rod end of lifting cylinder is spherical linkage, with attachment base (12) composition activity Connection；Feather key (25) is fixed in the keyway of lifting module support (14) side by screw thread pair, guide sleeve (13) inner hole and liter Module support (14) outer round surface clearance fit is dropped, and is equipped with keyway on the inside of guide sleeve (13), is matched with feather key (25)；Connection Seat (12) is rigidly connected by screw thread and guide sleeve (13)；Sensor support base (17) is connected on pedestal (15) by screw thread pair, magnetic Telescopic displacement sensor (18) are caused to be connected by screw thread pair and sensor support base (17)；Revolution module is: rotary cylinder (10) is logical The annular convex platform for crossing screw thread pair and main box (5) bottom surface is rigidly connected；Planetary gear (11) and rotary cylinder (10) lower end are stretched out Axis is connected by flat key, and is locked by hex nut (33)；The flange at the intermediate position of central gear (20) and bracket (19) It is rigidly connected by screw thread, by planetary gear (11) with central gear (20) engaged transmission to drive control unit to turn round Movement；Potentiometer (32) projecting shaft and rotary cylinder (10) upper end axle sleeve are interference fitted, and in such a way that elongated slot is fixed, are passed through Screw thread pair is fixed on main box (5) inside bottom surface.

6. the integrated form bionics massage robot according to claim 1 based on flexible drive, it is characterised in that: described Control unit is: support shaft (29) and main box (5) are rigidly connected by screw thread pair, are installed in the centre bore of bracket (19), Upper and lower ends with tapered roller bearing (28) bearing, locked using round nut (27) by lower end；Cover board (4), small-sized touch are shown Shield (3) to be connected by screw thread pair and main box (5).

7. the integrated form bionics massage robot according to claim 1 based on flexible drive, it is characterised in that: described Support plinth is: the processing of pedestal (15) end is fluted, is machined with through-hole between groove and lifting module support (14)；Go up and down mould Block support (14) is rigidly connected by screw thread pair and attachment base (12)；Magnetostrictive displacement sensor (18), four universal caster wheels (16) it is rigidly connected by screw thread pair and pedestal (15).