CN211132080U - Vibration massage and moxibustion robot device - Google Patents

Abstract

The utility model relates to a vibration massage and moxibustion robot device, which comprises a robot body and a controller, wherein the robot body also comprises a left arm and a right mechanical arm, the end part of the left arm is provided with a vibration head for massage, the right mechanical arm comprises a shoulder joint shaft, a first connecting cylinder, a first upper arm joint shaft, a second connecting cylinder, a forearm joint shaft, a third connecting cylinder and a wrist joint shaft which are connected in sequence, the front end of the wrist joint shaft is provided with a fixing device which can fix a moxibustion cylinder and the vibration head, the shoulder joint shaft, the upper arm joint shaft, the forearm joint shaft and the wrist joint shaft are all internally provided with joint module components for driving the right mechanical arm to move, the right mechanical arm can generate arc motion and compound linear motion in all directions under the action of each joint module component, and then drive the vibration head and massage or fix a moxa-moxibustion section of thick bamboo and carry out the moxa-moxibustion, vibration head and joint module subassembly all are connected with the controller. The device grasps the massage head through the arm, bears the feedback impact that the vibration arouses by machinery, uses manpower sparingly resources, reduces intensity of labour.

Description

Vibration massage and moxibustion robot device

Technical Field

The utility model relates to the field of medical equipment, concretely relates to vibrations massage and moxa-moxibustion robot device.

Background

At present, the deep muscle vibration massage instrument and the stimulation instrument used in the medical rehabilitation market guide strong mechanical vibration to act on deep muscle tissues through motor transmission, and play roles in accelerating blood circulation and increasing lymphatic return, thereby relieving pain and accelerating tissue recovery. When the existing deep-layer muscle vibration massage instrument and stimulation instrument are used, a therapist generally holds a beating head of the deep-layer muscle vibration massage instrument, the beating head is pressed against a pain part of a patient with force, and the beating head is transferred to the next part after vibration for a period of time to continue the treatment process.

In order to solve the above problems, some devices are equipped with cushion gloves, and some devices reduce the vibration force. Even with cushioned gloves, the intense vibration is still overwhelming for the therapist, resulting in a work that is not durable and resistant to the use of such products, and the reduction of the vibration force may compromise the treatment.

In addition, the conventional moxibustion therapy is a treatment method in which a therapist holds a moxa material made of folium artemisiae argyi to generate moxa heat to stimulate acupuncture points or specific parts on the surface of a patient, and the physiological and biochemical functions of human body disorder are adjusted by stimulating the movement of meridians, so that the purposes of preventing and treating diseases are achieved. The therapist often bends the back of the body when holding the moxa stick for treatment, and the moxibustion device with the similar fixing band can only bind and fix the moxa stick on the specific part of the patient for treatment in addition to the negative effect on the health of the therapist after long-time smoking and burning, and the moxibustion device with the similar fixing band is often overheated to cause pain in the process and is inconvenient for changing the part to influence the treatment effect.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the problem that prior art exists, provide a vibrations massage and moxa-moxibustion robot device, the device grasps the massage head through the arm, bears the feedback impact that the vibration arouses by machinery, uses manpower sparingly the resource, reduces intensity of labour, improves work efficiency and treatment.

The utility model discloses a following technical scheme realizes above-mentioned technical purpose:

the utility model provides a vibrations massage and moxa-moxibustion robot device, including robot and controller, still be provided with the touch-sensitive screen on the robot, the USB line and the HDMI signal line of touch-sensitive screen all are connected with the controller, robot still includes left arm and right arm, the tip of left arm is provided with the vibration head that is used for the massage, right side arm includes a plurality of joint axles that connect gradually through the connecting cylinder, the tip of right side arm is provided with the fixing device that can fix a moxa-moxibustion section of thick bamboo and vibration head, all be provided with the joint module subassembly of the right arm action of drive in the joint axle, right side arm produces the arc motion of all directions under the effect of each joint module subassembly, compound linear motion, and then drive vibration head massages or fixed moxa-moxibustion section of thick bamboo carries out the moxa-moxibustion, vibration head and joint module subassembly all are connected with the controller.

The joint shaft of the right mechanical arm comprises a shoulder joint shaft, an upper arm joint shaft, a forearm joint shaft and a wrist joint shaft, the connecting cylinder comprises a first connecting cylinder, a second connecting cylinder and a third connecting cylinder, and the shoulder joint shaft, the first connecting cylinder, the upper arm joint shaft, the second connecting cylinder, the forearm joint shaft, the third connecting cylinder and the wrist joint shaft are sequentially connected together.

The left arm comprises a left arm connecting shaft, a hose and a vibrating head, the hose is fixed to the robot body through the left arm connecting shaft, the vibrating head is arranged at the end of the hose, a vibrating motor is fixedly arranged in the robot body close to the left arm, a steel wire transmission shaft is fixedly connected to an output shaft of the vibrating motor, penetrates through the hose and is connected with the vibrating head, and an eccentric wheel in the vibrating head is driven to rotate.

The robot comprises a robot body, a head, an upper body and a lower body, wherein the head comprises a head shell, the upper body comprises an upper body shell and an upper body support positioned in the upper body shell, the lower body comprises a lower body shell and a lower body support positioned in the lower body shell, the upper body support and the lower body support are connected and fixed together through an upper body support connecting plate and a lower body support connecting plate, the head shell is connected and fixed on the upper body shell through a head and neck connecting piece, and the upper body shell and the lower body shell are connected and fixed on the upper body support connecting plate and the lower body support connecting plate through a waist; the touch screen is fixedly arranged on the head shell; the upper body support is fixedly provided with two partition plates, the lower partition plate is fixedly provided with a vibration control plate, a vibration motor and a left shoulder support, the vibration control plate is simultaneously electrically connected with the vibration motor and a controller, a connecting shaft of the vibration motor is arranged on the left shoulder support and is connected with a vibration head through a steel wire transmission shaft to drive the vibration head to vibrate, a left arm connecting shaft is fixed on the left shoulder support, the upper partition plate is fixedly provided with a right shoulder support, and a shoulder joint shaft is fixed on the upper body support through the right shoulder support; two clapboards are also arranged on the lower body support, a power adapter and a controller are arranged on the upper layer clapboard, and a cavity between the lower layer clapboard and the upper layer clapboard is a space of the drawer.

The upper body further comprises a fixed hanging frame used for hanging the vibrating head, and the fixed hanging frame is fixed on the upper layer partition plate inside the upper body support through a hanging frame support.

Wherein, the head still includes display lamp and loudspeaker, and display lamp and loudspeaker are all fixed to be set up on the head shell, and display lamp and loudspeaker all are connected with the controller.

Wherein, the upper part of the body still includes microphone and scram button, and microphone and scram button all fixed the setting on the upper part of the body shell and all are connected with the controller, and the microphone is connected with the controller, and scram button establishes ties on the circuit of right arm.

Wherein, the lower part of the body is fixedly arranged on a base, and a lockable roller which is convenient for the whole robot to move is arranged below the base.

Preferably, a balancing weight is arranged on the base.

Preferably, the vibrating head fixing device is a detachable connecting plate, one end of the detachable connecting plate is fixed at the end of the wrist joint shaft, and the vibrating head or the moxibustion tube is fixedly arranged at the other end of the detachable connecting plate.

The utility model provides a vibrations massage and moxa-moxibustion robot device has following beneficial technological effect:

(1) the mechanical arm is adopted to grasp the massage head, and the feedback impact caused by vibration is borne by the machine, so that the body of a therapist is prevented from being injured;

(2) the mechanical arm pushes the massage head against the body of the user by utilizing the self-locking force of each joint shaft, so that the manpower is replaced, and the labor intensity of a therapist is reduced;

(3) the mechanical arm adopts a four-axis joint structure to realize the motion adjustment in the height direction and the horizontal direction, can realize the motion of any track in a certain space range by synthesis, and is convenient for the massage head to perform linear, curved and other massage actions on the human body;

(4) the design of the replaceable connecting plate can switch the functions of vibration massage and moxibustion;

(5) the remote control is adopted to realize the motion control of the massage head such as up-down, left-right, horizontal reciprocating, vertical reciprocating and the like, and the remote controller can be mastered by a therapist or a user to realize the complete self-service massage;

(6) the body type template is arranged, and the automatic reciprocating motion track of the mechanical arm can be set by selecting parameters such as height, sex, fat-thin body type, bearing strength and the like of a user, so that full-automatic massage is realized;

(7) a force feedback structure is arranged in a joint shaft of the mechanical arm, and the massage force can be tracked and set in real time.

Drawings

FIG. 1 is a front view of a massage and moxibustion robot;

FIG. 2 is a side view of the massage and moxibustion robot;

FIG. 3 is a schematic top view of the vibration massage and moxibustion robot device (without massage heads);

FIG. 4 is a schematic view of the interior of the vibration massage and moxibustion robot device;

FIG. 5 is a schematic view of a detachable connection plate;

FIG. 6 is a schematic diagram of the system architecture of the present invention;

FIG. 7 is a diagram illustrating the setting of body type template parameters;

FIG. 8 is a diagram of the movement trace of the robot arm according to the body type parameters;

FIG. 9 is a schematic diagram of a remote control;

in the figure, 101 a head shell, 102 a touch screen, 103 a display lamp, 104 a loudspeaker, 105 a head and neck connector, 201 an upper body shell, 202 a fixed hanger, 203 a microphone, 204 an emergency stop button, 205 a hanger bracket, 206 a vibration control panel, 207 a vibration motor, 208 a left shoulder bracket, 209 a lower partition plate, 210 an upper body bracket, 211 a right shoulder bracket, 212 a right shoulder fixing shaft, 214 an upper and lower body bracket connecting plate, 215 an upper and lower body connecting through hole, 217 a power adapter, 218 a controller, 220 a lower body bracket, 222 a balancing weight, 301 a left arm connecting shaft, 302 a hose, 303 a vibration head, 401 a shoulder joint shaft, 402 a first connecting cylinder, an upper arm joint shaft, 404 a second connecting cylinder, 405 a forearm joint shaft, 406 a third connecting cylinder, a wrist joint shaft, 408 a detachable connecting plate, 409 flange plates, 410 a moxibustion cylinder, 501 a waist connecting plate, 502 a lower body shell 503, a drawer, 504 a base and 505 a locking roller.

Detailed Description

The principles and features of the present invention will be described with reference to the drawings, which are provided for illustration purposes only and are not intended to limit the scope of the present invention.

As shown in fig. 1-3, a vibration massage and moxibustion robot device comprises a robot body and a controller 218, wherein the robot body is further provided with a touch screen 102, a USB cable and an HDMI signal cable of the touch screen 102 are both connected with the controller 218, the robot body further comprises a left arm and a right mechanical arm, the end of the left arm is provided with a vibration head 303 for massage, the right mechanical arm comprises a plurality of joint shafts which are sequentially connected through a connecting cylinder, the end of the right mechanical arm is provided with a fixing device which can fix a moxibustion cylinder and the vibration head 303, joint module assemblies which drive the right mechanical arm to move are arranged in the joint shafts, the right mechanical arm generates arc-shaped motion and compound linear motion in all directions under the action of the joint module assemblies, and then drive the vibration head and massage or fix a moxa-moxibustion section of thick bamboo and carry out the moxa-moxibustion, vibration head and joint module subassembly all are connected with the controller. The joint module has the main advantages that a cooperative robot can be manufactured, the robot can work in cooperation with a human body without injuring the human body, a controller inside each joint module can read the current value of an internal motor through the EtherCAT or CANopen communication protocol, then the force feedback value can be detected through a current loop mode, and the massage force is controlled according to the force feedback value so as to track the pressing force of a contact surface of a massage head and the human body in real time.

In this embodiment, the joint axes of the right robot arm include a shoulder joint axis 401, an upper arm joint axis 403, a forearm joint axis 405, and a wrist joint axis 407, the connecting cylinder includes a first connecting cylinder 402, a second connecting cylinder 404, and a third connecting cylinder 406, and the shoulder joint axis 401, the first connecting cylinder 402, the upper arm joint axis 403, the second connecting cylinder 404, the forearm joint axis 405, the third connecting cylinder 406, and the wrist joint axis 407 are sequentially connected together; under the rotation drive of the shoulder joint shaft 401, the connecting cylinder I402 swings up and down to drive the right mechanical arm to lift up and down together, so that the right mechanical arm moves up and down; similarly, the rotation of the upper arm joint shaft 403 and the forearm joint shaft 405 drives the second connecting cylinder 404 and the third connecting cylinder 406 to move together, so as to generate arc motion in all directions and compound linear motion, and the specific structure and connection relationship thereof can be referred to in the prior art, such as the above kolmogu joint module, and will not be described in detail herein.

The utility model discloses a but set up the right arm of all directions motion, during the massage, right arm is held vibrating head 303 and is vibrated the massage, and during the moxa-moxibustion, right arm is held a moxa-moxibustion section of thick bamboo and is carried out the moxa-moxibustion, need not therapist carry out handheld operation, and the feedback that arouses by mechanical bearing vibration strikes or long-term fixed moxa-moxibustion operation, uses manpower sparingly resources, reduces intensity of labour, has improved work efficiency and treatment.

Specifically, in this embodiment, the left arm includes a left arm connecting shaft 301, a hose 302 and a vibrating head 303, the hose 302 is fixed on the robot body through the left arm connecting shaft 301, the vibrating head 303 is provided at an end of the hose 302, a vibrating motor 207 is fixedly provided in the robot body near the left arm, a steel wire transmission shaft is fixedly connected to an output shaft of the vibrating motor 207, and the steel wire transmission shaft passes through the hose 302 to be connected with the vibrating head 303 and drives an eccentric wheel in the vibrating head 303 to rotate, so as to achieve a massage effect. The vibrating head 303 has the same principle as the incoming call vibrating motor of a mobile phone, and generally comprises a coaxial eccentric cam, a cam guide ring, a telescopic rubber sleeve, a shell and a replaceable massage head, wherein a steel wire transmission shaft is connected to the coaxial eccentric cam to drive the coaxial eccentric cam to rotate eccentrically, the periodic rotation of the cam pushes against the cam guide ring to generate reciprocating vibration, the telescopic rubber sleeve provides telescopic elasticity in the reciprocating direction, the replaceable massage head has various different nail hammer shapes and provides different massage effects, and the replaceable massage head is connected with the replaceable massage head through an internal thread on the cam guide ring to complete the vibration massage function.

As shown in fig. 1 and 4, the robot body includes a head, an upper body and a lower body, the head includes a head housing 101, the upper body includes an upper body housing 201 and an upper body support 210 located inside the upper body, the lower body includes a lower body housing 502 and a lower body support 220 located inside the lower body, the upper body support 210 and the lower body support 220 are connected and fixed together through a lower body support connection plate 214, that is, the upper body support 210 and the lower body support 220 are both welded or riveted and fixed on the lower body support connection plate 214, the upper and lower body support connection plate 214 is provided with an upper and lower body connection via hole 215 for passing a thread, the head housing 101 is connected and fixed on the upper body housing 201 through a neck connection piece 105, and the upper body housing 201 and the lower body housing 502 are connected and fixed on the upper and lower body support connection plate 214 through a waist; the touch screen 102 is fixedly arranged on the head casing 101, and particularly, the touch screen 102 is embedded in the head casing made of a plastic casing and can be used for displaying a software interface, so that a user can conveniently operate the touch screen; two partition plates are fixedly arranged on an upper body support 210, a vibration control plate 206, a vibration motor 207 and a left shoulder support 208 are fixedly arranged on a lower partition plate 209, the vibration control plate 206 is simultaneously electrically connected with the vibration motor 207 and a controller 218, the vibration control plate 206 realizes speed control of the vibration motor 207 and transmission of various instructions, a connecting shaft of the vibration motor 207 is arranged on the left shoulder support 208 and is connected with a vibration head 303 through a steel wire transmission shaft to drive the vibration head 303 to vibrate, a left arm connecting shaft 301 is fixed on the left shoulder support 208, a right shoulder support 211 is fixedly arranged on the upper partition plate, a shoulder joint shaft 401 is fixed on the upper body support 210 through the right shoulder support 211, and more specifically, the shoulder joint shaft 401 is fixed on the right shoulder support 211 through a right shoulder fixing shaft 212; the lower body support 220 is also provided with two partition plates, the upper partition plate is provided with a power adapter 217 and a controller 218, a cavity between the lower partition plate and the upper partition plate is a space of a drawer 503, and the drawer is arranged on the lower body shell 502 and can be used for placing various spare and accessory parts.

In this embodiment, in order to facilitate storage when the vibration head 303 is not used, a fixed hanger 202 for hanging the vibration head 303 is further provided, the fixed hanger 202 may be disposed on the upper body, the fixed hanger 202 is fixed on an upper partition plate inside the upper body support 210 through the hanger support 205, and the vibration head 303 is hung on the fixed hanger 202.

As shown in fig. 1, the head further includes a display lamp 103 and a speaker 104 for playing sound, the display lamp 103 and the speaker 104 are both fixedly disposed on the head casing 101, and the display lamp 103 and the speaker 104 are both electrically connected to the controller 218; the upper body further comprises an emergency stop button 204 and a microphone 203 for receiving voice of a user, the microphone 203 and the emergency stop button 204 are both fixedly arranged on the upper body shell and are both connected with a controller 218, the microphone 203 is connected with the controller 218, and the emergency stop button 204 is connected in series in a circuit of the right mechanical arm and is used for cutting off the power supply of the mechanical arm in an emergency; the lower body is fixedly arranged on a base 504, and a lockable roller 505 which is convenient for the whole robot to move is arranged below the base 504, can move in a rolling way and is supported in a locking way.

In order to stabilize the whole robot, a counterweight 222 for balancing the mass of the robot body is also arranged on the base 504.

As shown in fig. 5, the vibrating head fixing device is a detachable connecting plate 408, one end of the detachable connecting plate 408 is fixed at the end of the wrist joint shaft 407 through a flange 409, the vibrating head 303 or the moxibustion cylinder is fixed at the other end of the detachable connecting plate 408, specifically, the edge of the flange 409 is provided with four small round holes, the flange 409 is fixed on the wrist joint shaft 407 through bolts, a rotary step is arranged in the middle of the inside of the flange 409, the rotary step is in a semicircular shape, the end of the detachable connecting plate 408 is provided with an outward convex flange matched with the rotary step, the detachable connecting plate 408 is detachably arranged on the flange 409 through the flange and the rotary step, the detachable connecting plate 408 rotates in the opposite direction by a certain angle, the detachable connecting plate 408 can be detached, and. The other end of the detachable connecting plate 408 is provided with a threaded hole for fixing the moxibustion cylinder 410, an external thread is arranged on the outer wall of the moxibustion cylinder 410, the moxibustion cylinder 410 is fixed on the detachable connecting plate 408 in a threaded rotating mode, and the mechanical arm can normally realize the function of replacing hands in the butt connection mode.

All the joint shafts are driven by a 220V-to-48V direct current power supply and controlled by an emergency stop control switch, the power supply can be cut off in emergency, the safety is protected, and the vibration motor control board is further driven by a 48V-to-12V direct current power supply.

The utility model discloses a controller system includes vibration control panel 206, controller 218, power adapter 217, touch-sensitive screen 102, scram switch 204 etc to connect through the cable electricity each other, the software part includes screen display, control module, right arm control module and vibration motor control module, remote control module. The screen display and control module is used for providing a user operation interface, selecting body type parameters of a user, selecting bearing strength of the user, displaying and adjusting massage time, displaying and adjusting massage intensity and setting a massage mode and a massage period; the vibration motor control module is used for setting the rotating speed of the vibration motor according to the parameters transmitted by the screen display and control module, and driving the vibration head to generate strong vibration to achieve a massage effect; the controller 218 is configured to receive parameters and settings transmitted by the interface of the touch screen 102, perform operation adjustment, send a control instruction to each joint shaft of the mechanical arm according to the parameters and the settings, control each joint shaft to rotate forward or backward as required, detect a current pressing force according to torque feedback built in the joint shaft, and perform shutdown protection when the force is too large; the remote controller is provided with control buttons for starting and stopping, up and down, left and right, transverse reciprocating and longitudinal reciprocating, the remote control receiving head is inserted into an interface of the controller 218, and the controller 218 controls all joint shafts of the right mechanical arm to rotate forward and backward, horizontally or vertically and do reciprocating motion in an equal cycle according to signals sent by the remote controller.

The utility model discloses the concrete operating procedure as follows: after the robot is powered on and started, the touch screen 102 is started to display the control interface, the right mechanical arm returns to the zero position, and then the user operates the robot to execute the command by operating the touch screen 102 or the remote controller. When a user clicks the interface of the touch screen 102, the controller 218 may receive an instruction sent by the touch screen 102 to perform setting or send a vibration instruction to the vibration control board 206, if the instruction is set, the controller updates the self-stored content according to the selection value on the touch screen, modifies the set content, if the instruction is vibration instruction, the controller 218 converts the selection value on the touch screen into a serial port message and sends the serial port message to the vibration control board, the vibration control board 206 controls the vibration motor 207 to rotate, and the vibration motor 207 drives the vibration head 303 to vibrate through the steel wire transmission shaft to generate a massage effect. The remote control receiving head is inserted into a USB interface of the controller, the controller 218 receives a remote control signal through the remote control receiving head, converts the remote control signal into right mechanical arm motion signals such as up-down, left-right, horizontal reciprocating, linear reciprocating and the like according to the remote control signal, and transmits the motion signals to each motor and a band-type brake in a right mechanical arm joint shaft through a connecting cable to control the motors to realize various motion effects. The massage needs to set user body type parameters firstly, or the default body type parameters of the starting machine are directly called to control the massage movement. As shown in FIG. 7, the height ranges from 1.35m to 1.90m, and covers the height of the main population, the body type parameter is fat, medium and thin three grades, and the sex is male and female. Height and size parameter are used for setting up the motion range of right arm, the sex parameter is used for setting up the massage dynamics, after the setting is accomplished, press the affirmation parameter and take effect, if need not to modify can directly with acquiescence parameter, like height 1.7m, in the size, the male sex, bear the dynamics 6kg, parameter after the setting can be given for remote control module, when reciprocating about and reciprocating up and down reciprocal massage, control right arm is reciprocating about and reciprocating up and down the centre insert lift, press the different size radians of action come the adaptation down, improve user experience. Taking the left-to-right motion in the left-to-right reciprocating motion as an example, the motion trajectory diagram of the vibrating head 303 of the right mechanical arm is shown in fig. 8, after a horizontal motion from a left starting point for a certain distance, the vibrating head is inserted and lifted up to increase the height of the vibrating head by 5mm so as to be suitable for the rising trend of the scapula, then the vibrating head is continuously moved horizontally for a certain distance, the vibrating head is lifted up again so as to be suitable for the highest point of the scapula, then the vibrating head passes through the scapula, the vibrating head is inserted and pressed down so as to be suitable for the descending trend of the height of the scapula towards the spine, then the vibrating head is pressed down again so as to be basically at the same height as the spine, then the vibrating head continues to move right until the vibrating head approaches the right scapula, then the vibrating head is inserted and lifted up to be suitable for the ascending trend of the right scapula, then the vibrating head is lifted up again so as to be, The heights and the body shapes and the radians of the left scapula, the spine, the right scapula and the right shoulder are basically matched. When moving from right to left, the positions of the actions are the same, but the respective up and down pressing actions are exactly opposite to when moving from left to right.

Take the example that the remote control presses the "up" button: after the remote control receiving head receives the key code of the remote controller, the controller drives the right shoulder joint shaft 401 to rotate upwards, and drives the elbow joint shaft 403 to move upwards through the upper arm connecting cylinder 402 until the remote control receiving head touches the set self limit position.

Take the example of the remote controller pressing the "left" button: the elbow joint shaft 403 and the forearm joint shaft 405 are provided with own left and right rotation control keys, as shown in fig. 9, the "< -1" key represents the clockwise rotation of the elbow joint shaft 403, the "< -2" key represents the clockwise rotation of the forearm joint shaft 405, and after the remote controller receives the "< -1" or "< -2" key code of the remote controller, the corresponding shaft motor is driven to rotate clockwise until the shaft motor stops rotating to the limit angle of the shaft motor. In combination with the two joint axes, a small range of rotation is achieved with the forearm axis 405 and a large range of rotation is achieved with the elbow joint axis 403.

Take the example that the remote controller presses the 'left and right reciprocating' button; after receiving the key code of the remote controller, the controller 218 drives the forearm joint shaft 405 and the elbow joint shaft 403 to simultaneously generate combined motion, the forearm joint shaft 405 and the elbow joint shaft 403 simultaneously generate clockwise rotation and different rotation angles, the effect is to realize the linear motion from right to left in the horizontal direction according to the vibration head 303 until the two steering engines stop rotating to the limit angle position of the combined motion, then the two steering engines simultaneously perform reverse combined motion, and simultaneously generate counterclockwise rotation and different rotation angles, the effect is to realize the linear motion from left to right in the horizontal direction until the two steering engines stop rotating to the limit angle position of the combined motion, and then the reciprocating periodic motion is continued, and the effect can realize the horizontal reciprocating massage similar to from left shoulder to right shoulder. It should be noted that, during the left-right reciprocating motion, the vertical upward and downward pressing motions are inserted according to the body parameters, and the motions are completed by the shoulder joint shaft 401 rotating to drive the connecting cylinder 402.

Take the example that the remote controller presses the up-down reciprocating button: after receiving the key code of the remote controller, the remote control board drives the elbow joint shaft 403 and the forearm joint shaft 405 to simultaneously generate combined motion, the forearm joint shaft 405 rotates clockwise, the elbow joint shaft 403 rotates clockwise or anticlockwise in a matching way, only the rotation angles are different, and the effect is that the massage head realizes linear motion from right to left in the horizontal direction until the massage head rotates to the limit angle position of the combined motion of the two joint shafts and stops; then, the combined motions are simultaneously reversed, the forearm joint shaft 405 rotates anticlockwise, the elbow joint shaft 403 is matched to rotate anticlockwise or clockwise, only the rotation angles are different, the effect is that the massage head moves linearly from top to bottom in the horizontal direction until the massage head rotates to the limit angle position of the combined motion of the two steering engines and stops, then the reciprocating periodic motion is continued, and the effect can realize the up-and-down reciprocating massage similar to the massage from the cervical vertebra to the caudal vertebra. It should be noted that, during the up-and-down reciprocating motion, the vertical upward and downward pressing motions are inserted according to the body parameters, and the motions are completed by the shoulder joint shaft 401 rotating to drive the connecting cylinder 402.

Take the example that the remote controller presses the "intensity adjustment" button: as shown in fig. 9, after receiving the key code of the remote controller, the controller 218 converts the key code into a serial port message and sends the serial port message to the vibration motor control board 206, and adjusts the driving chip of the vibration motor 207 to supply power to the motor according to a set intensity value, so that the motor rotates to drive the rotating shaft 402, and the power is transmitted to the massage head 303 to generate vibrations with different intensities to realize a massage effect.

Take the example of the remote control pressing the "start/stop" button: as shown in fig. 9, after the controller receives the key code of the remote controller, if the current state is the stop state, the controller drives the motor to rotate according to the set default motor rotation speed value and the default motor rotation period mode to realize the start. If the current state is the starting state, after the remote control signal is received, the rotation of the motor is stopped, and the equipment is stopped.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims (10)

1. A vibration massage and moxibustion robot device comprises a robot body and a controller (218), wherein the robot body is also provided with a touch screen (102), a USB (universal serial bus) line and an HDMI (high-definition multimedia interface) signal line of the touch screen (102) are connected with the controller (218), it is characterized in that the robot body also comprises a left arm and a right mechanical arm, the end part of the left arm is provided with a vibrating head (303) for massage, the right mechanical arm comprises a plurality of joint shafts which are sequentially connected through a connecting cylinder, the end part of the right mechanical arm is provided with a fixing device which can fix the moxibustion cylinder and the vibrating head (303), the joint shafts are internally provided with joint module assemblies which drive the right mechanical arm to move, the right mechanical arm generates arc motion and composite linear motion in all directions under the action of the joint module assemblies, and then drive the vibration head and massage or fix a moxa-moxibustion section of thick bamboo and carry out the moxa-moxibustion, vibration head and joint module subassembly all are connected with the controller.

2. A vibrating massage and moxibustion robot device according to claim 1, wherein the joint axes of the right robot arm include a shoulder joint axis (401), an upper arm joint axis (403), a forearm joint axis (405), and a wrist joint axis (407), and the joint cylinder includes a first joint cylinder (402), a second joint cylinder (404), and a third joint cylinder (406), and the shoulder joint axis (401), the first joint cylinder (402), the upper arm joint axis (403), the second joint cylinder (404), the forearm joint axis (405), the third joint cylinder (406), and the wrist joint axis (407) are sequentially connected together.

3. The vibrating massage and moxibustion robot device as claimed in claim 1, wherein the left arm comprises a left arm connecting shaft (301), a flexible pipe (302) and a vibrating head (303), the flexible pipe (302) is fixed on the robot body through the left arm connecting shaft (301), the vibrating head (303) is arranged at the end of the flexible pipe (302), a vibrating motor (207) is fixedly arranged in the robot body close to the left arm, a steel wire transmission shaft is fixedly connected to an output shaft of the vibrating motor (207), and the steel wire transmission shaft penetrates through the flexible pipe (302) to be connected with the vibrating head (303) and drives an eccentric wheel in the vibrating head (303) to rotate.

4. The vibrating massage and moxibustion robot device according to claim 2, wherein the robot body comprises a head part, an upper body and a lower body, the head part comprises a head shell (101), the upper body comprises an upper body shell (201) and an upper body support (210) positioned in the upper body shell, the lower body comprises a lower body shell (502) and a lower body support (220) positioned in the lower body shell, the upper body support (210) and the lower body support (220) are fixedly connected together through an upper body support connecting plate (214), the head shell (101) is fixedly connected to the upper body shell (201) through a neck connecting piece (105), and the upper body shell (201) and the lower body shell (502) are fixedly connected to an upper body support connecting plate (214) through a waist connecting plate (501); the touch screen (102) is fixedly arranged on the head shell;

two clapboards are fixedly arranged on an upper body support (210), a vibration control board (206), a vibration motor (207) and a left shoulder support (208) are fixedly arranged on a lower layer clapboard (209), the vibration control board (206) is simultaneously electrically connected with the vibration motor (207) and a controller (218), a connecting shaft of the vibration motor (207) is arranged on the left shoulder support (208) and is connected with a vibration head (303) through a steel wire transmission shaft to drive the vibration head (303) to vibrate, a left arm connecting shaft (301) is fixed on the left shoulder support (208), a right shoulder support (211) is fixedly arranged on the upper layer clapboard, and a shoulder joint shaft (401) is fixed on the upper body support (210) through the right shoulder support (211);

two clapboards are also arranged on the lower body support (220), a power adapter (217) and a controller (218) are arranged on the upper layer clapboard, and a cavity between the lower layer clapboard and the upper layer clapboard is a space of a drawer (503).

5. The vibrating massage and moxibustion robot device according to claim 3, wherein the upper body further comprises a fixing hanger (202) for hanging the vibrating head (303), and the fixing hanger (202) is fixed on an upper partition inside the upper body support (210) through a hanger bracket (205).

6. A vibrating massage and moxibustion robot device according to claim 1, characterized in that the head further comprises a display lamp (103) and a speaker (104), the display lamp (103) and the speaker (104) are both fixedly arranged on the head housing (101), and the display lamp (103) and the speaker (104) are both connected to the controller (218).

7. A vibro-massage and moxibustion robot device as claimed in claim 1, wherein the upper body further comprises a microphone (203) and an emergency stop button (204), both the microphone (203) and the emergency stop button (204) are fixedly mounted on the upper body shell and are connected to the controller (218), the microphone (203) is connected to the controller (218), and the emergency stop button (204) is connected in series to the circuit of the right mechanical arm.

8. A vibrating massaging and moxibustion robot device according to claim 1, characterized in that the lower body is fixedly arranged on a base (504), and lockable rollers (505) are arranged under the base (504) to facilitate the movement of the whole robot.

9. The robotic device for massaging and moxibustion of claim 7, wherein the base is provided with a weight.

10. The vibrating massage and moxibustion robot device according to claim 1, wherein the vibrating head fixing means is a detachable connecting plate (408), one end of the detachable connecting plate (408) is fixed to the end of the wrist shaft (407), and the vibrating head (303) or moxibustion cylinder is fixedly disposed at the other end of the detachable connecting plate (408).

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