CN209996730U - massage manipulator based on six-degree-of-freedom robot - Google Patents
massage manipulator based on six-degree-of-freedom robot Download PDFInfo
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- CN209996730U CN209996730U CN201920292315.6U CN201920292315U CN209996730U CN 209996730 U CN209996730 U CN 209996730U CN 201920292315 U CN201920292315 U CN 201920292315U CN 209996730 U CN209996730 U CN 209996730U
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Abstract
massage manipulator based on six-degree-of-freedom robot comprises a six-degree-of-freedom cooperative robot and a massage manipulator, wherein the massage manipulator is installed on the six-degree-of-freedom cooperative robot and comprises servo electric cylinders, a manipulator installation framework, finger pressing heads, palm pressing heads and binocular vision cameras, the servo electric cylinders are fixedly arranged on two sides of the manipulator installation framework respectively, the lower ends of servo electric cylinders are connected with the finger pressing heads, the lower ends of servo electric cylinders are connected with the palm pressing heads, the servo electric cylinders are used for adjusting the heights of the finger pressing heads and the palm pressing heads, and the binocular vision cameras are arranged on the manipulator installation framework.
Description
Technical Field
The utility model belongs to the technical field of massage device, in particular to massage manipulators based on six-degree-of-freedom robot.
Background
With the development of economy and the upgrading of consumption level, people pay more and more attention to the solution of the sub-health state problem of the body, and the demand of physiotherapy massage is more and more, physiotherapy is directly acted on the human body through manual or natural physical factors, human body reaction is caused through the direct action on the local part of the human body and the indirect action of nerves and body fluid, blood circulation is adjusted, nutrition metabolism is improved, immunity is improved, the function of a nervous system is adjusted, and tissue repair is promoted, so that pathogenic factors are eliminated, the pathological process is improved, and the relaxing purpose is achieved.
At present, the machine massage mainly uses a bionic mechanical hand to act on a human body, the structure and control of the mechanical hand are complex, the reliability is low, the size is large, the gripping weight ratio of the mechanical hand (the ratio of the weight of a vertically gripped object of the mechanical hand to the self weight of the mechanical hand) is small, the closed-loop control of the force is not available, the flexible control of the mechanical hand is not good, the massage experience for a client is poor, the existing machine massage does not have a human body acupuncture point recognition function, and the massage action cannot well act on.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide massage manipulators based on six-degree-of-freedom robot, so as to solve the problems.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
massage manipulator based on six-degree-of-freedom robot comprises a six-degree-of-freedom cooperative robot and a massage manipulator, wherein the massage manipulator is installed on the six-degree-of-freedom cooperative robot and comprises servo electric cylinders, a manipulator installation framework, finger pressing heads, palm pressing heads and binocular vision cameras, the servo electric cylinders are fixedly arranged on two sides of the manipulator installation framework respectively, the lower ends of servo electric cylinders are connected with the finger pressing heads, the lower ends of servo electric cylinders are connected with the palm pressing heads and used for adjusting the heights of the finger pressing heads and the palm pressing heads, and the binocular vision cameras are arranged on the manipulator installation framework.
, the finger press head comprises a finger press head framework, finger press head bearing seats, deep groove ball bearings, a driven shaft, a second driven shaft, a stepping motor, a finger press head mounting plate and a driving shaft, the driven shaft, the second driven shaft and the driving shaft are all crankshafts, the stepping motor is fixed above the finger press head mounting plate through the motor mounting plate, the end of the driving shaft is connected with the output end of the stepping motor, the finger press head framework is arranged below the finger press head mounting plate, the finger press head bearing seats are fixedly arranged on the upper surface of the finger press head framework, three deep groove ball bearings are arranged on the upper surface of the finger press head bearing seats, the other end of the driving shaft penetrates through the finger press head mounting plate to be connected to deep groove ball bearings, and th driven shafts and second driven shafts are respectively arranged between the other two deep groove ball bearings and the lower surface.
, fixedly connecting a finger-pressing head mounting plate with the lower end of the servo electric cylinder, wherein the finger-pressing head framework is in an inverted cone shape, a gully is arranged on the surface of the cone shape, a electric heating wire is arranged in the gully, and a finger-pressing silicone head is sleeved on the outer side of the finger-pressing head framework.
, the palm press head comprises a palm press head mounting bracket, a palm press head mounting plate and a palm press head framework, wherein the end of the palm press head mounting bracket is connected with the lower end of the servo electric cylinder, the end of the palm press head mounting bracket is fixedly connected with the palm press head mounting plate, and the lower surface of the palm press head mounting plate is fixedly connected with the palm press head framework.
, forming gullies on the surface of the palm press head framework, forming a second electric heating wire in the gullies, and sleeving a palm press silica gel head on the outer side of the palm press head framework.
And , arranging a multidimensional force sensor on the upper surface of the manipulator mounting framework, and connecting the upper surface of the multidimensional force sensor with the six-degree-of-freedom cooperative robot.
Compared with the prior art, the utility model discloses there is following technological effect:
the utility model discloses massage manipulator based on six degree of freedom robots adopts the structural style that finger and palm combine, realizes taking, holding between the fingers, massage action such as press at customer's health position.
The utility model discloses a six-freedom-degree cooperation robot is in order to fix a position and control its gesture in space optional position, and massage manipulator comprises multidimension force transducer, servo electric cylinder, indicates to press the head, and the palm is pressed the head, and binocular machine vision system, realizes that massage gimmick and massage dynamics are good to send the nature, and the massage effect contrasts easily, can customize massage gimmick according to customer's requirement simultaneously, has pointed massage to specific area;
the utility model discloses a two mesh cameras discernment human acupuncture point, the position is accurate, the utility model discloses the massage in-process has the heating function, and the promotion is customer's massage experience.
The utility model discloses the scheme is reasonable, and simple structure replaces the manual work, has really satisfied customer's massage demand.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the massage manipulator of the present invention.
Fig. 3 is a schematic view of the structure of the finger-pressing head of the present invention.
Fig. 4 is a bottom view of the finger-pressing head of the present invention.
FIG. 5 is a schematic view of the structure of the palm button of the present invention
The robot comprises a 1-six-degree-of-freedom cooperative robot, a 2-massage manipulator, a 3-multidimensional force sensor, a 4-servo electric cylinder, a 5-manipulator mounting framework, a 6-finger press head, a 7-palm press head, an 8-binocular camera, a 61-finger press head framework, a 62- th electric heating wire, a 63-finger press silica gel head, a 64-finger press head mounting plate, a 65-driving shaft, a 66-stepping motor, a 67- th driven shaft, a 68-finger press head bearing seat, a 69-second driven shaft, a 71-palm press head mounting bracket, a 72-palm press head mounting plate, a 73-palm press head framework, a 74-second electric heating wire and a 75-palm press silica gel head.
Detailed Description
The utility model is further described with reference to the following drawings :
referring to fig. 1 to 5, massage manipulators based on a six-degree-of-freedom robot comprise a six-degree-of-freedom cooperative robot 1 and a massage manipulator 2, the massage manipulator 2 is mounted on the six-degree-of-freedom cooperative robot 1, the massage manipulator 2 comprises a servo electric cylinder 4, a manipulator mounting framework 5, a finger pressing head 6, a palm pressing head 7 and a binocular vision camera 8, servo electric cylinders 4 are fixedly arranged on two sides of the manipulator mounting framework 5 respectively, the lower ends of servo electric cylinders 4 are connected with the finger pressing head 6, the lower ends of servo electric cylinders 4 are connected with the palm pressing head 7, the servo electric cylinders 4 are used for adjusting the heights of the finger pressing head 6 and the palm pressing head 7, the binocular vision camera 8 is arranged on the manipulator mounting framework 5, the massage manipulator 2 comprises a multi-dimensional force sensor 3, two servo electric cylinders 4 arranged in opposite directions, the manipulator mounting framework 5, the finger pressing head 6, the palm pressing head 7 and a binocular vision system 8, the multi-dimensional force sensor 3 is connected with the sixth shaft of the six-degree-of the robot 1, the manipulator mounting framework 2, the finger pressing head 6, the manipulator is connected with a push rod, the manipulator is connected with a multi-dimensional force sensor, the servo electric cylinder, the manipulator is connected with the manipulator, the manipulator is connected with a servo electric force sensor, the manipulator is connected with the manipulator, the servo electric cylinder, the manipulator is connected with the manipulator.
The finger pressing head 6 comprises a finger pressing head framework 61, a finger pressing head bearing seat 68, deep groove ball bearings, a driven shaft 67, a second driven shaft 69, a stepping motor 66, a finger pressing head mounting plate 64 and a driving shaft 65, the driven shaft 67, the second driven shaft 69 and the driving shaft 65 are all crankshafts, the stepping motor 66 is fixed above the finger pressing head mounting plate 64 through the motor mounting plate, the 360 end of the driving shaft 65 is connected with the output end of the stepping motor 66, the finger pressing head framework 61 is arranged below the finger pressing head mounting plate 64, the finger pressing head bearing seat is fixedly arranged on the upper surface of the finger pressing head framework 61, three deep groove ball bearings are arranged on the upper surface of the finger pressing head bearing seat, the other end of the driving shaft 65 penetrates through the finger pressing head mounting plate 64 to be connected to deep groove ball bearings, the other two deep groove ball bearings and the lower surface of the finger pressing head mounting plate 64 are respectively provided with the second driven shaft 67 and the second driven shaft 69, the finger pressing head bearing seat 61 and the finger pressing head bearing seat 69, the finger pressing head bearing seat 61 comprises the finger pressing framework 61, the finger pressing head pressing framework 62, the finger pressing head pressing mechanism, the finger pressing mechanism is connected with the crank pressing head pressing mechanism, the crank pressing mechanism, the finger pressing mechanism, the crank pressing head pressing mechanism, the finger pressing mechanism is connected with the crank pressing mechanism, the crank pressing head pressing mechanism, the crank pressing mechanism is connected with the crank pressing head pressing mechanism, the crank pressing head pressing mechanism, the crank pressing mechanism is connected with the crank pressing mechanism.
The finger press head mounting plate 64 is fixedly connected with the lower end of the servo electric cylinder 4, the finger press head framework 61 is in an inverted cone shape, gullies are arranged on the surface of the cone shape, an -th electric heating wire 62 is arranged in each gully, and a finger press silica gel head is sleeved on the outer side of the finger press head framework 61.
The palm press head 7 comprises a palm press head mounting bracket 71, a palm press head mounting plate 72 and a palm press head framework 73, wherein the end of the palm press head mounting bracket 71 is connected with the lower end of the servo electric cylinder 4, the end of the palm press head mounting bracket is fixedly connected with the palm press head mounting plate 72, and the lower surface of the palm press head mounting plate 72 is fixedly connected with the palm press head framework 73.
Gullies are arranged on the surface of the presser foot head framework 73, and second electric heating wires 74 are arranged in the gullies; the palm-pressing silica gel head 75 is sleeved outside the palm-pressing head framework 73. The palm press head 7 comprises a palm press head mounting bracket 71, a palm press head mounting plate 72, a palm press head framework 73, an electric heating wire 74 and a palm press silica gel head 75.
The palm press head mounting bracket 71 is connected with the servo electric cylinder 4 and the palm press head mounting plate 72, an electric heating wire and a temperature sensor are arranged in a groove on the palm press head mounting framework 73 and fixed on the palm press head mounting plate 72, a palm press silica gel head 75 made of soft silica gel is arranged on the outer side of the palm press head mounting framework, and the shape and the size of the palm press silica gel head 75 simulate the shape and the size of a human palm and a big thenar.
The binocular machine vision system 8 obtains and identifies the three-dimensional coordinate information of points on the human body through human body image acquisition, and transmits the information to the upper computer. And controlling the six-degree-of-freedom cooperative robot 1 to position and massage the upper part of the human body by the upper computer according to the acquired three-dimensional information of the massage position point. The binocular vision system is installed on the manipulator installation framework 5 and moves synchronously with the manipulator.
The upper surface of the manipulator mounting framework 5 is provided with a multidimensional force sensor 3, and the upper surface of the multidimensional force sensor 3 is connected with the six-degree-of-freedom cooperative robot 1.
The working process of the utility model is as follows:
when the massage robot provided with the six-degree-of-freedom robot massage manipulator is used for physiotherapy massage, a customer firstly lies prone or lies below the working position of the massage manipulator, and after the equipment is started, the six-degree-of-freedom cooperative robot 1 drives the binocular machine vision system 8 to move to a specified position, so that a human body image is acquired and identified, and the three-dimensional coordinate information of the massage part is determined. And sending the coordinate information to an upper computer, and sending an instruction to the massage manipulator by the upper computer according to the set massage manipulation and flow to control the massage manipulator to finish the physical therapy massage process on the human body.
Claims (6)
- The massage manipulator based on the six-degree-of-freedom robot is characterized by comprising a six-degree-of-freedom cooperative robot (1) and a massage manipulator (2), wherein the massage manipulator (2) is installed on the six-degree-of-freedom cooperative robot (1), the massage manipulator (2) comprises servo electric cylinders (4), a manipulator installation framework (5), finger pressing heads (6), palm pressing heads (7) and binocular vision cameras (8), the servo electric cylinders (4) are fixedly arranged on two sides of the manipulator installation framework (5) respectively, the lower ends of servo electric cylinders (4) are connected with the finger pressing heads (6), the lower ends of servo electric cylinders (4) are connected with the palm pressing heads (7), the servo electric cylinders (4) are used for adjusting the heights of the finger pressing heads (6) and the palm pressing heads (7), and the binocular vision cameras (8) are arranged on the manipulator installation framework (5).
- 2. The massaging manipulator based on the six-degree-of-freedom robot as claimed in claim 1, wherein the finger press head (6) comprises a finger press head framework (61), a finger press head bearing seat (68), deep groove ball bearings, a th driven shaft (67), a second driven shaft (69), a stepping motor (66), a finger press head mounting plate (64) and a driving shaft (65), the th driven shaft (67), the second driven shaft (69) and the driving shaft (65) are crankshafts, the stepping motor (66) is fixed above the finger press head mounting plate (64) through the motor mounting plate, the end of the driving shaft (65) is connected with the output end of the stepping motor (66), the finger press head framework (61) is arranged below the finger press head mounting plate (64), the finger press head bearing seat is fixedly arranged on the upper surface of the finger press head framework (61), three deep groove ball bearings are arranged on the upper surface of the finger press head bearing seat, the other 56 end of the finger press head (65) penetrates through the finger press head mounting plate (64) and is connected to deep groove ball bearings, and the second driven shaft (5969) is respectively arranged between the other two deep groove ball bearings and the lower surface of the driving shaft (.
- 3. The massage manipulator of six-DOF robot, according to claim 2, wherein the finger button mounting plate (64) is fixedly connected to the lower end of the servo cylinder (4), the finger button frame (61) is an inverted cone, the surface of the cone is provided with a gully, a electric heating wire (62) is arranged in the gully, and the outer side of the finger button frame (61) is sleeved with a finger button silicone head.
- 4. The massage manipulator based on six-DOF robot as claimed in claim 1, wherein the palm head (7) comprises a palm head mounting bracket (71), a palm head mounting plate (72) and a palm head skeleton (73), the end of the palm head mounting bracket (71) is connected to the lower end of the servo electric cylinder (4), the end is fixedly connected to the palm head mounting plate (72), and the palm head skeleton (73) is fixedly connected to the lower surface of the palm head mounting plate (72).
- 5. The massage manipulator based on six-degree-of-freedom robot as claimed in claim 4, wherein the surface of the palm-press head skeleton (73) is provided with a gully in which the second electric heating wire (74) is arranged, and the outer side of the palm-press head skeleton (73) is sleeved with a palm-press silicone head (75).
- 6. The massage manipulator based on six-degree-of-freedom robot as claimed in claim 1, wherein the upper surface of the manipulator mounting skeleton (5) is provided with a multi-dimensional force sensor (3), and the upper surface of the multi-dimensional force sensor (3) is connected with the six-degree-of-freedom cooperative robot (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920292315.6U CN209996730U (en) | 2019-03-07 | 2019-03-07 | massage manipulator based on six-degree-of-freedom robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920292315.6U CN209996730U (en) | 2019-03-07 | 2019-03-07 | massage manipulator based on six-degree-of-freedom robot |
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| Publication Number | Publication Date |
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| CN209996730U true CN209996730U (en) | 2020-01-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920292315.6U Active CN209996730U (en) | 2019-03-07 | 2019-03-07 | massage manipulator based on six-degree-of-freedom robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111494191A (en) * | 2020-05-23 | 2020-08-07 | 南京艾益智能科技有限公司 | Traditional Chinese medicine massage robot and full-automatic massage method |
| CN113577550A (en) * | 2020-04-30 | 2021-11-02 | 道鑛有限公司 | Health care device |
| TWI762919B (en) * | 2020-04-30 | 2022-05-01 | 道鑛有限公司 | Device, for health-care |
-
2019
- 2019-03-07 CN CN201920292315.6U patent/CN209996730U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113577550A (en) * | 2020-04-30 | 2021-11-02 | 道鑛有限公司 | Health care device |
| TWI762919B (en) * | 2020-04-30 | 2022-05-01 | 道鑛有限公司 | Device, for health-care |
| CN111494191A (en) * | 2020-05-23 | 2020-08-07 | 南京艾益智能科技有限公司 | Traditional Chinese medicine massage robot and full-automatic massage method |
| CN111494191B (en) * | 2020-05-23 | 2023-11-24 | 南京艾益智能科技有限公司 | Traditional Chinese medicine massage robot and full-automatic massage method |
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