WO2021208385A1

WO2021208385A1 - Physiotherapy massage robot

Info

Publication number: WO2021208385A1
Application number: PCT/CN2020/121231
Authority: WO
Inventors: 谈继勇; 李元伟; 孙文; 武小斐; 陈尚均; 谭明晓; 税国强; 李彬; 李冬玲; 杨光耀; 梁倍
Original assignee: 深圳瀚维智能医疗科技有限公司
Priority date: 2020-04-16
Filing date: 2020-10-15
Publication date: 2021-10-21
Also published as: CN111437174A

Abstract

Disclosed in the present application is a physiotherapy massage robot. The physiotherapy massage robot comprises a machine body, a manipulator arranged on the machine body, a structured light assembly arranged on the manipulator, and a massage assembly configured to be in contact with a human body, wherein the manipulator comprises a plurality of joint arms which are connected in sequence; the last-stage joint arm, which has a free end, in the plurality of joint arms is connected to the massage assembly; the massage assembly comprises a plurality of radio frequency contacts; and the structured light assembly is configured to acquire a three-dimensional image of the skin surface of the human body. The physiotherapy massage robot of the present application can not only perform a physical massage, but can also achieve a radio frequency physical therapy, such that the massage function manners are diversified, the massage effect is remarkably improved, and the massage comfort level is also improved.

Description

Physiotherapy massage robot

Technical field

This application relates to the technical field of medical devices, and in particular to a physiotherapy massage robot.

Background technique

Nowadays, due to the acceleration of the pace of life and the increase of work pressure, people's bodies are in a state of high pressure for a long time, and they often feel tired and tired. At the same time, the massage robot technology has gradually developed and matured. People can use the massage robot massage to relieve fatigue, relax the body and mind, improve blood circulation, and accelerate the body's metabolism, so as to achieve the purpose of enhancing immunity and health care.

In the current market, various types of massage robots emerge in endlessly. The most common type is a mechanical arm equipped with a massage component to massage the human body through the vibration of the massage component. However, this type of massage robot only has a physical massage function, and the massage form is relatively simple, which cannot form a good physical therapy effect on the human body, and cannot meet the user's more massage needs.

technical problem

The main purpose of this application is to propose a physiotherapy massage robot, which aims to solve the problem of single massage function of the current massage robot and poor physiotherapy effect.

Technical solutions

The technical solutions adopted by this application to solve the above technical problems are as follows:

A physiotherapy massage robot, the physiotherapy massage robot includes a body, a manipulator set on the body, a structured light assembly set on the manipulator, and a massage assembly for contact with the human body, the manipulator includes a plurality of sequentially connected The articulated arm of the plurality of articulated arms with a free end is connected to the massage assembly, the massage assembly includes a plurality of radio frequency contacts, and the structured light assembly is used to obtain a three-dimensional image of the human skin surface.

Preferably, the massage assembly further includes a connecting seat connected with the final articulated arm, a base for mounting a plurality of the radio frequency contacts, and a buffer member arranged between the connecting seat and the base.

Preferably, the massage component is provided with a temperature measuring component for measuring the surface temperature of the human skin.

Preferably, the physiotherapy massage robot further includes a display set on the body, the display includes a touch display screen and a plurality of function keys for displaying a three-dimensional image of the human skin surface, a massage track, and setting massage parameters .

Preferably, the body is provided with a rotating bracket for installing the display, the rotating bracket includes a support rod and a mounting rod that are rotatably arranged, one end of the mounting rod is connected to the support rod, and the other end is connected to the support rod. The display connection.

Preferably, the physical therapy massage robot further includes a voice interaction module, and the voice interaction module includes a collection unit for collecting user voice and a processing unit for processing the voice.

Preferably, the voice interaction module further includes a conversion unit for receiving voice signals and converting them into corresponding instructions.

Preferably, the physical therapy massage robot further includes an emergency stop device arranged on the body.

Preferably, a plurality of heat dissipation holes arranged in regions are provided on the shell of the body.

Preferably, a plurality of rollers and casters are provided at the bottom of the body, and a handle is provided on one side of the body.

Beneficial effect

The physical therapy massage robot of the present application can obtain a three-dimensional image of the human skin surface through structured light components and intelligently draw a massage path, and its manipulator controls the massage component to move according to the massage path to contact the human body through several radio frequency contacts for physical massage and radio frequency physiotherapy. Compared with the current massage robot, the physiotherapy massage robot of the present application has various massage forms, and the physiotherapy effect is significantly improved, and the massage comfort is improved.

Description of the drawings

FIG. 1 is a schematic diagram of the structure of a physical therapy massage robot according to an embodiment of the application;

Fig. 2 is a schematic structural diagram of the physiotherapy massage robot in Fig. 1 from another perspective.

Implementation of this application

The following will clearly and completely describe the solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments in the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

This application proposes a physiotherapy massage robot. Referring to FIG. 1, the physiotherapy massage robot includes a body 100, a manipulator 200 arranged on the body 100, a structured light assembly arranged on the manipulator 200, and a massage assembly 300 for contact with the human body, The manipulator 200 includes a plurality of articulated arms 210 connected in sequence. The final articulated arm 210 with a free end of the plurality of articulated arms 210 is connected to the massage assembly 300. The massage assembly 300 includes a plurality of radio frequency contacts 310. The structured light assembly is used to obtain the human body. Three-dimensional image of the skin surface.

The physical therapy massage robot proposed in this application is used to perform physical therapy massage on the human body, and has the dual functions of physical massage and radio frequency physical therapy. Specifically, referring to Figure 1, the physiotherapy massage robot is mainly composed of a body 100, a manipulator 200, a structured light assembly and a massage assembly 300, etc. The body 100 is equipped with a control host, and the control host integrates the control manipulator 200, the massage assembly 300, and Functional modules and circuits of other structures. The manipulator 200 includes a plurality of articulated arms 210. The initial articulated arms 210 of the multiple articulated arms 210 are arranged on the mounting seat of the body 100, and the massage assembly 300 is installed on the final articulated arm 210 to allow The massage assembly 300 is driven to perform multi-axis movement. Each articulated arm 210 can be driven by a motor, but there are differences in the arrangement form, such as being arranged in a vertical state or a horizontal state. As a preferred setting, a plurality of articulated arms 210 form a six-axis manipulator 200, the number of motors is six, and the arrangement of the articulated arms 210 and the motors is determined according to actual conditions. The motor is preferably a brushless servo motor. Each articulated arm 210 can be controlled according to the current value collected in the brushless servo motor. When the collected current value inside the motor is greater than the preset value, the motor is controlled to reverse or stop to avoid It may happen that the massage component 300 exerts excessive force and damages the human body.

1, the massage assembly 300 includes a plurality of radio frequency contacts 310. The radio frequency contacts 310 are used to perform radio frequency massage on the human body. A radio frequency generator is installed in the radio frequency contact 310 to transmit through the radio frequency generator when the radio frequency contact 310 contacts the human body. The radio frequency wave penetrates the human skin, enters the subcutaneous tissue and acts on the water molecules in the collagen to change its polarity. The high-frequency water molecules vibrate, rotate and rub to generate heat to stimulate the collagen to tighten and remodel, and repair the aging and damaged collagen layer. , Can achieve the effect of skin rejuvenation and firming. As a better choice, the radio frequency generator can be composed of multiple pairs of electrode plates to achieve multi-level radio frequency, which is effective and safe.

The structured light component is arranged on one of the articulated arms 210 of the manipulator 200. The structured light component may include a camera and a transmitter. The camera may include an infrared light camera and a visible light camera, and the transmitter may be an infrared light transmitter. When collecting images of human body parts, the structured light component is located directly above the human body, and 2D pictures are taken through the visible light camera to collect the plane axis (ie X, Y axis) information of the human body parts; the infrared transmitter is used to emit specially modulated invisible infrared The light reaches the human body part, and then the infrared light reflected by the human body part is received by the infrared camera, and the depth axis (ie Z axis) information is collected to determine the depth information of the measured part. Of course, at this time, it also includes a processing module (ie, processing chip) electrically connected to the structured light assembly 400 to combine the captured 2D pictures with the acquired 3D information to generate a three-dimensional image with spatial information for the physiotherapy massage robot to plan massage The massage path of the component 300. Specifically, the principle of calculating the three-dimensional image data collected by the structured light component to obtain the massage path is: cutting, down-sampling, and smoothing the point cloud collected by the structured light component to obtain a preliminary processed point cloud, Using the point cloud slicing algorithm to obtain the slice point cloud, the trajectory points in the camera scanning coordinate system are automatically generated through the slicing point cloud de-ghosting and point sorting, and then the trajectory points in the camera scanning coordinate system are converted into the manipulator 200 through pose transformation The trajectory point in the coordinate system, and the normal and posture calculation of the trajectory point to obtain the massage path. In addition, script programming is performed to convert the massage path into a driver program that can be recognized and executed by the manipulator 200, and the manipulator 200 drives the massage assembly 300 to move according to the driver program.

The physiotherapy massage robot of the present application can obtain a three-dimensional image of the human skin surface through structured light components and intelligently draw a massage path. Its manipulator 200 manipulates the massage component 300 to move according to the massage path to contact the human body through several radio frequency contacts 310 for physical massage and radio frequency. Physiotherapy, while relieving fatigue and relaxing the body and mind through massage, it can also tighten the human skin. Compared with the current massage robot, the physiotherapy massage robot of the present application has various massage forms, and the massage effect is significantly improved, which improves the comfort of massage.

In a preferred embodiment, the massage assembly 300 further includes a connecting seat 320 connected to the final articulated arm 210, a base 330 for mounting a plurality of radio frequency contacts 310, and a buffer provided between the connecting seat 320 and the base 330 Pieces 340. Specifically, the connecting seat 320, the buffer 340, and the base 330 are connected in sequence, and the connecting seat 320 and the final articulated arm 210 are connected and fixed by screws. Preferably, the buffer 340 may be a soft shell made of silica gel. When the massage assembly 300 is massaging, the buffer member 340 is squeezed into a folded state, and the buffer member 340 provides elastic force to offset part of the force between the radio frequency contact 310 and the human body, which can ensure that the radio frequency contact 310 does not rigidly contact the human body. Realize friendly contact with the skin and improve the safety of massage.

In a preferred embodiment, the massage component 300 is provided with a temperature measuring component for measuring the surface temperature of the human skin. When massaging the human body, the temperature measurement component is used to monitor the surface temperature of the human skin in real time to adjust the radio frequency parameters, massage speed, massage trajectory and other information according to the human skin surface temperature to achieve intelligent control of the radio frequency physiotherapy effect. Preferably, the temperature measurement component can be an infrared temperature measurement sensor.

In a preferred embodiment, referring to Figures 1 and 2, the physiotherapy massage robot further includes a display 400 arranged on the body 100. The display 400 includes a display 400 for displaying a three-dimensional image of the human skin surface, a massage trajectory, and setting massage parameters. Touch screen and multiple function buttons. Specifically, the touch screen displays the three-dimensional image of the human body, the massage trajectory, and the operation interface. PC control/PAD control can be selected, and the operation interface can be switched back and forth between the PC side and the PAD side. The massage parameters can be set on the operation interface window, including massage swing parameters, energy parameters, strength parameters, speed parameters, time parameters and rotation amplitude parameters, etc., and the temperature, massage strength and other information can be monitored through the operation interface to optimize Massage treatment effect.

The function buttons include the switch button, start button, pause button and reset button. Among them, the switch button is used for the on-off operation of the physical therapy massage robot. Specifically, long press the switch button for a preset number of seconds, such as 5 seconds, to complete the startup or Shutdown operation. The start button is used for the start operation of the manipulator 200 and the massage assembly 300, the pause button is used for the stop operation of the manipulator 200 and the massage assembly 300, and the reset button is used for the reset operation of the manipulator 200 to initialize the position of the manipulator 200.

Further, the body 100 is provided with a rotating bracket 500 for mounting a display. The rotating bracket 500 includes a support rod 510 and a mounting rod 520 that are rotatably arranged. One end of the mounting rod 520 is connected to the support rod 510 and the other end is connected to the display 400. Specifically, the support rod 510 can be rotatably arranged on the body 100, and its arrangement can be in a variety of forms, such as being inserted into the socket of the body 100 to achieve rotation, and the mounting rod 520 and the support rod 510 can be connected through a connecting sleeve. The connection is disassembled, the connecting sleeve is sleeved on the support rod, and both ends of the mounting rod 520 are hingedly fixed with the connecting sleeve and the display 400 by screws. Through the rotating bracket 500, the position of the display 400 in the vertical direction and the circumferential direction can be adjusted, which is convenient for the user to operate.

In a preferred embodiment, the physiotherapy massage robot further includes a voice interaction module, and the voice interaction module includes a collection unit for collecting the user's voice and a processing unit for processing the voice. In this embodiment, the human-computer interaction is realized through the voice interaction module, so that the user can manipulate and use the physical therapy massage robot. The voice interaction module includes a collection unit and a processing unit. The collection unit can be a microphone array composed of multiple microphones according to a certain geometric structure (such as linear, circular, etc.) to collect user voice. The processing unit is used to The voice collected by the microphone undergoes voice processing, including noise reduction, filtering, and beamforming to improve voice recognition.

Further, the voice interaction module also includes a conversion unit for receiving voice signals and converting them into corresponding instructions. Among them, the received voice signal is preferably the voice processed by the processing unit, so as to improve the understanding of the original voice uttered by the user. The operation mode of the conversion unit is: receiving the voice signal and converting the voice into text, and converting the text into the corresponding instruction number according to the preset instruction table, converting the instruction number into a control instruction and sending it to the control host, and the control host then sends it to the control host. The manipulator 200 and the massage assembly 300 output corresponding operation instructions, and the manipulator 200 and the massage assembly 300 act according to the operation instructions. If the user says "increase the massage intensity", after receiving the voice instruction, the massage component 300 will increase the swing and intensity; if the user says "massage the shoulders", after receiving the voice instruction, it will match the pre-photographed three-dimensional The image is used to re-plan the massage area and massage path, and the manipulator 200 drives the massage assembly 300 to massage the shoulders of the human body. Through the voice interaction module set above, the physiotherapy massage robot can realize voice control, which is convenient for users to use and operate.

In a preferred embodiment, the physiotherapy massage robot further includes an emergency stop device arranged on the body 100. The emergency stop device is used for emergency braking of the manipulator 200. Referring to Figures 1 and 2, the emergency stop device includes an emergency stop button, 10, which is arranged on the housing of the body 100, for pressing down when an emergency occurs. The emergency stop button 10 performs emergency braking, which improves the safety of the physical therapy massage robot. 1 and 2, there are three emergency stop buttons 10, which are located on opposite sides of the body 100 and on the same side as the manipulator 200 in the front position.

In a preferred embodiment, referring to FIGS. 1 and 2, the casing of the body 100 is provided with a plurality of heat dissipation holes 20 arranged in different regions. The heat dissipation holes 20 are provided on the sides of the casing of the body 100, and the functional devices in the body 100 can dissipate heat outside through the heat dissipation holes 20 provided to increase the operating speed and further improve the working performance of the physiotherapy massage robot.

In a preferred embodiment, referring to FIGS. 1 and 2, a plurality of rollers 30 and casters 40 are provided on the bottom of the body 100, and a handle 50 is provided on one side of the body 100. As a preferred arrangement, the rollers 30 are two arranged side by side, and the casters 40 are two arranged side by side and are in a square layout with the rollers 30. The handle 50 is on the side of the machine body 100 opposite to the manipulator 200, and is installed and fixed by screws. Through the handle 50, the roller 30 and the caster 40, the whole machine can be manually pushed to move, which is convenient to move and simple to use.

Based on the physical therapy massage robot in the above embodiment, in the power-on state, the operation flow is: click on the "initial position" on the touch screen of the display 400, and the manipulator 200 will reset after receiving the operation instruction to control the manipulator 200 The position is initialized, and the massage parameters (including massage swing, force, rotation range, energy, speed, time, etc.) of the massage component 300 are manually adjusted and set on the touch screen. Among them, massage swing parameters can be adjusted from 2 to 6; strength parameters can be adjusted from 0 to 10; rotation amplitude parameters can be adjusted from 0 to 10; energy parameters can be adjusted from 1 to 120 in FACE mode, BODY mode Adjustable from 1 to 80, dot matrix mode from 1 to 3 are adjustable; speed parameter is adjustable from 0 to 180; time parameter is adjustable from 1 to 99min.

After the above operations are completed, use structured light components (including cameras and transmitters) to take pictures to save the three-dimensional image information of the human skin surface, and automatically identify the parts of the human body to be massaged, and select the way to draw the massage track (such as a straight line, a curve, etc.), To complete the drawing of the massage route or area. Then, click "Erase" on the touch screen of the display to erase the drawn massage route or area; click "Delete" on the touch screen of the display to delete the three-dimensional image information; click on the display Touch the "track" on the display to generate a massage path. If the massage path fails to be generated, the three-dimensional image information of the human body parts needs to be reacquired. If the massage path is successfully generated, click "Start Massage" on the touch screen of the display, and the manipulator 200 will receive the operation instruction to drive the massage assembly 300 to move according to the massage path generated above, and the massage assembly 300 will act on the human body according to the set massage parameters. Perform radio frequency massage.

In practical applications, this physical therapy massage robot can safely heat up body tissues quickly through physical therapy techniques that are superior to traditional Chinese medicine effects, and heat the targeted tissues under acupoints to 44-46°C, thereby promoting cell metabolism and enhancing cell vitality. Improve immunity, improve circulation and detoxification of the systemic system; and the formed intelligent therapy can warm the lung qi, warm the cold and dispel dampness, clear the lungs and nourish the skin, and has a good antibacterial and antiviral effect.

The above are only part of or preferred embodiments of this application. Neither the text nor the drawings can therefore limit the scope of protection of this application. Anything made with the content of the specification and drawings of this application under the overall concept of this application The equivalent structure transformation, or direct/indirect application in other related technical fields are all included in the protection scope of this application.

Claims

A physical therapy massage robot, characterized in that it comprises a body, a manipulator arranged on the body, a structured light assembly arranged on the manipulator, and a massage assembly for contact with the human body, and the manipulator includes a plurality of sequentially connected The articulated arm of the plurality of articulated arms with a free end is connected to the massage assembly, the massage assembly includes a plurality of radio frequency contacts, and the structured light assembly is used to obtain a three-dimensional image of the human skin surface.
The physiotherapy massage robot according to claim 1, wherein the massage assembly further comprises a connecting seat connected with the final articulated arm, a base for mounting a plurality of the radio frequency contacts, and a base provided on the The buffer between the connecting seat and the base.
The physiotherapy massage robot according to claim 1, wherein the massage component is provided with a temperature measuring component for measuring the surface temperature of the human skin.
The physiotherapy massage robot according to claim 1, further comprising a display arranged on the body, and the display includes a touch control device for displaying a three-dimensional image of the human skin surface, a massage track, and setting massage parameters. Display screen and multiple function buttons.
The physiotherapy massage robot according to claim 4, wherein the body is provided with a rotating bracket for installing the display, and the rotating bracket includes a supporting rod and a mounting rod that are rotatably arranged, and the mounting rod One end is connected with the support rod, and the other end is connected with the display.
The physiotherapy massage robot according to claim 1, further comprising a voice interaction module, and the voice interaction module includes a collection unit for collecting a user's voice and a processing unit for processing the voice.
The physiotherapy massage robot according to claim 6, wherein the voice interaction module further comprises a conversion unit for receiving voice signals and converting them into corresponding instructions.
The physiotherapy massage robot according to claim 1, further comprising an emergency stop device arranged on the body.
The physiotherapy massage robot according to claim 1, wherein a plurality of heat dissipation holes arranged in different regions are provided on the outer shell of the body.
The physiotherapy massage robot according to claim 1, wherein a plurality of rollers and casters are provided at the bottom of the body, and a handle is provided on one side of the body.