CN108143597A - A kind of movable type massage robot - Google Patents
A kind of movable type massage robot Download PDFInfo
- Publication number
- CN108143597A CN108143597A CN201611149007.5A CN201611149007A CN108143597A CN 108143597 A CN108143597 A CN 108143597A CN 201611149007 A CN201611149007 A CN 201611149007A CN 108143597 A CN108143597 A CN 108143597A
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- CN
- China
- Prior art keywords
- massage
- camera
- liftable
- dynamics
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
- A61H2201/5046—Touch screens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a kind of mobile massage robots, are related to traditional medical machinery, including：Two five axis massage mechanical arms, liftable is massaging bed, touch screen, control system, camera, camera holder, camera sliding rail；The five axis massage mechanical arm is rigidly attached to the massaging bed both sides of the liftable, touch screen is equipped in the liftable massage head of a bed, the camera sliding rail is arranged on liftable massage tailstock, and the camera holder is arranged on the camera sliding rail, and the camera is rigidly attached on camera holder；The present invention proposes mobile massage robot, and all devices are arranged on massaging bed, mobile convenient transportation, and it is equipped with dynamics and feeds back, and vision acupuncture point is tracked, the systems such as motion control, can be automatically performed by, rub, clap, the common massage manipulation such as press.
Description
Technical field
The present invention relates to a kind of mobile massage robots, belong to the research field of traditional medical equipment modernization.
Background technology
Important component of the napratherapy as traditional Chinese medicine, have the characteristics that letter, just, test, be honest and clean, be treatment it is more
The kind effective method of disease, is made that tremendous contribution for the health of the Chinese nation for a long time.But due to traditional Chinese massage
It is influenced by the technical experience of traditional Chinese massage teacher, in addition the high labor intensity of traditional Chinese massage so that traditional Chinese massage is difficult on a large scale
It promotes.In recent years, with the development of robot technology, also obtained experts and scholars' for the massage robot of traditional Chinese massage
Extensive concern.2003, Jiangsu University Ma Lvzhong professors, doctor Yu Shunnian, doctor Wang Jingsong were in succession by parallel robot application
In traditional Chinese massage, apply for that the invention of a kind of medical massage robot of novel Chinese medicine traumatology application No. is 03132071.6 is special
Profit.The patent of the new type series-parallel connected Massage Manipulator of one kind application No. is 200510094463.X is applied within 2005.Mesh
Preceding massage product, function is single or bulky, heavy, and transport is inconvenient.
Invention content
The present invention propose can complete independently by rubbing, press, the mobile of common massage manipulation and convenient transportation such as clap and massage
Robot.
The technical solution that the present invention takes：A kind of movable type massage robot, including：Two five axis massage mechanical arms, can
Lift massaging bed, touch screen, control system, camera, camera holder, camera sliding rail.The five axis massage mechanical arm is rigidly attached to
The massaging bed both sides of liftable.Touch screen is equipped in the liftable massage head of a bed.The camera sliding rail is arranged on liftable
Massage tailstock, the camera holder are arranged on the camera sliding rail, and the camera is rigidly attached on camera holder.
The control system includes kinetic control system, dynamics control system, vision processing system.The motion control system
The main control realized to five shaft mechanical arms of system, makes it perform the order that master controller is sent out.The dynamics control system is main
The signal of the force snesor feedback in each joint is handled, being precisely controlled for massage dynamics is realized, ensures the effect massaged, and in dynamics
Alarm signal is sent out when excessive.The vision processing system handles the pictorial information that camera acquires in real time in real time, realizes massage cave
The tracking and positioning of position.
The five axis massage mechanical arm is five degree of freedom series connection mechanical arm, and each joint is equipped with force snesor, can meet
It presses, rubs, press, the kinematics requirement of the common massage manipulation such as bat and demanding kinetics, and Real-time Feedback massage dynamics information.It is described
Liftable is massaging bed to be equipped with elevating mechanism, can adjust height according to different patient demands.The camera holder can be in camera sliding rail
Upper movement can be adjusted as needed.
There are two major functions for the touch screen tool：First, realizing the input of specific massage manipulation operational order, 20 is real
When show the information such as massage operation progress and massage dynamics.
The advantage of the invention is that：The present invention proposes mobile massage robot, and all devices are arranged on massaging bed,
Mobile convenient transportation.It feeds back equipped with dynamics, the tracking of vision acupuncture point, the systems such as motion control, can be automatically performed by, rub, clap,
The common massage manipulations such as pressure.
Description of the drawings
Fig. 1 is mobile massage robot general structure schematic diagram.
The meaning marked in attached drawing is as follows
1：Liftable is massaging bed；2：Control system；3：Five axis massage mechanical arms；4：Camera holder；5：Camera；6：Camera is slided
Rail；7：Touch screen.
Specific embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of movable type massage robot, including：Liftable massaging bed 1, control system 2, two five axis
Massage mechanical arm 3, camera holder 4, camera 5, camera sliding rail 6, touch screen 7.The five axis massage mechanical arm 3 is rigidly attached to institute
State massaging bed 7 both sides of liftable.Touch screen 7 is equipped on massaging bed 1 head of the liftable.The camera sliding rail is arranged on and can rise
Massaging bed 1 tail portion drops, and the camera holder 4 is arranged on the camera sliding rail 6, and the camera 5 is rigidly attached on camera holder 4
Portion.
The control system 2 includes kinetic control system, dynamics control system, vision processing system.The motion control
System mainly realizes the control to five shaft mechanical arms 3, it is made to perform the order that master controller is sent out.The dynamics control system master
The signal of the force snesor feedback in each joint is handled, being precisely controlled for massage dynamics is realized, ensures the effect massaged, and in power
Alarm signal is sent out when spending big.The vision processing system handles the pictorial information that camera 4 acquires in real time in real time, realizes and massages
The tracking and positioning at acupuncture point.
The five axis massage mechanical arm 3 is five degree of freedom series connection mechanical arm, and each joint is equipped with force snesor, can meet
It presses, rubs, press, the kinematics requirement of the common massage manipulation such as bat and demanding kinetics, and Real-time Feedback massage dynamics information.It is described
Liftable massaging bed 1 is equipped with elevating mechanism, can adjust height according to different patient demands.The camera holder 4 can be slided in camera
It moves left and right, can adjust as needed on rail 6.
There are two major functions for the tool of touch screen 7：First, realizing the input of specific massage manipulation operational order, 20 is real
When show the information such as massage operation progress and massage dynamics.
The present invention proposes mobile massage robot, and all devices are arranged on massaging bed, mobile convenient transportation.It sets
Have a dynamics feedback, the tracking of vision acupuncture point, the systems such as motion control, can be automatically performed by, rub, clap, the common massage manipulation such as press.
Claims (4)
1. a kind of movable type massage robot, which is characterized in that including：Liftable is massaging bed (1), control system (2), two five
Axis massage mechanical arm (3), camera holder (4), camera (5), camera sliding rail (6), touch screen (7).The five axis massage mechanical arm
(3) massaging bed (1) both sides of the liftable are rigidly attached to；Touch screen (7) is equipped on massaging bed (1) head of the liftable；
The camera sliding rail is arranged on massaging bed (1) tail portion of liftable, and the camera holder (4) is arranged on the camera sliding rail (6), institute
It states camera (5) and is rigidly attached to camera holder (4) top.
A kind of 2. mobile massage robot according to claims 1, which is characterized in that control system (2) packet
Include kinetic control system, dynamics control system, vision processing system；The kinetic control system is mainly realized to five shaft mechanical arms
(3) control makes it perform the order that master controller is sent out；The dynamics control system mainly handles the force snesor in each joint
The signal of feedback realizes being precisely controlled for massage dynamics, ensures the effect massaged, and send out alarm signal when dynamics is excessive；
The vision processing system handles the pictorial information that camera (4) acquires in real time in real time, realizes the tracking and positioning at massage acupuncture point.
A kind of 3. mobile massage robot according to claims 1, which is characterized in that the five axis massage mechanical arm
(3) it is five degree of freedom series connection mechanical arm, and each joint is equipped with force snesor, can meet and press, rub, and presses, the common Massage apparatus such as bat
The kinematics requirement of method and demanding kinetics, and Real-time Feedback massage dynamics information；The liftable massaging bed (1) is equipped with lifting
Mechanism can adjust height according to different patient demands；The camera holder (4) can move left and right on camera sliding rail (6), can be with
It adjusts as needed.
4. a kind of mobile massage robot according to claims 1, which is characterized in that the touch screen (7) has
Two major functions：First, realize the input of specific massage manipulation operational order, 20 real-time display massage operation progress and
The information such as massage dynamics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149007.5A CN108143597A (en) | 2016-12-05 | 2016-12-05 | A kind of movable type massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149007.5A CN108143597A (en) | 2016-12-05 | 2016-12-05 | A kind of movable type massage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108143597A true CN108143597A (en) | 2018-06-12 |
Family
ID=62467710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611149007.5A Pending CN108143597A (en) | 2016-12-05 | 2016-12-05 | A kind of movable type massage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108143597A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN109009622A (en) * | 2018-09-29 | 2018-12-18 | 天津辰安自动化设备股份有限公司 | Scoliosis physiotherapy equipment |
| CN109276397A (en) * | 2018-11-19 | 2019-01-29 | 电子科技大学 | A kind of intelligent massaging bed |
| CN109646264A (en) * | 2019-02-15 | 2019-04-19 | 西安雁塔天佑儿童医院有限公司 | A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning |
| CN109674647A (en) * | 2019-03-07 | 2019-04-26 | 西安伊蔓蒂电子科技有限公司 | A kind of massage robot |
| CN109998880A (en) * | 2019-05-10 | 2019-07-12 | 陈刚 | A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor |
| CN111317637A (en) * | 2020-02-28 | 2020-06-23 | 江苏大学 | Humanoid double-arm traditional Chinese medicine massage robot device |
| CN113018168A (en) * | 2021-03-02 | 2021-06-25 | 河南智领医疗设备有限公司 | Smokeless naked fire moxibustion instrument |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101884584A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain |
| CN101884585A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Control system of traditional Chinese medical massage robot |
| CN102058466A (en) * | 2011-03-15 | 2011-05-18 | 江苏大学 | Chinese massage robot |
| CN102641200A (en) * | 2012-02-28 | 2012-08-22 | 山东建筑大学 | Massage robot and realization of massage manipulation thereof |
-
2016
- 2016-12-05 CN CN201611149007.5A patent/CN108143597A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101884584A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain |
| CN101884585A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Control system of traditional Chinese medical massage robot |
| CN102058466A (en) * | 2011-03-15 | 2011-05-18 | 江苏大学 | Chinese massage robot |
| CN102641200A (en) * | 2012-02-28 | 2012-08-22 | 山东建筑大学 | Massage robot and realization of massage manipulation thereof |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN108938363B (en) * | 2018-08-09 | 2020-10-13 | 苏州元联科技创业园管理有限公司 | Cupping jar bed is pulled out in operation in coordination of two arms |
| CN109009622A (en) * | 2018-09-29 | 2018-12-18 | 天津辰安自动化设备股份有限公司 | Scoliosis physiotherapy equipment |
| CN109276397A (en) * | 2018-11-19 | 2019-01-29 | 电子科技大学 | A kind of intelligent massaging bed |
| CN109646264A (en) * | 2019-02-15 | 2019-04-19 | 西安雁塔天佑儿童医院有限公司 | A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning |
| CN109674647A (en) * | 2019-03-07 | 2019-04-26 | 西安伊蔓蒂电子科技有限公司 | A kind of massage robot |
| CN109998880A (en) * | 2019-05-10 | 2019-07-12 | 陈刚 | A kind of man-machine interactive manipulator massage device of view-based access control model and pressure sensor |
| CN111317637A (en) * | 2020-02-28 | 2020-06-23 | 江苏大学 | Humanoid double-arm traditional Chinese medicine massage robot device |
| CN113018168A (en) * | 2021-03-02 | 2021-06-25 | 河南智领医疗设备有限公司 | Smokeless naked fire moxibustion instrument |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180612 |
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| WD01 | Invention patent application deemed withdrawn after publication |