CN215652451U - Multifunctional massage head and massage robot - Google Patents
Multifunctional massage head and massage robot Download PDFInfo
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- CN215652451U CN215652451U CN202121304780.0U CN202121304780U CN215652451U CN 215652451 U CN215652451 U CN 215652451U CN 202121304780 U CN202121304780 U CN 202121304780U CN 215652451 U CN215652451 U CN 215652451U
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Abstract
The utility model provides a multifunctional massage head, which comprises a massage head component and an installation module; the massage head assembly is provided with a plurality of massage heads; the mounting module comprises a force sensor and a force sensor mounting module; the massage device comprises a force sensor installation module, a plurality of massage heads, a force sensor and a force sensor, wherein the force sensor installation module is used for installing the force sensor, the plurality of massage heads are outwards arranged on the force sensor installation module, the force sensor is arranged on the force sensor installation module, and the force sensor is used for detecting the massage force of the plurality of massage heads. The utility model can massage and relieve the human body and also carry out certain physical therapy through the plurality of massage heads, namely different massage heads are called, so that the physical therapy massage to audiences is realized, and the multifunction of one machine is realized.
Description
Technical Field
The utility model relates to the technical field of medical treatment, in particular to a multifunctional massage head and a massage robot.
Background
In the modern society, people are in a high-pressure and tense state for a long time due to fast-paced life and working pressure, so people feel tired. To alleviate fatigue, people enjoy massaging services. Accordingly, the massage robot is born and matured gradually.
The massage is a physical therapy method which is based on the theory of viscera and meridians of traditional Chinese medicine, combines the anatomical and pathological diagnosis of western medicine, and acts on specific parts of the body surface by hand to regulate the physiological and pathological conditions of the body so as to achieve the purpose of physical therapy. From the aspect of massage treatment, the massage treatment can be divided into health massage, sports massage and medical massage.
Physical therapy is a method for preventing and treating diseases by utilizing artificial or natural physical factors to act on human bodies to generate favorable reactions, and is an important content of rehabilitation.
In the prior art, a massage robot usually performs vibration massage on a human body through a massage component. However, most massage robots have single functions, can only massage and relax, and cannot achieve the physical therapy effect on human bodies.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the defects of the prior art and provides a multifunctional massage head and a massage robot.
A multifunctional massage head is characterized by comprising a massage head component and an installation module;
the massage head assembly is provided with a plurality of massage heads;
the mounting module comprises a force sensor and a force sensor mounting module;
the massage device comprises a force sensor installation module, a plurality of massage heads, a force sensor and a force sensor, wherein the force sensor installation module is used for installing the force sensor, the plurality of massage heads are outwards arranged on the force sensor installation module, the force sensor is arranged on the force sensor installation module, and the force sensor is used for detecting the massage force of the plurality of massage heads.
Preferably, the massage head assembly is provided with two massage heads which are arranged in parallel and opposite in installation direction.
Preferably, the two massage heads are respectively a first physiotherapy massage head and a lattice wave physiotherapy massage head, and a lattice wave generator is arranged in the lattice wave physiotherapy massage head.
Preferably, the force sensor mounting module comprises a force sensor connecting flange and a mounting plate; the massage head is characterized in that the number of the force sensors is one, one side of each force sensor is arranged on the mounting plate, and one side of each force sensor is connected with the force sensor connecting flange and is connected with the massage head through the force sensor connecting flange in the opposite direction to the mounting direction.
Preferably, the force sensor installation module comprises a hoop and a lattice wave connection flange; first physiotherapy massage head passes through the clamp to be fixed one side of force sensor flange, dot matrix ripples physiotherapy massage head passes through dot matrix ripples flange with force sensor flange fixes the opposite side of mounting panel.
Preferably, the force sensor mounting device further comprises a structured light camera, wherein the structured light camera is arranged on the mounting plate and is arranged on the other side of the force sensor mounting position.
The utility model discloses a preferable massage robot, which is characterized by comprising:
a multifunctional massage head;
the multifunctional massage head comprises a body framework, wherein a cooperation mechanical arm and a control module are arranged on the body framework, the tail end of the cooperation mechanical arm is rotatably connected with the multifunctional massage head, and the control module controls the cooperation mechanical arm to drive the multifunctional massage head to massage.
Preferably, the multifunctional massage head comprises a joint end sleeve, and the end of the cooperation mechanical arm is connected with the multifunctional massage head through the joint end sleeve.
Preferably, the cooperative mechanical arm is a six-degree-of-freedom mechanical arm, and a penultimate joint at the tail end of the cooperative mechanical arm can rotate by 180 degrees.
Preferably, the body framework is provided with at least one of an emergency stop button, a voice interaction module and a display module.
The utility model has the beneficial effects that:
the dot matrix wave physiotherapy massage heads and the dot matrix wave physiotherapy massage heads are arranged, so that the massage robot can carry out multifunctional massage, provide information for different audiences, call different massage heads, realize physiotherapy massage on the audiences, and realize multiple purposes of one machine;
through display module's operation display screen, select physiotherapy massage mode, the cooperation arm moves to initial position, and human photo is shot to the structured light camera, handles human information, generates massage physiotherapy route, and the cooperation arm is according to massage physiotherapy route, carries out massage physiotherapy operation, and the process is safe convenient, and the safe and reliable of massage physiotherapy dynamics can be guaranteed to terminal force transducer.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:
FIG. 1 is a schematic view of the massage head assembly of the present invention;
FIG. 2 is a schematic structural view of a massage robot according to the present invention;
labeled as: the physical therapy massage device comprises a body framework, a display, a 3-cooperative mechanical arm, a 4-structured light camera, a 5-massage head assembly, a 6-joint tail end sleeve, a 7-mounting plate, an 8-hoop, a 9-first physical therapy massage head, a 10-force sensor, an 11-force sensor connecting flange, a 12-lattice wave connecting flange and a 13-lattice wave physical therapy massage head.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1, a multi-functional massage head includes a massage head assembly 5 and a mounting module.
The massage head assembly 5 is provided with a plurality of massage heads. The operating personnel can select the massage head according to the physical condition of the physical therapy receiving personnel, not only can select to use a single massage head in the massage process, but also can select different massage heads according to the massage process of customizing different physical therapy effects according to the physical condition. The massage heads can be selected from the same type and different types of combinations, and can also be the combinations of different types. The massage head component 5 is connected and installed through an installation module. Specifically, the installation module comprises an installation module and a force sensor 10, wherein the force sensor 10 is used for detecting the massage force of the massage heads. At least one of the force sensors 10 is provided. When one force sensor 10 is arranged, the force sensors 10 detect the massage force of the massage heads in use one by one; when the force sensors 10 are arranged, the force sensors 10 correspond to the massage heads one by one, and when one massage head is used, the corresponding force sensor 10 detects the massage force information of the used massage head.
Furthermore, the massage head assembly 5 is provided with two massage heads which are arranged in parallel and are opposite in installation direction. The opposite installation direction is beneficial to easily switching different massage heads to perform different massage operations on the user in the using process.
The force sensor mounting module comprises a force sensor connecting flange 11 and a mounting plate 7. The force sensor 10 is one, one side of the force sensor 10 is arranged on the mounting plate 7, one side of the force sensor is connected with the force sensor connecting flange 11, and the force sensor connecting flange 11 is respectively connected with two massage heads with opposite mounting directions. This arrangement enables the single force sensor 10 to detect the massage force of the two massage heads. The force sensor 10 is simple in structure and convenient to operate, is very sensitive to the detection force component, and therefore can accurately detect the massage force.
Specifically, the two massage heads can adopt a first physiotherapy massage head 9 and a lattice wave physiotherapy massage head 10, and a lattice wave generator is arranged in a lattice wave physiotherapy massage head 13.
Further, the force sensor installation module comprises a hoop 8 and a lattice wave connecting flange 12. The first physiotherapy massage head 9 is fixed on one side of the force sensor connecting flange 11 through the hoop 8, and the lattice wave physiotherapy massage head 13 is fixed on the other side of the mounting plate 7 through the lattice wave connecting flange 12 and the force sensor connecting flange 11. The structured light camera 4 is disposed on the mounting plate 7 and on the other side of the mounting position of the force sensor 10.
The dot matrix wave physiotherapy massage head 13 is mainly used for treating sports injury, muscle sprain and spinal curvature, the energy generated by the sound wave principle can play a role in subcutaneous, and dot matrix wave massage can go deep into a fascia layer to act on muscles, so that the pain problem is solved, a better effect is achieved, and the massage is more durable. The first physiotherapy massage head 9 is used in cooperation with the lattice wave physiotherapy massage head 13, and the first physiotherapy massage head 9 can be a massage head which has the effects of acting on subcutaneous fascia, relieving swelling and heating to repair the subcutaneous fascia. After the lattice wave physiotherapy massage head 13 massages and relieves the human body, the first physiotherapy massage head 9 carries out detumescence and heating repair on the relieved fascia layer. The muscles are relieved and the subcutaneous fascia layer is repaired after the whole massage process is finished, so that the aim of improving the physical therapy effect is fulfilled.
When the dot matrix wave physiotherapy massage head 13 works, the force sensor 10 detects the massage force acting on the human body by the dot matrix wave physiotherapy massage head 13 through the reaction force, and can accurately detect the applied massage force so as to ensure the whole massage process and ensure the safety and reliability of the force received by the personnel receiving the treatment. The force detected by the one-dimensional sensor and the applied massage force are on the same straight line, so that the detected force value is consistent with the applied force value. Meanwhile, as shown in fig. 1, the hoop 8 and the lattice wave connecting flange 12 which are of cylindrical structures are used for facilitating the installation or the disassembly of the first physiotherapy massage head 9 and the lattice wave physiotherapy massage head 13 respectively, so that the purpose of replacing the massage heads for different physiotherapy is facilitated.
Further, the multifunctional massage head further comprises a structured light camera 4, and the structured light camera 4 is arranged on the mounting plate and is arranged on the other side of the mounting position of the force sensor 10. The massage device is used for detecting the information of the area to be massaged of the person to be massaged.
According to fig. 2, a massage robot comprises a multifunctional massage head and a body frame 1. The body framework 1 is provided with at least one of an emergency stop button, a voice interaction module and a display module. The body framework 1 is provided with a cooperative mechanical arm 3 and a control module, the tail end of the cooperative mechanical arm 3 is rotatably connected with the multifunctional massage head, and the control module controls the cooperative mechanical arm 3 to drive the multifunctional massage head to massage. The end of the cooperative mechanical arm 3 is connected with the multifunctional massage head through a joint end sleeve 6.
The adoption of the six-degree-of-freedom mechanical arm as the cooperative mechanical arm 3 of fig. 2 enables the massage robot to have a wide massage range, to be capable of adapting to various angles, and to be conveniently matched with the structured light camera 4, so that the massage robot can be used for different functional massage areas of different people. The display module generally adopts a display, and the display is a practical touch display for the convenience of controlling most. As shown in fig. 2, the display 2 is installed by a bracket, and the bracket is an adjustable bracket, so that the display is suitable for operations with different heights and different postures. Meanwhile, the penultimate joint of the cooperative mechanical arm 3 can rotate 180 degrees, so that the massage mode can be rotationally adjusted conveniently.
The working principle is as follows: an operator selects a massage physiotherapy mode on a display 2 of the display module, the robot receives an operation instruction and then moves the structured light camera 4 to the upper part of the human body, and massage parameter settings such as massage swing amplitude, force, self-transmission amplitude, energy, speed, time and the like are carried out on the display 2. Wherein, the massage swing parameter is adjustable from 2 to 6; the force parameters are adjustable from 0 to 10; the autorotation amplitude parameter is adjustable from 0 to 10; the energy parameters are adjustable from 1 to 120 in the FACE mode, the BODY mode is adjustable from 1 to 80, and the lattice mode is adjustable from 1 to 3; the speed parameter is adjustable from 0 to 100; the time parameter can be adjusted from 1 to 99 min.
After the setting is finished, the robot acquires three-dimensional information of the human body according to the structured light camera 4, identifies the region to be massaged at the same time, and automatically generates a massage path. If a modification is required, the operator modifies the path. After the completion, the robot controls the massage head assembly 5 to move according to the massage path and performs physiotherapy massage. When the first physiotherapy massage head 9 and the dot matrix wave physiotherapy massage head 13 need to be switched for use, the last but one joint at the tail end of the cooperative mechanical arm 3 is rotated by 180 degrees for switching.
When the dot matrix wave physiotherapy massage head 13 is used, a certain massage force is applied when the tail end contact contacts with a human body under the action of a dot matrix wave generator arranged in the dot matrix wave physiotherapy massage head 13, vibration with specific frequency is generated through the dot matrix wave generator, and generated sound waves directly reach the fascia layers, so that the massage physiotherapy effect is realized. Meanwhile, the one-dimensional force sensor 10 monitors the massage force in real time, so that the damage to the human body caused by the overlarge applied massage force is avoided.
After the lattice wave physiotherapy massage head 13 is used, the subcutaneous fascia after lattice wave physiotherapy is subjected to detumescence and repair by using the first physiotherapy massage head 9.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multifunctional massage head is characterized by comprising a massage head component and an installation module;
the massage head assembly is provided with a plurality of massage heads;
the mounting module comprises a force sensor and a force sensor mounting module;
the massage heads are outwards arranged on the force sensor installation module, and the force sensors are arranged on the force sensor installation module and used for detecting the massage force of the massage heads.
2. The multifunctional massage head as claimed in claim 1, wherein the massage head assembly is provided with two massage heads, the two massage heads are arranged in parallel and installed in opposite directions.
3. The multifunctional massage head as claimed in claim 1, wherein the two massage heads are a first physiotherapy massage head and a lattice wave physiotherapy massage head, and a lattice wave generator is disposed in the lattice wave physiotherapy massage head.
4. The multi-functional massage head of claim 3, wherein the force sensor mounting module comprises a force sensor attachment flange, a mounting plate; the massage head is characterized in that the number of the force sensors is one, one side of each force sensor is arranged on the mounting plate, and one side of each force sensor is connected with the force sensor connecting flange and is connected with the massage head through the force sensor connecting flange in the opposite direction to the mounting direction.
5. The multi-functional massage head of claim 4, wherein the force sensor mounting module comprises a clamp, a lattice wave attachment flange; first physiotherapy massage head passes through the clamp to be fixed one side of force sensor flange, dot matrix ripples physiotherapy massage head passes through dot matrix ripples flange with force sensor flange fixes the opposite side of mounting panel.
6. The multi-functional massage head as recited in claim 4, further comprising a structured light camera disposed on the mounting plate and on the other side of the force sensor mounting location.
7. A massage robot, comprising:
the multi-functional massage head of any one of claims 1-6;
the multifunctional massage head comprises a body framework, wherein a cooperation mechanical arm and a control module are arranged on the body framework, the tail end of the cooperation mechanical arm is rotatably connected with the multifunctional massage head, and the control module controls the mechanical arm to drive the multifunctional massage head to massage.
8. The massage robot as claimed in claim 7, comprising a joint end socket through which the end of the cooperating mechanical arm is connected with the multi-function massage head.
9. The massage robot as claimed in claim 8, wherein the cooperative mechanical arm is a six-degree-of-freedom mechanical arm, and a penultimate joint of the cooperative mechanical arm is rotatable by 180 °.
10. A massage robot according to any one of claims 7-9, wherein the body structure is provided with at least one of an emergency stop button, a voice interaction module and a display module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304780.0U CN215652451U (en) | 2021-06-10 | 2021-06-10 | Multifunctional massage head and massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304780.0U CN215652451U (en) | 2021-06-10 | 2021-06-10 | Multifunctional massage head and massage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215652451U true CN215652451U (en) | 2022-01-28 |
Family
ID=79974882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121304780.0U Active CN215652451U (en) | 2021-06-10 | 2021-06-10 | Multifunctional massage head and massage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215652451U (en) |
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2021
- 2021-06-10 CN CN202121304780.0U patent/CN215652451U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Patentee after: Chengdu Xiuyu Health Technology Co.,Ltd. Patentee after: Love medical technology (Suzhou) Co.,Ltd. Address before: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. Patentee before: Chengdu Xiuyu Health Technology Co.,Ltd. Patentee before: Love medical technology (Suzhou) Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |