CN210125000U - Automatic acupuncture point massage instrument based on photoelectric recognition and automatic acupuncture point positioning system - Google Patents
Automatic acupuncture point massage instrument based on photoelectric recognition and automatic acupuncture point positioning system Download PDFInfo
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- CN210125000U CN210125000U CN201920227643.8U CN201920227643U CN210125000U CN 210125000 U CN210125000 U CN 210125000U CN 201920227643 U CN201920227643 U CN 201920227643U CN 210125000 U CN210125000 U CN 210125000U
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Abstract
The utility model discloses an automatic acupuncture point massage appearance based on photoelectric recognition can automatic acupuncture point positioning system, this massage appearance includes triaxial moving platform, massage device, acupuncture point positioner, human parameter acquisition device, and electrically controlled device. The massage device is connected with the three-axis moving platform through a vertical axis, the massage device is arranged on a vertical axis load plate, the acupuncture point positioning device is arranged at the top of the vertical axis, the human body parameter acquisition device is arranged in the massage device and on the surface of the massage device, and the electric control device is arranged at the bottom of the platform. The massage method comprises photoelectric recognition, temperature detection, human body parameter analysis, establishment of a massage part mark map and an acupuncture point distribution map, position control of a massage device, movement control of a massage head and output parameter control of the massage head. The utility model discloses combine the massage characteristics of massage teacher for with the help of the sensor, be used for simulating artifical massage, reach the effect of effective massage.
Description
Technical Field
The invention relates to an automatic acupuncture point massager based on a photoelectric recognition automatic acupuncture point positioning system
Background
The current acupoint massage market mainly depends on artificial acupoint massage, but the artificial acupoint massage still has some defects. Firstly, the requirement of manual acupoint massage for a masseur is high, the masseur needs to know the distribution of the acupoints and master the massage strength, the cultivation of an excellent masseur needs a long period, and for a masseur to arrive at a fixed massage place for medical treatment many times, a lot of time is spent. Secondly, the manual massage cannot control the massage strength and the massage temperature quantitatively, and the comfort of the massagers cannot be accurately controlled by the experience of the massagers, so that the massagers are labourious. These problems can be solved if an automated acupoint massage apparatus is used.
The invention discloses a self-locking multi-acupoint massager, which is disclosed by Shixianhua of Yanshan university, and has the patent number of CN 109044809A. A movable contact is fixed on the contact supporting plate and can penetrate through the hole; two ends of the length adjusting device are respectively fixed on the bottom layer front sole plate and the bottom layer rear sole plate; the fixing device is fixed on the top layer sole plate and used for fixing feet. However, in the positioning process, a mechanical fixing mode is used, so that a user still needs to feel or an operator needs to visually observe the positioning device in actual operation, automation cannot be achieved, and the positioning accuracy still has room for improvement.
Aiming at the problem that the positioning cannot be automated, the invention provides an automatic acupuncture point massage instrument based on a photoelectric recognition automatic acupuncture point positioning system. The invention can realize the accurate control of the massage strength, temperature and position of the acupuncture points, realize the automation of the whole process from the acupuncture point positioning to the acupuncture point massage, reduce manpower and material resources and greatly improve the accuracy and comfort level of the acupuncture point massage.
Disclosure of Invention
In order to realize the accuracy of acupuncture point positioning and high massage comfort level in acupuncture point massage, the invention provides an automatic acupuncture point massage instrument based on a photoelectric recognition automatic acupuncture point positioning system. The automatic acupoint massage machine integrates acupoint positioning, acupoint massage and automatic massage parameter adjustment, and realizes automation of acupoint massage.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides an automatic acupuncture point massage appearance based on photoelectric recognition, includes triaxial moving platform, massage device, acupuncture point positioner, human parameter collection system, and electrically controlled device, wherein, human parameter collection system, acupuncture point positioner and massage device all set up on triaxial moving platform's vertical direction is epaxial, human parameter collection system can carry out body surface temperature and body surface pressure collection to user's massage position through strain formula displacement pressure sensor and temperature sensor in the relevant device, and acupuncture point positioner carries out the acupuncture point location to the user through the photoelectric sensor in the device, and massage device is connected with triaxial moving platform through the vertical direction axle, and triaxial moving platform can drive the massage device motion in order to adjust massage device's overall position, electrically controlled device arranges triaxial moving platform's bottom in and with triaxial moving platform, The massage device, the acupuncture point positioning device and the human body parameter acquisition device are all electrically connected and can respectively control the three-axis moving platform, the massage device, the acupuncture point positioning device and the human body parameter acquisition device.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the massage device includes massage sleeve, eccentric massage device, is used for driving the rotatory massage actuating mechanism of the rotatory massage of eccentric massage mechanism, eccentric massage device sets up in massage sleeve, be used for driving the rotatory massage actuating mechanism of the rotatory massage of eccentric massage mechanism includes rotating electrical machines mount pad and rotating electrical machines, rotating electrical machines installs on the motor mount pad, the bottom at triaxial moving platform is fixed to the rotating electrical machines mount pad. The eccentric massage device comprises a massage head and a connecting eccentric wheel, the center of the connecting eccentric wheel is fixed on the inner side of the massage sleeve and is fixedly connected with an output shaft of the rotating motor, and the massage head is arranged on a wheel ring connected with the eccentric wheel.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the massage head comprises a massage head outer layer, a built-in heating sheet, a strain type displacement pressure sensor and a temperature sensor, wherein the temperature sensor is connected with the massage head outer layer, the strain type displacement pressure sensor is arranged in the massage head outer layer, and the built-in heating sheet is tightly attached to the inner wall of the massage head outer layer. The connecting eccentric wheel comprises a connecting rod and an eccentric wheel, and the eccentric wheel is connected with the massage head through the connecting rod.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the acupuncture point positioning device comprises a photoelectric sensor, a body mark point and a data processing feedback device, the photoelectric sensor is installed on the outer side of the massage sleeve, the body mark point is placed on a human body, the data processing feedback device comprises a controller and a controller base, the controller base is arranged in the electric control device, and the controller is installed on the controller base and is electrically connected with the photoelectric sensor.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: human parameter acquisition device is including straining formula displacement pressure sensor, temperature sensor, data processing feedback device, it is inside that straining formula displacement pressure sensor arranges the massage head in, temperature sensor case dress is inside the first outer layer of massage, data processing feedback device includes controller and controller base, the controller base is arranged in inside the electrically controlled device, the controller is installed on the controller base and is connected with straining formula displacement pressure sensor and temperature sensor electricity.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the electric control device comprises a central controller, a power supply module and a communication module, wherein the power supply module is connected with the central controller and supplies power for each electric device in the massager, the central controller is connected with the communication module and is communicated with an upper computer through the communication module, the input end of the central controller is respectively connected with a photoelectric sensor in the acupuncture point positioning device, a strain type displacement pressure sensor and a temperature sensor in the human parameter acquisition device, a rotating motor in the massager and a transverse shaft motor drive, a longitudinal shaft motor drive and a vertical direction shaft motor drive in the three-shaft mobile platform are connected and driven through the motor drive module, and the motor drive module is connected with a motor and is used for driving the motor.
Compared with the prior art, the invention has the following beneficial effects:
first, the massage head in this scheme has selected skin-friendly heat conduction material for use, has avoided the friction and the heat that the massage produced to produce to the harmful effects of human body.
Secondly, the massage head in the scheme utilizes the temperature sensor, and the central controller controls the heating sheet, so that the temperature regulation of important parameters of the massage comfort degree is automatic.
Thirdly, the massage head in the scheme adopts a strain displacement sensor and an eccentric wheel structure to form feedback with a central controller, so that the important parameter force of the massage comfort degree is automatically controlled.
Fourthly, the acupuncture point determination in the scheme is determined by the photoelectric switch, so that the acupuncture point positioning is more accurate.
Fifthly, the central controller in the scheme can be connected with an upper computer, and the equipment can have multiple operation modes through the upper computer, so that diversified requirements of users are met.
Sixth, the device does not require the posture of the user, so that the user can massage the whole body through the device, and the degree of freedom is high.
Seventh, the massage track in the scheme follows the traditional Chinese medicine theory, and the massage effect is better than that of common acupuncture point massage.
The invention is described in further detail below with reference to the figures and examples.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic structural diagram of an automatic acupoint massage apparatus based on a photoelectric recognition automatic acupoint positioning system according to the present invention;
FIG. 2 is a schematic view of a massage head in the automatic acupuncture point massage apparatus based on the photoelectric recognition automatic acupuncture point positioning system of the present invention;
FIG. 3 is a schematic circuit diagram of an automatic acupuncture point massage apparatus based on a photoelectric recognition automatic acupuncture point positioning system according to the present invention;
FIG. 4 is a block diagram of the process of the automatic acupoint massage apparatus based on the photoelectric recognition automatic acupoint positioning system of the present invention;
description of reference numerals:
in fig. 1: 1-1 is a longitudinal shaft motor; 1-2 is a longitudinal shaft connecting rod; 1-3 are longitudinal axes I; 1-4 is a transverse shaft motor; 1-5 are vertical direction axes; 1-6 are rotating motors; 1-7 is a vertical direction shaft motor; 1-8 are photoelectric sensors; 1-9 is a massage device; 1-10 are transverse vertical axis connecting plates; 1-11 are longitudinal axis II; 1-12 are transverse longitudinal axis connecting plates; 1-13 are transverse axes; body marker points 1-14.
In fig. 2: 2-1 is an eccentric wheel; 2-2 is a connecting pin; 2-3 is a connecting rod; 2-4 are connecting pins; 2-5 are infrared temperature sensors; 2-6 are heating sheets; 2-7 are strain type displacement pressure sensors; 2-8 of the outer layer of the massage head.
In fig. 3: 3-1 human body parameter acquisition device; 3-2 acupoint positioning devices; 3-3 infrared temperature measuring sensor; 3-4 limit switches; 3-5 power supply modules; 3-6 central controller; 3-7 motor driving module; 3-8 heating plate circuit driving module; 3-9 heating plates; 3-10 rotating electrical machines; 3-11X axis motors; 3-12Y-axis motors; 3-13Z axis motor.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in the figure, the automatic acupuncture point massager based on photoelectric recognition comprises a three-axis moving platform, a massaging device, an acupuncture point positioning device 3-2, a human body parameter acquisition device 3-1 and an electric control device, wherein the human body parameter acquisition device, the acupuncture point positioning device 3-2 and the massaging device 1-9 are all arranged on a vertical direction axis 1-5 of the three-axis moving platform, the human body parameter acquisition device 3-1 can acquire the body surface temperature and the body surface pressure of a massaging part of a user through a strain type displacement pressure sensor 2-7 and a temperature sensor 2-5 in a relevant device, the acupuncture point positioning device 3-2 can position the acupuncture point of the user through a photoelectric sensor 1-8 in the device, the massaging device 1-9 is connected with the three-axis moving platform through the vertical direction axis 1-5, and the three-axis mobile platform can drive the massage devices 1-9 to move so as to adjust the overall positions of the massage devices 1-9, the electric control device is arranged at the bottom of the three-axis mobile platform, is electrically connected with the three-axis mobile platform, the massage devices 1-9, the acupuncture point positioning devices 3-2 and the human body parameter acquisition devices 3-1, and can respectively control the three-axis mobile platform, the massage devices 1-9, the acupuncture point positioning devices 3-2 and the human body parameter acquisition devices 3-1.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the massage device 1-9 comprises a massage sleeve, an eccentric massage device 1-9 and a rotary massage driving mechanism for driving the eccentric massage mechanism to perform rotary massage, the eccentric massage device 1-9 is arranged in the massage sleeve, the rotary massage driving mechanism for driving the eccentric massage mechanism to perform rotary massage comprises a rotary motor 1-6 mounting seat and a rotary motor 1-6, the rotary motor 1-6 is mounted on the motor mounting seat, and the rotary motor 1-6 mounting seat is fixed at the bottom of the three-axis moving platform. The eccentric massage device 1-9 comprises a massage head and a connecting eccentric wheel 2-1, the center of the connecting eccentric wheel 2-1 is fixed at the inner side of the massage sleeve and is fixedly connected with an output shaft of a rotating motor 1-6, and the massage head is arranged on a wheel ring of the connecting eccentric wheel 2-1.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the massage head comprises a massage head outer layer 2-8, a built-in heating sheet 2-6, a strain type displacement pressure sensor 2-7 and a temperature sensor 2-5, wherein the temperature sensor 2-5 is connected with the massage head outer layer 2-8, the strain type displacement pressure sensor 2-7 is arranged in the massage head outer layer 2-8, and the built-in heating sheet 2-6 is tightly attached to the inner wall of the massage head outer layer 2-8. The connecting eccentric wheel 2-1 comprises a connecting rod 2-3 and an eccentric wheel 2-1, and the eccentric wheel 2-1 is connected with the massage head through the connecting rod 2-3.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the acupuncture point positioning device 3-2 comprises photoelectric sensors 1-8, body mark points 1-14 and a data processing feedback device, the photoelectric sensors 1-8 are mounted on the outer side of the massage sleeve, the body mark points are mounted on a human body, the data processing feedback device comprises a controller and a controller base, the controller base is arranged in an electric control device, and the controller is mounted on the controller base and is electrically connected with the photoelectric sensors 1-8.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: human parameter acquisition device 3-1 includes strain gauge displacement pressure sensor 2-7, temperature sensor 2-5, data processing feedback device, inside massage head was arranged in to strain gauge displacement pressure sensor 2-7, temperature sensor 2-5 case dress is inside massage head skin 2-8, data processing feedback device includes controller and controller base, inside electrically controlled device was arranged in to the controller base, the controller is installed on the controller base and is connected with strain gauge displacement pressure sensor 2-7 and temperature sensor 2-5 electricity.
Foretell automatic acupuncture point massage appearance based on photoelectric recognition, its characterized in that: the electric control device comprises a central controller 3-6, a power module and a communication module, wherein the power module is connected with the central controller 3-6 and supplies power to each electric device in the massager, the central controller 3-6 is connected with the communication module and communicates with an upper computer through the communication module, the input end of the central controller 3-6 is respectively connected with a photoelectric sensor 1-8 in the acupuncture point positioning device 3-2, a strain type displacement pressure sensor 2-7 and a temperature sensor 2-5 in the human body parameter acquisition device 3-1, a rotary motor 1-6 in the massage device 1-9 and a transverse shaft motor 1-4, a longitudinal shaft motor 1-1 and a vertical shaft motor 1-7 in the three-shaft mobile platform are respectively connected and driven by a motor driving module 3-7, the motor driving modules 3-7 are connected with the motor and used for driving the motor.
The massage method of the automatic acupuncture point massage instrument based on the photoelectric recognition is characterized by comprising the following steps of:
step one, a user lies under a massage instrument, and body mark points 1-14 are attached to the chest, two sides of the waist and one leg of the user;
secondly, collecting mark points 1-14 of the body of the user by using an acupuncture point positioning device 3-2, and transmitting the adopted data to a central controller 3-6;
step three, the central controller 3-6 obtains the stored human body acupuncture point distribution from the database;
step four, the central controller 3-6 compares the data acquired in the first step with the data acquired in the second step, and establishes a data model of the acupuncture point distribution map of the massage part of the user;
step five, if the model is failed to be built, returning to the first step, and if the model is successfully built, executing the fifth step;
step six, according to the massage data model established in the step three, the central controller 3-6 sends an instruction to the motor driving module 3-7, and then the motor driving module 3-7 controls the transverse axis motor 1-4, the longitudinal axis motor 1-1 and the vertical axis motor 1-7 to adjust the position of the massage device 1-9;
seventhly, the central controller 3-6 sends an instruction to the motor driving module 3-7, and the motor driving module 3-7 controls the rotating motor 1-6 to enable the massage head to press and stimulate the acupuncture points of the user and enable the human body parameter collecting device 3-1 to start working;
step eight, collecting pressure and temperature information of the massage position of the user by using a human body parameter collecting device 3-1, and transmitting the adopted data to a central controller 3-6;
step nine, the central controller 3-6 obtains the stored massage parameter index from the database;
step ten, the central controller 3-6 compares the data obtained in the step seven and the data obtained in the step eight, and a closed loop is formed by the central controller 3-6, the massage device 1-9, the heating sheet 2-6, the strain type displacement pressure sensor 2-7 and the temperature sensor 2-5 according to the processing result;
step eleven, the central controller 3-6 performs feedback control on the massage devices 1-9 through data collected by each sensor according to the closed loop obtained in the step nine. When the massage force reaches the set threshold of the central controller 3-6, the central controller 3-6 sends an instruction to the vertical axis motor 1-7, and the motor controls the massage device 1-9 to move downwards. When the temperature of the massage area reaches the set threshold value of the central controller 3-6, the central controller 3-6 sends an instruction to the heating piece 2-6, and the heating piece 2-6 stops heating.
Step twelve, if the massage head stimulates the acupuncture points of the user for a preset time in the step six, the massage process is finished.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (6)
1. But automatic acupuncture point massage appearance based on photoelectric recognition automatic acupuncture point positioning system, its characterized in that: the device comprises a three-axis moving platform, a massage device, an acupuncture point positioning device, a human parameter acquisition device and an electric control device, wherein the human parameter acquisition device, the acupuncture point positioning device and the massage device are all arranged on a vertical direction shaft of the three-axis moving platform, the human parameter acquisition device can acquire the body surface temperature and the body surface pressure of a massage part of a user through strain type displacement pressure sensors and temperature sensors in relevant devices, the acupuncture point positioning device can position acupuncture points of the user through photoelectric sensors in the device, the massage device is connected with the three-axis moving platform through the vertical direction shaft, the three-axis moving platform can drive the massage device to move so as to adjust the whole position of the massage device, the electric control device is arranged at the bottom of the three-axis moving platform and is electrically connected with the three-axis moving platform, the massage device, the acupuncture point positioning device and the human parameter acquisition device, The massage device, the acupuncture point positioning device and the human body parameter acquisition device are respectively controlled.
2. The automatic acupuncture point massage apparatus based on the photoelectric recognition automatic acupuncture point positioning system as claimed in claim 1, wherein: the massage device includes massage sleeve, eccentric massage device, is used for driving the rotatory massage actuating mechanism of the rotatory massage of eccentric massage mechanism, eccentric massage device sets up in massage sleeve, be used for driving the rotatory massage actuating mechanism of the rotatory massage of eccentric massage mechanism includes rotating electrical machines mount pad and rotating electrical machines, the rotating electrical machines is installed on the motor mount pad, the bottom at triaxial moving platform is fixed to the rotating electrical machines mount pad, and eccentric massage device includes the massage head and connects the eccentric wheel, connect the eccentric wheel center and fix in massage sleeve inboard and with rotating electrical machines output shaft fixed connection, the massage head is installed on the rim of wheel of connecting the eccentric wheel.
3. The automatic acupuncture point massage apparatus based on the photoelectric recognition automatic acupuncture point positioning system of claim 2, wherein: the massage head is including the first skin of massage, built-in piece, the formula of meeting an emergency displacement pressure sensor and the temperature sensor that generates heat, temperature sensor and the first outer skin of massage are connected, formula of meeting an emergency displacement pressure sensor arranges the first outer inside of massage in, built-in piece that generates heat is hugged closely with the first outer inner wall of massage, it includes connecting rod and eccentric wheel to connect the eccentric wheel, and the eccentric wheel passes through the connecting rod and is connected with the massage head.
4. The automatic acupuncture point massage apparatus based on the photoelectric recognition automatic acupuncture point positioning system of claim 1, wherein: the acupuncture point positioning device comprises a photoelectric sensor, a body mark point and a data processing feedback device, the photoelectric sensor is installed on the outer side of the massage sleeve, the body mark point is placed at the boundary of a massage area of a user, the data processing feedback device comprises a controller and a controller base, the controller base is arranged in the electric control device, and the controller is installed on the controller base and is electrically connected with the photoelectric sensor.
5. The automatic acupuncture point massage apparatus based on the photoelectric recognition automatic acupuncture point positioning system of claim 1, wherein: human parameter acquisition device is including straining formula displacement pressure sensor, temperature sensor, data processing feedback device, it is inside that straining formula displacement pressure sensor arranges the massage head in, temperature sensor case dress is inside the first outer layer of massage, data processing feedback device includes controller and controller base, the controller base is arranged in inside the electrically controlled device, the controller is installed on the controller base and is connected with straining formula displacement pressure sensor and temperature sensor electricity.
6. The automatic acupuncture point massage apparatus based on the photoelectric recognition automatic acupuncture point positioning system of claim 1, wherein: the electric control device comprises a central controller, a power supply module and a communication module, wherein the power supply module is connected with the central controller and supplies power for each electric device in the massager, the central controller is connected with the communication module and is communicated with an upper computer through the communication module, the input end of the central controller is respectively connected with a photoelectric sensor in the acupuncture point positioning device, a strain type displacement pressure sensor and a temperature sensor in the human parameter acquisition device, a rotating motor in the massager and a transverse shaft motor drive, a longitudinal shaft motor drive and a vertical direction shaft motor drive in the three-shaft mobile platform are connected and driven through the motor drive module, and the motor drive module is connected with a motor and is used for driving the motor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109875877A (en) * | 2019-02-25 | 2019-06-14 | 青岛理工大学 | Automatic acupuncture point massage instrument based on photoelectric recognition and automatic acupuncture point positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109875877A (en) * | 2019-02-25 | 2019-06-14 | 青岛理工大学 | Automatic acupuncture point massage instrument based on photoelectric recognition and automatic acupuncture point positioning system |
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