CN219662243U

CN219662243U - Massage robot

Info

Publication number: CN219662243U
Application number: CN202320770179.3U
Authority: CN
Inventors: 程京; 李延军; 刘遥峰; 徐永昌
Original assignee: CapitalBio Corp
Current assignee: CapitalBio Corp
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-09-12
Anticipated expiration: 2033-04-10

Abstract

The utility model discloses a massage robot, comprising: the infrared camera is used for forming a human body heat state image; the control panel is connected with the infrared camera and used for displaying the human body heat state image; and the massage head assembly is used for massaging a user according to the human body heat state image. The infrared camera is used for capturing infrared radiation emitted by a human body and generating a human body heat state image corresponding to the user, and is connected with the control panel, so that the formed human body heat state image can be displayed on the control panel. According to the human body heat state images corresponding to different users, an operator performs key massage on the human body parts corresponding to the positions with more heat distribution in the human body heat state images, namely the corresponding human body heat state images are generated by the corresponding different users, so that the massage is more targeted, and the massage effect is ensured.

Description

Massage robot

Technical Field

The utility model relates to the technical field of rehabilitation physiotherapy, in particular to a massage robot.

Background

With the improvement of quality of life, massage robots that massage the human body to release muscle fatigue are rapidly developing.

The conventional massage robot generally improves the massage and physiotherapy functions, but the massage robot cannot distinguish due to the difference of physique of users, so that the massage effect is poor.

Therefore, it is necessary to design a massage robot to enhance the massage effect in combination with the physical state of different users.

Disclosure of Invention

In view of the above, the present utility model provides a massage robot, which combines different physical states of users to improve massage effect.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

a massage robot, comprising:

the infrared camera is used for forming a human body heat state image;

the control panel is connected with the infrared camera and used for displaying the human body heat state image;

and the massage head assembly is used for massaging a user according to the human body heat state image.

Preferably, in the massage robot, the massage head assembly includes:

the finger-shaped massage head simulates the fingers of a human body and massages a user;

the first driving component is used for driving the finger-shaped massage heads to lift.

Preferably, in the massage robot, the first driving assembly includes:

a first lifting motor;

the first lead screw is connected with the output end of the first lifting motor;

the first limiting plate is in threaded connection with the first lead screw and circumferentially limited;

the first connecting plate, first connecting plate one end with first limiting plate is connected, the other end with the finger massage head is connected, just first connecting plate can be followed first limiting plate is followed first lead screw goes up and down.

Preferably, in the massage robot, the first driving assembly further includes: the first guide shaft is provided with a first guide groove,

the axis of the first guide shaft is parallel to the axis of the first lead screw, and the first limiting plate is sleeved on the first guide shaft and can move up and down along the axis of the first guide shaft.

Preferably, in the massage robot, the massage head assembly further includes:

and the rotating motor is used for driving the finger-shaped massage heads to rotate.

Preferably, in the massage robot, the massage head assembly includes:

the palm-shaped massage head simulates the palm of a human body and massages a user;

the second driving assembly is used for driving the palm-shaped massage head to lift.

Preferably, in the massage robot, the second driving assembly includes:

a second lifting motor;

the second lead screw is connected with the output end of the second lifting motor;

the second limiting plate is in threaded connection with the second lead screw and circumferentially limited;

the second connecting plate, second connecting plate one end with second limiting plate is connected, the other end with palm shape massage head is connected, just the second connecting plate can follow the second limiting plate is followed the second lead screw goes up and down.

Preferably, in the massage robot, the second driving assembly further includes: a second guiding shaft is arranged on the first guiding shaft,

the axis of the second guide shaft is parallel to the axis of the second lead screw, and the second limiting plate is sleeved on the second guide shaft and can move up and down along the axis of the second guide shaft.

Preferably, in the massage robot, the first guide shafts and the second guide shafts are two, the two first guide shafts and the first screw rod are arranged in a triangle, and the two second guide shafts and the second screw rod are arranged in a triangle.

Preferably, the massage robot further includes:

the massage head assembly is detachably connected with the mechanical arm;

the physiotherapy assembly is detachably connected with the mechanical arm and is provided with an infrared lamp bead and/or a moxibustion module.

The utility model provides a massage robot, which utilizes an infrared camera to capture infrared radiation emitted by a human body and generate a human body heat state image corresponding to the user, and the infrared camera is connected with a control panel, so that the formed human body heat state image can be displayed on the control panel. According to the human body heat state images corresponding to different users, an operator performs key massage on the human body parts corresponding to the positions with more heat distribution in the human body heat state images, namely the corresponding human body heat state images are generated by the corresponding different users, so that the massage is more targeted, and the massage effect is ensured.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a massage robot disclosed in an embodiment of the present utility model;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is a schematic view of a massage head assembly of the massage robot disclosed in the embodiment of the utility model;

FIG. 4 is a schematic view showing the structure of the massage head assembly of the massage robot in another direction according to the embodiment of the present utility model;

FIG. 5 is a schematic view showing a structure of a massage head assembly of a massage robot in a further direction according to an embodiment of the present utility model;

FIG. 6 is a schematic view showing a massage robot replaced with a physical therapy module according to an embodiment of the present utility model;

fig. 7 is a partial enlarged view of fig. 6.

Detailed Description

The utility model discloses a massage robot which combines the physical states of different users to improve the massage effect.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

In order to improve the massage effect of the massage robot on different physique, the utility model discloses a massage robot, as shown in fig. 1 to 7, comprising: control box 1, control panel 2, arm 3 and massage subassembly 4 and remove subassembly 5.

Wherein, the control box 1 is internally provided with a power supply, a wire, a switch and other structures for being connected with the mechanical arm 3, and the control panel 2 is an operation interface to realize a human-computer interaction process. The robot arm 3 is connected to the housing of the control box 1, and the robot arm 3 is capable of multi-dimensional movement with respect to the control box 1. The massage assembly 4 is connected to one end of the mechanical arm 3 away from the control box 1 for massaging a human body. The moving component 5 is arranged as a bottom plate of the control box body 1, and optionally, the moving component 5 is a travelling wheel with a braking function.

The specific structure of the massage assembly 4 is shown in fig. 2 to 5, and the massage assembly 4 specifically includes: a 3D camera 41, an infrared camera 42, a palm-shaped massage head 43, a finger-shaped massage head 44, a first lift motor 461, a second lift motor 462, and a rotary motor 45.

Wherein, the 3D camera 41 can shoot three-dimensional images of the human body of the user to determine the position of the human body to be massaged. The infrared camera 42 is a special video camera capable of detecting infrared radiation with very low energy, capturing infrared radiation emitted from the human body and imaging the thermal state of the human body. When a part of the human body is strained or damaged, the heat distribution is more than that of other parts.

The infrared camera 42 is utilized to capture infrared radiation emitted by a human body and generate a human body heat state image corresponding to the user, and the infrared camera 42 is connected with the control panel 2, so that the formed human body heat state image can be displayed on the control panel 2. According to the human body heat state images corresponding to different users, an operator performs key massage on the human body parts corresponding to the positions with more heat distribution in the human body heat state images, namely the corresponding human body heat state images are generated by the corresponding different users, so that the massage is more targeted, and the massage effect is ensured.

The key massage mode can be that the massage time is longer than other positions and the massage force is larger than other positions.

It should be noted that the core of the present utility model is the application of the infrared camera 42 to the massage robot, and the purpose of detecting the physique of the human body is achieved by acquiring the heat state of the human body.

The palm-shaped massage head 43 has a disc structure and is connected with the second lifting motor 462, and lifting driving of the palm-shaped massage head 43 is realized through the second lifting motor 462, so that the massage force applied to the human body is adjusted.

Of course, a rotation driving member may be integrated in the palm-shaped massage head 43, and the palm-shaped massage head 43 is driven to rotate by the rotation driving member to simulate palm rubbing.

The specific structure for the palm-shaped massage head 43 may be a silica gel pad having protrusions. Of course, the palm-shaped massage head 43 may have other structures, as long as the structure capable of simulating the palm massage of the human body is within the protection range.

The finger-shaped massage heads 44 are connected with a rotary motor 45, and the finger-shaped massage heads 44 are driven to rotate by the rotary motor 45 so as to simulate the massage of the fingers of a human body.

The finger-shaped massage head 44 in the utility model is of a conical structure, the diameter of the tail end of the finger-shaped massage head 44 is smaller than the diameter of one end of the finger-shaped massage head 44 close to the rotating motor 45, and the tail end of the finger-shaped massage head 44 is a spherical silica gel piece, so that the massage comfort is improved.

The first lifting motor 461 is connected to the finger-shaped massage heads 44 for driving the finger-shaped massage heads 44 to move up and down, thereby adjusting the massage force of the finger-shaped massage heads 44.

The specific connection modes of the finger-shaped massage heads 44 and the palm-shaped massage heads 43 and the lifting motor will be described below.

In some embodiments, the output end of the second lifting motor 462 is connected to a second lead screw 492, a second limiting plate 4721 is screwed on the second lead screw 492, the second limiting plate 4721 is connected to a second connecting plate 4722 capable of lifting along with the second limiting plate 4721, the second connecting plate 4722 is an L-shaped plate, and the second connecting plate 4722 is connected to the palm-shaped massage head 43.

In order to convert the rotation of the second screw rod 492 into the lifting motion of the palm-shaped massage head 43, the massage assembly 4 of the present utility model further includes: and a second guide shaft 482.

The second guide shafts 482 are two and are arranged in a triangle with the second lead screw 492, and the second limiting plate 4721 is sleeved on the second guide shafts 482, so that circumferential rotation of the second limiting plate 4721 is limited, and the second limiting plate 4721 can move up and down along the second guide shafts 482. Optionally, the second stop plate 4721 is a threaded plate that is threadably coupled to the second lead screw 492. The second limiting plate 4721 is connected to the second guide shaft 482 through a sleeve.

By arranging the second guide shafts 482, the second limiting plate 4721 can be ensured to be stable in the process of moving up and down along the second guide shafts 482, and the problem that the second limiting plate 4721 is inclined and blocked is prevented.

In some embodiments, the second limiting plate 4721 may also be a plate fixedly connected to a nut, which is screwed to the second screw rod 492, that is, a structure that can achieve the screw connection with the second screw rod 492 or the deformation of the nut can be understood as the second limiting plate 4721.

When the palm-shaped massage head 43 moves up and down, the second lifting motor 462 drives the second lead screw 492 to rotate, and drives the second limiting plate 4721 to move along the axis of the second lead screw 492, thereby driving the second connecting plate 4722 to move up and down, and realizing the lifting of the palm-shaped massage head 43.

The same manner of connection of the finger massage heads 44 to the first lift motor 461 is referred to above.

Specifically, the output end of the first lifting motor 461 is connected with a first screw 491, a first limiting plate 4711 is connected to the first screw 491 in a threaded manner, a first connecting plate 4712 capable of lifting along with the first limiting plate 4711 is connected to the first limiting plate 4711, the first connecting plate 4712 is an L-shaped plate, and the first connecting plate 4712 is connected to the finger-shaped massage head 44.

In order to convert the rotation of the first screw 491 into the lifting movement of the finger-shaped massage head 44, the massage assembly 4 of the present utility model further comprises: first guide shaft 481.

The first guide shafts 481 are two and are arranged in a triangle with the first lead screw 491, and the first limiting plate 4711 is sleeved on the first guide shafts 481, so that circumferential rotation of the first limiting plate 4711 is limited, and the first limiting plate 4711 can move up and down along the first guide shafts 481. Alternatively, the first stop plate 4711 is a threaded plate that is threadably coupled to the first lead screw 491. The first stopper 4711 is coupled to the first guide shaft 481 by a sleeve.

By arranging the first guide shaft 481, the first limiting plate 4711 can be ensured to be stable in the process of moving up and down along the first guide shaft 481, and the problem that the first limiting plate 4711 is inclined to be blocked is prevented.

In some embodiments, the first limiting plate 4711 may also be a plate fixedly connected to a nut, where the nut is screwed to the first screw 491, that is, a structure that can achieve deformation of the nut or the nut screwed to the first screw 491 may be understood as the first limiting plate 4711.

When the finger-shaped massage heads 44 move up and down, the first lifting motor 461 drives the first screw rod 491 to rotate, and drives the first limiting plate 4711 to move along the axis of the first screw rod 491, so as to drive the first connecting plate 4712 to move up and down, thereby realizing the lifting of the finger-shaped massage heads 44.

In the process of using the massage robot, the heights of the finger-shaped massage heads 44 and the palm-shaped massage heads 43 can be changed by adjusting the first lifting motor 461 and the second lifting motor 462, so that the switching between the finger massage and the palm-shaped massage is realized.

In addition, the finger-shaped massage heads 44 and the palm-shaped massage heads 43 can have height differences, so that the mutual interference of the finger-shaped massage heads 44 and the palm-shaped massage heads 43 in the massage process is avoided.

The finger-shaped massage head 44 of the present utility model is also connected to the rotary motor 45, and when connected, the output shaft of the rotary motor 45 is connected to the finger-shaped massage head 44 and integrally formed therewith, and the first connecting plate 471 is integrally connected to the rotary motor 45 and the finger-shaped massage head 44.

As shown in fig. 6 and 7, the components connected to the mechanical arm 3 may be replaced after the above-mentioned infrared camera 42 is used to identify abnormal temperature regions at different positions of the human body, for example, the massage component 4 may be replaced with a physiotherapy component, and the physiotherapy component specifically includes an infrared module and a moxibustion module.

The infrared module is utilized to radiate and heat the human body part by an infrared lamp, and the moxibustion module is utilized to perform moxibustion physiotherapy on the human body acupuncture points.

In use of the physiotherapy assembly herein, it is necessary to ensure that the physiotherapy assembly is maintained in motion at a distance from the skin and, in combination with the ir imaging of the human body acquired by ir camera 42, will remain when it encounters an acupoint.

It should be noted that, the user can adjust the heating time and heating temperature of the infrared module, the time and temperature of the moxibustion, and the massage time, massage mode and massage force of the palm-shaped massage head 43 and the finger-shaped massage head 44 through the control panel 2.

The massage mode herein includes rotary massage and push massage of massage.

The adjustment and switching of the massage time period, the massage mode, and the massage force for the palm-shaped massage heads 43 and the finger-shaped massage heads 44 can be achieved by controlling the first lift motor 461, the second lift motor 462, and the rotating motor 45.

In summary, the present utility model uses the external thermal imaging technology of the infrared camera 42 as a non-invasive instrument applied to the massage robot, which not only does not cause interventional damage, but also can understand the metabolic changes of the body of the user with different physique before and after the treatment. After the treatment of traditional Chinese medicine massage, moxibustion, infrared physiotherapy and the like, the patient can gradually recover yin-yang balance, and the infrared thermal imaging chart can show that the cold-heat deviation of the body is corrected, and the infrared heat value distribution tends to be balanced left and right.

The structure of the mechanical arm 3, the control box 1, and the control panel 2 referred to herein may refer to the prior art.

As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element defined by the phrase "comprising one … …" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A massage robot, comprising:

the infrared camera is used for forming a human body heat state image;

the massage head assembly is used for massaging a user according to the human body heat state image; the massage head assembly includes:

2. The massage robot of claim 1, wherein the first drive assembly comprises:

a first lifting motor;

3. The massage robot of claim 2, wherein the first drive assembly further comprises: the first guide shaft is provided with a first guide groove,

4. A massage robot as recited in any of claims 1-3, wherein the massage head assembly further comprises:

5. The massage robot of claim 3, wherein the massage head assembly comprises:

6. The massage robot of claim 5, wherein the second drive assembly comprises:

a second lifting motor;

7. The massage robot of claim 6, wherein the second drive assembly further comprises: a second guiding shaft is arranged on the first guiding shaft,

8. The massage robot of claim 7, wherein the first guide shaft and the second guide shaft are two, and the two first guide shafts are arranged in a triangle with the first lead screw, and the two second guide shafts are arranged in a triangle with the second lead screw.

9. The massage robot of claim 1, further comprising:

the massage head assembly is detachably connected with the mechanical arm;