CN106456996A - 移动式自动按摩设备 - Google Patents
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Abstract
一种移动式自动按摩设备,包括自动导向车的基座及其上附接的多只机械臂。设置在触摸屏监视器后方的支撑杆上的3D扫描仪拍摄周围环境的照片,并引导自动导向车的移动和机械臂的定位。机械臂上附接的人造手根据中央计算机的程序执行按摩。该按摩设备可执行类似于医师或治疗师的专业按摩,以改善患者的血液循环并减轻疼痛。
Description
技术领域
本发明涉及按摩设备领域,更具体地,涉及一种实用型自动按摩设备,可以使按摩师免于繁重的重复性身体劳动。由于计算机和智能手机的广泛应用,如今很多人都经受着颈部疼痛,肩膀僵硬及后背酸痛等折磨。甚至一些人年纪轻轻便患有颈椎管炎或坐骨神经痛。由于许多人更愿意接受自然保守的治疗来控制疼痛,因而按摩通常被视为一种安全的选择。然而,由于新加坡及世界范围内人力资源的短缺,特别是,在快速老龄化人口需求日趋增加的形势下,按摩师的稀缺已然成为一个现实问题。糟糕的是,在紧张的劳动力市场中,许多按摩师甚至不具备骨科和康复领域最基本的培训。因此,有必要开发一种实用的,可靠的低成本机械化专业按摩设备,以在未来为大众提供更优质的保健服务。而且,本发明通过提供具有受控的力道和技术的预先程式化按摩,可在评估传统中医按摩和其他种类按摩效果过程中作为一种有价值的研究工具。
背景技术
过去的按摩设备大多是基于椅子和床的某些实施例的机械运动概念进行设计的。这些按摩设备通常为按摩椅或者按摩床。而按摩椅大多作为家具出售,并非出于临床目的设计或使用。它们提供的按摩也无法达到人类治疗师的标准。
按摩床大多是在中国发明的。过去的按摩床体积庞大,无法自由移动。但是,在实际的诊疗室中,通常希望设备体积较小,并且能够跟随医师自由移动,或者根据患者的姿势自行调整。过去的按摩床不具备3D扫描***,因而与本发明相比,这些按摩设备无法完成类似的精确移动,也无法根据患者的姿势或位置调整设备。
本发明将自动导向车的移动性和可自由移动的机械臂的可靠性予以结合,提供更为灵活、***、准确的按摩治疗。它可以在医师的监督下为患者提供预先程式化的按摩技术的连续服务。此外,由该设备记录的治疗数据能够为研究人员提供相关信息,以评估不同按摩治疗在循证医学标准下的有效性,因而拥有巨大的研究价值。
发明内容
考虑到现有技术中已知类型的按摩设备固有的上述缺点,本发明提供一种按摩设备的全新改进方法。
该自动按摩设备由一辆作为基座的可自由移动的自动导向车及其搭载的一个或多个机械臂组成。自动导向车顶部的触摸屏监视器向用户提供信息并从用户处接收命令。该设备在支撑杆的顶部设有3D扫描仪,可以根据需要自由旋转。该3D扫描仪拍摄人体和周围环境的图像,并将人体和周围物体的三维坐标传送给中央处理计算机,该中央处理计算机通过Wi-Fi连接至自动导向车。然后,该中央处理计算机指示自动导向车接近患者身体,并将附接有机械臂的人造手移动到身体表面以施加按摩。
人造手的指尖设有位于软垫下方的传感器,该传感器测定施加在人体上的压力并同时将数据传回至中央计算机,以确保自动按摩过程的有效性和安全性。
人造手由柔软的材料覆盖,并由加热器加热至人体体温,以确保触感柔软舒适。
机械臂以某种特定模式移动,使手指和手能够执行按压、摩擦,以及其他类似真人的按摩操作技术。
人造手和机械臂之间设置有包含压力传感器的安全单元。如果机械臂提供的力量超过安全水平,安全单元将立即停止供电。
此外,还有一个给予患者的小巧的遥控单元,允许患者进行简单的调整,如出于安全目的停止按摩或降低按摩的强度。如果患者感到按摩过于疼痛,可按下遥控器以降低按摩强度或停止按摩。
电源由设置在设备底部的电池提供,或由直流电源插座提供。该电源插座连接有一独立的充电槽。自动按摩设备在非工作状态下自动返回该充电槽将电量充满。
综上所述,当患者需要针对某些问题或者身体的某些部位进行按摩时,中央计算机将调取该患者的医疗记录,并在医师的监督下选择一种预先设计好的适合需求的按摩程序。3D扫描仪拍摄身体和周围环境的照片,来引导自动导向车接近身体,并通过附接在机械臂上的人造手施加适当的按摩。按摩强度可以通过压力传感器的反馈进行精确控制。按摩完成后,该设备返回充电槽自行充电。
附图说明
结合附图将使本发明更容易理解,其中:
图1为采用本发明的整个自动按摩***的外观立体图;
图2a为自动按摩设备的后视图;
图2b为自动按摩设备的正视图;
图3a为自动按摩设备的机械臂前部的放大视图;
图3b为附接在机械臂上的人造手的放大视图;
图4为附接在机械臂及机械手上的软垫所具有的三层结构的横截面图;
图1,图2a,图2b,图3a,图3b及图4并不是按比例绘制的,应当注意的是,整个组件可以具有不同的形状和尺寸,以适应人体不同目标区域的应用。
考虑到本发明公开的说明书和实践,本发明的替代实施例对于本领域技术人员将是显而易见的。应当注意的是,说明书和实施例仅为示例性的,本发明的真实范围和精神由权利要求指示。
具体实施方式
具体实施方式中,本发明被描述为用于为患者提供治疗或放松按摩。应当理解的是,这些仅为使用本发明的按摩类型的示例。传统按摩需要高强度的体力劳动和多年的医疗培训,这对于使治疗师掌握相关解剖知识和实际按摩技术是必不可少的。利用机器人辅助***,可以根据医师或治疗师的意愿轻松地进行按摩。自动按摩设备允许医师为患者选择具有精确控制强度的最适宜的按摩程序。
现结合附图对本发明实施例进行说明。
图1为根据本发明制作的自动按摩***的透视图。自动导向车100作为按摩设备的移动基座在图中示出,其可根据医师的需求和患者的位置,在中央计算机103的引导下于工作空间内进行自由无轨移动。其内部安装有电池,可向自动导向车和设备中其他电子设备,例如机械臂402,触摸屏监视器201和3D扫描仪302供电。一充电槽102连接到墙上的标准电源插座。设备无后续工作计划时,将自行移动到充电槽并将充电单元101连接至充电槽,以完成返回充电槽自行充电的过程。
自动导向车上可以附接一个或多个机械臂402以便进行按摩。图1中,出于演示目的,自动导向车上附接了两个机械臂以组成按摩设备。还可以附接更多的机械臂以执行更为复杂的程序。这里展示的机械臂是一种常用的工业6轴机械臂。应当注意的是,本发明中制作自动按摩设备所用的机械臂不局限于特定的几种。具有不同轴数的不同种类的机械臂均可实现本发明的精神。每个机械臂402均由自动导向车支撑,并根据医师在远程中央计算机103上选择的按摩程序进行动作。
按摩过程中,触摸屏监视器201显示患者的身体状况,如体温,血压及心率。它也可以作为输入/输出设备来控制程序。
给予患者的遥控器104允许患者进行简单的调整,包括改变按摩力道及关闭整个设备的电源。
当某一按摩程序启动时,设置在触摸屏监视器201后的支撑杆301上的3D扫描仪302会拍摄人体及周围物体的照片来对人体进行定位,并记录所有相关物体的坐标。这些数据被传送至中央计算机并经过处理,以引导设备接近人体,并向人体方向放低机械臂402以施加按摩。
中央计算机103通过图2a所示的Wi-Fi连接单元202与设备连接。每个机械臂上还附接有一只具有灵活手指的机械手401。
图3a为图1部分画面的放大视图,给出了机械臂的更为清楚的视图。机械臂402包括一个或多个伺服电机,用以使机械臂移动至预期位置。机械臂的前臂下方附接有一长软垫509。机械臂前臂下方的部分509或者附接在机械臂上的机械手401均可施加按摩。软垫可由软质材料,如橡胶或其他软质材料制成,其下方安装有压力传感器和加热器。
如图3所示,机械手和机械臂之间设置有安全单元501。该安全单元可自由旋转,以测量机械臂传递到机械手上的力。当测得机械手上的力超出某一安全水平,且其他预防措施无法工作时,该安全单元将切断按摩设备的电源。这样就确保了患者的最终安全。
图3b为图1部分画面的放大视图,以给出机械臂上附接的机械手401的更为清楚的视图。机械手的手指和手掌上也覆盖有软垫。这些软垫结构与前臂上附接的软垫相似。机械手的手指上覆盖有软垫502,503,504,505,506。手掌上覆盖有软垫507和508。设置在软垫内部的加热器将机械手的温度增至约38摄氏度,并将温度维持在适宜水平。
图4为软垫的横截面视图,图中示出了软垫的三层结构。外层601由软质材料制成。中间层602包括持续监测压力的压力传感器。内层603包括加热器,其可使软垫和机械臂的温度由室温增至约38摄氏度。
Claims (1)
1.一种移动式自动按摩设备,用于改善周围血管的血液循环并减轻身体的酸痛或疼痛,所述移动式自动按摩设备包括:
自动导向车,所述自动导向车用作移动基座;
3D扫描仪,所述3D扫描仪用于获取人体和周围物体的3D数据,引导按摩设备并监测治疗过程;
触摸屏监视器,所述触摸屏监视器用于提供输入和输出接口;
远程中央计算机,所述远程中央计算机用于执行按摩程序,并通过无线连接向所述设备发送指令;
一个或多个机械臂,所述一个或多个机械臂能够在任一方向上自由移动,从而在正确的位置进行按摩;
软垫,所述软垫具有软质材料层、压力传感器层和加热层三层结构;
人造手,所述人造手由软垫覆盖,用于实施不同的按摩技法;
Wi-Fi通信单元,所述Wi-Fi通信单元用于在所述设备和所述中央计算机之间传送数据;
遥控器,所述遥控器允许患者进行简单的调整,如出于安全目的停止按摩或降低按摩的强度;
安全单元,当施加在人体上的力超过安全水平时,所述安全单元立即停止供电;
充电槽,当所述设备处于非工作状态时返回所述充电槽进行充电。
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SG10201402803RA SG10201402803RA (en) | 2014-06-02 | 2014-06-02 | A mobile automatic massage apparatus |
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PCT/SG2015/050053 WO2015187092A1 (en) | 2014-06-02 | 2015-03-30 | A mobile automatic massage apparatus |
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US (1) | US10034814B2 (zh) |
CN (1) | CN106456996B (zh) |
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US10034814B2 (en) | 2018-07-31 |
SG10201402803RA (en) | 2016-01-28 |
CN106456996B (zh) | 2019-05-17 |
WO2015187092A1 (en) | 2015-12-10 |
US20170079871A1 (en) | 2017-03-23 |
SG11201609712RA (en) | 2016-12-29 |
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