CN109674647A - A kind of massage robot - Google Patents

A kind of massage robot Download PDF

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Publication number
CN109674647A
CN109674647A CN201910172734.0A CN201910172734A CN109674647A CN 109674647 A CN109674647 A CN 109674647A CN 201910172734 A CN201910172734 A CN 201910172734A CN 109674647 A CN109674647 A CN 109674647A
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CN
China
Prior art keywords
head
massage
manipulator
shaft mechanical
mounting bracket
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.)
Pending
Application number
CN201910172734.0A
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Chinese (zh)
Inventor
赵冲
郭寅
魏波
杨芳
张创波
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Xi'an Yi Mu Di Electronic Technology Co Ltd
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Xi'an Yi Mu Di Electronic Technology Co Ltd
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Priority to CN201910172734.0A priority Critical patent/CN109674647A/en
Publication of CN109674647A publication Critical patent/CN109674647A/en
Pending legal-status Critical Current

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    • 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
    • A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
    • 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
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
    • A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
    • 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
    • A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
    • A61H2201/0221—Mechanism for heating or cooling
    • A61H2201/0228—Mechanism for heating or cooling heated by an electric resistance element
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/5035—Several programs selectable
    • 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
    • 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
    • A61H2201/5097—Control means thereof wireless

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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)
  • Massaging Devices (AREA)

Abstract

A kind of massage robot, including console, six shaft mechanical arms and massaging manipulator；Massaging manipulator is connected on six shaft mechanical arms, and six shaft mechanical arms are arranged on console；Console includes host computer, 3D vision identifying system, six shaft mechanical arm control cabinets and massaging manipulator control cabinet；3D vision identifying system, six shaft mechanical arm control cabinets and massaging manipulator control cabinet are all connected to host computer；Massaging manipulator control cabinet connection massaging manipulator simultaneously controls massaging manipulator work；The output end of 3D vision identifying system connects six shaft mechanical arm control cabinets, and the input terminal of 3D vision identifying system connects massaging manipulator；Six shaft mechanical arm control cabinets control the movement of six shaft mechanical arms according to the acupuncture point coordinate information that 3D vision identifying system exports；Host computer is used to send operational order to each system and monitors massage robot operating status in real time；Massage robot of the invention is separated with massage bed, small in size, flexibly mobile.

Description

A kind of massage robot
Technical field
Massage appliance technical field of the present invention, in particular to a kind of massage robot.
Background technique
China's Chinese traditional massage is with a long history, be it is deep be healthy and strong mode by the favorite health of broad masses, there is dredging the channel, adjust And qi and blood, it plays and builds up health, bodybuilding health care, the effect of promoting longevity.However the technician for also keeping this traditional at present manually grasps Make, fatigue and sweat of the happiness of customer along with technician；Manpower and the toxigenic capacity of masseur are continuously increased simultaneously, each The experience of masseur causes the impression of customer also different from the difference of strength.Masseur takes a significant amount of time in heavy repeatability In labour.
Massage automation research mainly has massage armchair, massage bed, massage cushion, massager, massage robot etc. at present. Research about massage robot has: application No. is the Chinese patents of CN201110218119.2 to disclose a kind of planer-type machinery The Traditional Chinese medicine massage robot of arm assembly, orientation range is small, can not adapt to the massage of the positions such as human body two sides, and be fixed as one with bed, Volume is big, structure bulky.
Summary of the invention
The purpose of the present invention is to provide a kind of massage robots, to solve the above problems.
To achieve the above object, the invention adopts the following technical scheme:
A kind of massage robot, including console, six shaft mechanical arms and massaging manipulator；Massaging manipulator is connected to six axis On mechanical arm, six shaft mechanical arms are arranged on console；Console includes host computer, 3D vision identifying system, six shaft mechanicals Arm control cabinet and massaging manipulator control cabinet；3D vision identifying system, six shaft mechanical arm control cabinets and massaging manipulator control Case is all connected to host computer；Massaging manipulator control cabinet connection massaging manipulator simultaneously controls massaging manipulator work；3D vision The output end of identifying system connects six shaft mechanical arm control cabinets, and the input terminal of 3D vision identifying system connects massaging manipulator； Six shaft mechanical arm control cabinets control the movement of six shaft mechanical arms according to the acupuncture point coordinate information that 3D vision identifying system exports；It is upper Machine is used to send operational order to each system and monitors massage robot operating status in real time；
Massaging manipulator includes servo electric cylinders, manipulator mounting bracket, the first massage head, the second massage head and 3 D stereo Camera；The two sides of manipulator mounting bracket are fixedly installed servo electric cylinders respectively, and the lower end of a servo electric cylinders is connected with first Massage head, the lower end of another servo electric cylinders are connected with the second massage head, and servo electric cylinders are for adjusting the first massage head and second The height of massage head；Binocular vision camera is arranged in manipulator mounting bracket, and binocular vision camera and 3D vision identification are System connection.
Further, console bottom surface is provided with several strap brake castors；First layer is provided with six axis machines inside console Tool arm control cabinet；Console inner second layer is disposed with host computer and massaging manipulator control cabinet, the setting of host computer side There is ups power；Console upper surface is provided with touch display, and touch display is connected to console top by display bracket Face.
Further, the first massage head include refer to head skeleton, refer to by head bearing support, deep groove ball bearing, first driven shaft, Second driven shaft, stepper motor, the second mounting bracket and driving shaft；First driven shaft, second driven shaft and driving shaft are song Axis；Stepper motor is fixed on above the second mounting bracket by motor mounting plate, and one end of driving shaft connects the defeated of stepper motor Outlet is provided with below the second mounting bracket and refers to head skeleton, refers to that head skeleton upper surface is fixedly installed and refers to head bearing Seat refers to that there are three deep groove ball bearings by the setting of head bearing support upper surface；The other end of driving shaft is connected across the second mounting bracket On a deep groove ball bearing, be respectively arranged between other two deep groove ball bearing and the second mounting bracket lower surface first from Moving axis and second driven shaft.
Further, the second mounting bracket is fixedly connected with the lower end of servo electric cylinders；Finger head skeleton is inverted-cone shape, cone Shape surface is provided with gully, and the first electric heating wire is provided in gully, refers to that head skeleton outer sheath is equipped with and refers to by silica gel head.
Further, the second massage head includes the first mounting bracket, palm head mounting plate and palm head skeleton；First installation One end of bracket is connect with servo electric cylinders lower end, and the other end is fixedly connected with palm head mounting plate, slaps the following table of head mounting plate Face is fixedly connected with palm head skeleton.
Further, palm head skeleton surface is provided with gully, and the second electric heating wire is provided in gully；Slap head skeleton Outer sheath is equipped with the palm and presses silica gel head.
Further, manipulator mounting bracket upper surface is provided with multi-dimension force sensor, multi-dimension force sensor upper surface with The connection of six degree of freedom cooperation robot；Multi-dimension force sensor is connect with massaging manipulator control cabinet.
Further, host computer is connected with remote-control handle.
Compared with prior art, the present invention has following technical effect:
Massage robot of the invention is separated with massage bed, small in size, flexibly mobile；
3D vision of the invention obtains human body acupuncture point information, guides mechanical arm locating massage, and real-time monitoring was massaged Journey starts safeguard protection pause massage if client has unusual fluctuation；
Six shaft mechanical arms of the invention are installed on above console, and its pedestal can be adjusted up and down in height, to adapt to not Level massage bed, while guaranteeing that six shaft mechanical arms meet body massaging position any direction and move freely positioning.
The present invention is configured with wireless remote control handle, and client can carry out simple operations, such as massage force in massage processes It adjusts, massage head temperature adjusts and the emergency stop key in security purpose.
Multi-dimension force sensor is installed between six shaft mechanical arm end flanges and massaging manipulator of the invention, real-time monitoring is pressed The dynamics applied during rubbing feeds back to host computer, and host computer passes through PID regulating guarantee massage force in effective range, together When massage force be more than threshold value when start safeguard protection, robot massage head stops and alarms after lifting certain altitude.
Detailed description of the invention
Fig. 1 is overall schematic of the invention.
Fig. 2 is console schematic internal view of the invention.
Fig. 3 is massaging manipulator schematic diagram of the invention.
Fig. 4 is the first massage head structure schematic diagram of the invention.
Fig. 5 is the first massage head bottom view of the invention.
Fig. 6 is the second massage head structure schematic diagram of the invention
1- console, six shaft mechanical arm of 2-, 3- massage bed, 4- massaging manipulator, 5- touch display, six shaft mechanical arm of 6- Control cabinet, 7- host computer, 8-UPS power supply, 9- massaging manipulator control cabinet, 10- castor, 11- multi-dimension force sensor, 12- are three-dimensional Stereoscopic camera, the first massage head of 13-, the second massage head of 14-, 15- display bracket, 16- servo electric cylinders, the installation of 17- manipulator Bracket, the first mounting bracket of 18-, 19- camera mounting bracket, 20- stepper motor, the second mounting bracket of 21-, 23- remote-control handle； 24, refer to head skeleton；25, refer to by head bearing support；26, first driven shaft；27, second driven shaft；28, driving shaft；29, the first electricity Heater strip；30, refer to by silica gel head；31, head mounting plate is slapped；32, head skeleton is slapped；33, the second electric heating wire；34, the palm presses silicon Rubber head.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
Please refer to Fig. 1 to Fig. 6, a kind of massage robot, including console 1, six shaft mechanical arms 2 and massaging manipulator 4；It presses The manipulator 4 that rubs is connected on six shaft mechanical arms 2, and six shaft mechanical arms 2 are arranged on console 1；Console 1 includes host computer 7, three Tie up visual identifying system, six shaft mechanical arm control cabinets 6 and massaging manipulator control cabinet 9；3D vision identifying system, six shaft mechanicals Arm control cabinet 6 and massaging manipulator control cabinet 9 are all connected to host computer 7；Massaging manipulator control cabinet 9 connects massaging manipulator 4 And control massaging manipulator work；The output end of 3D vision identifying system connects six shaft mechanical arm control cabinets 6, and 3D vision is known The input terminal of other system connects massaging manipulator 4；The acupuncture point that six shaft mechanical arm control cabinets 6 are exported according to 3D vision identifying system Coordinate information controls the movement of six shaft mechanical arms 2；Host computer is used to send operational order to each system and monitors massage machine in real time People's operating status；Host computer model Vostro achievement 3000；Six shaft mechanical arm control cabinets are mechanical arm whole set procurement, model i5- CB-I；Massaging manipulator control cabinet 9 includes that Switching Power Supply, PLC, temperature transmitter, servo electric cylinders driver and stepper motor drive Dynamic device；The control system of Switching Power Supply, PLC, temperature transmitter, servo electric cylinders driver and stepper motor driver composition, is used In control servo electric cylinders, stepper motor and massage head heating.
Massaging manipulator 4 includes servo electric cylinders 16, manipulator mounting bracket 17, the first massage head 13, the second massage head 14 With 3 D stereo camera 12；The two sides of manipulator mounting bracket 17 are fixedly installed servo electric cylinders 16, a servo electric cylinders respectively Lower end be connected with the first massage head 13, the lower end of another servo electric cylinders is connected with the second massage head 14, and servo electric cylinders are used for Adjust the height of the first massage head 13 and the second massage head 14；Binocular vision camera is arranged in manipulator mounting bracket, binocular Vision camera is connect with 3D vision identifying system.
The control system includes host computer, 3D vision identifying system, six shaft mechanical arm control cabinets, massage machine manual control Case processed.The host computer mainly passes through operation touch display, sends operational order to each system and monitors massager in real time Device people's operating status.The image information of the 3D vision identifying system processing 3 D stereo camera acquisition, is input to human body cave The three-dimensional coordinate of bit depth neural network training model acquisition human acupoint.The six shaft mechanicals arm control cabinet is according to 3D vision Massaging manipulator is navigated to start on acupuncture point and be massaged by the acupuncture point coordinate information of identifying system output.The massage machine is manual Case processed is mainly the signal that multi-dimension force sensor is fed back in real-time monitoring massage processes, the massage force angle value ratio with client's setting Compared with the dynamics by PID conciliation control massaging manipulator output is kept within the set range, and when the massage force monitored is more than Massaging manipulator stops massage when the threshold value of setting, while lifting certain altitude and issuing alarm signal.When client needs to body When the certain positions of body are massaged, operator starts massage, six shaft mechanical arms after selecting the massage process built in a kind of system Above meeting automatic running to client's body, 3D vision identifying system starts 3 D stereo camera and obtains human acupoint coordinate information And it is transferred to six shaft mechanical arms.Six shaft mechanical arms are moved to corresponding acupuncture point position, and massaging manipulator is according to pre-set power Degree and massage process automatically switch massage head massage.In massage processes client can operate the real-time adjusting massage dynamics of remote-control handle and Stop.
1 bottom surface of console is provided with several strap brake castors 10；1 inside first layer of console is provided with six shaft mechanical arm controls Case 6 processed；1 inner second layer of console is disposed with host computer 7 and massaging manipulator control cabinet 9, and 7 side of host computer is provided with Ups power 8；1 upper surface of console is provided with touch display 5, and touch display 5 is connected to control by display bracket 15 1 top surface of platform.
First massage head 13 include refer to head skeleton 24, refer to by head bearing support 25, deep groove ball bearing, first driven shaft 26, Second driven shaft 27, stepper motor 20, the second mounting bracket 21 and driving shaft 28；First driven shaft 26,27 and of second driven shaft Driving shaft 28 is crankshaft；Stepper motor 20 is fixed on 21 top of the second mounting bracket by motor mounting plate, driving shaft 28 One end connects the output end of stepper motor, and the lower section of the second mounting bracket 21, which is provided with, refers to head skeleton 24, refers to head skeleton 24 Upper surface is fixedly installed finger by head bearing support 25, refers to that there are three deep groove ball bearings by the setting of 25 upper surface of head bearing support；Actively The other end of axis passes through the second mounting bracket 21 and is connected on a deep groove ball bearing 25, other two deep groove ball bearing and second Mounting bracket is respectively arranged with first driven shaft 26 and second driven shaft 27 between 21 lower surface.
Second mounting bracket 21 is fixedly connected with the lower end of servo electric cylinders 16；Finger head skeleton 24 is inverted-cone shape, taper Surface is provided with gully, and the first electric heating wire 29 is provided in gully, refers to that head skeleton outer sheath is equipped with and refers to by silica gel head 30.
Second massage head 14 includes the first mounting bracket 18, palm head mounting plate 31 and palm head skeleton 32；First installation One end of bracket 18 is connect with servo electric cylinders lower end, and the other end is fixedly connected with palm head mounting plate 31, slaps head mounting plate 31 Lower surface be fixedly connected with the palm head skeleton 32.
The palm 32 surface of head skeleton is provided with gully, and the second electric heating wire 33 is provided in gully；It slaps on the outside of head skeleton The palm is arranged with by silica gel head 34.
17 upper surface of manipulator mounting bracket is provided with multi-dimension force sensor 11, and 11 upper surface of multi-dimension force sensor and six is certainly By the connection of degree cooperation robot；Multi-dimension force sensor 11 is connect with massaging manipulator control cabinet 9.
Host computer 7 is connected with remote-control handle 23.
Massaging manipulator is fixed on 11 downside of multi-dimension force sensor by manipulator mounting bracket；What two opposite directions were arranged watches It takes electric cylinders 16 and is mounted on 17 two sides of manipulator mounting bracket；Branch is connected with third by the second connecting bracket 21 below servo electric cylinders Frame 22 is provided with stepper motor 20, and 20 output shaft of stepper motor is connected with the first massage head 13, the servo electric cylinders when starting massage Stepper motor 20 drives 13 rotary oscillation of the first massage head to force simultaneously downwards, rubs, by movement；By the below servo electric cylinders One connecting bracket 18 is provided with the second massage head 14, and when starting massage, servo electric cylinders 16-2 exert a force downwards while six shaft mechanical arms 2 the second massage heads 14 of drive are rubbed, by movement.
The working process of the invention is as follows:
It when being massaged using the massage robot, client's prostrate or lies supine upon on massage bed 5, operator operates touching It touches display 5 and selects pre-designed massage process, start massage after choosing, host computer 7 transmits instructions to six shaft mechanicals Arm control cabinet 6, six shaft mechanical arms 2 of control run to picture-taking position, and 3D vision identifying system starting 3 D stereo camera 12 obtains It takes human acupoint coordinate information and is transferred to six shaft mechanical arms 2.Six shaft mechanical arms 2 are moved to corresponding acupuncture point position, massager Tool hand 4 is according to pre-set dynamics and massage process automatically switches the first massage head 13 and the second massage head 14 is massaged. The power of 11 real-time monitoring massage head of multi-dimension force sensor feedback, and force value is uploaded to massaging manipulator control cabinet 9, by PID Control servo electric cylinders 16-1 and servo electric cylinders 16-2 output force value are adjusted, guarantees that massage force is kept within the set range；Massage Client can operate the real-time adjusting massage dynamics of remote-control handle and stopping in the process.
3D vision identifying system of the present invention receives the information of binocular vision camera acquisition: it is most of including five, Respectively Image Acquisition, camera calibration, two-dimensional silhouette extract, three-dimensional point cloud obtain and positioning by the image to acquisition into Row pretreatment, calculates according to parallel binocular vision triangulation algorithm and sits by the space at each acupuncture point of coordinate origin of left camera Mark, then calculates coordinate of each acupuncture point under robot basis coordinates system, specific step is as follows for each section:
1, camera calibration: relative position parameter, inside and outside parameter and the distortion parameter of binocular camera are solved, flux of light method is used The parameter of adjustment optimization binocular camera.
2, readily identified index point is pasted on the point of acupuncture point.
3, parallel binocular camera shoots the human body for posting index point to designated position, obtains human body and claps in different location The two images taken the photograph；
4, mechanical arm hand and eye calibrating: image is obtained in different location using the mobile camera of manipulator, reads different location machine The parameter of tool hand extracts the mark point data of different location scaling board image, the camera under the mobile different location of calculating machine hand Position and attitude, according to Lie group and Lie algebra knowledge architecture optimization method, Optimization Solution camera relative to manipulator position and Posture.
5, left and right image is read in, ladder is calculated by gaussian filtering in the index point in extracted with high accuracy left images Degree figure, connected domain position are extracted, and weight Dual fitting curve, artificial target's center pixel coordinate (u is calculatedl, vl), (ur, vr), distortion correction (uc is carried out to artificial target's center pixel coordinatel, vcl), (ucr, vcr), calculate artificial target Center pixel whether within the scope of left waist, right waist, calculate separately if it is within range index point center pixel coordinate and particular point, in Axis (sets central axes ll1=k1x+b1, lr1=k2x+b2, wherein k1, k2, b1, b2Be calculated according to step 5) between offset Amount is respectively formula 1, formula 2, formula 3, formula 4:
Acupuncture point title is determined according to offset, obtains same place using core line relationship, is surveyed according to parallel binocular vision triangle Amount formula 5 calculates the corresponding three dimensional space coordinate (x, y, z) using left camera as the acupuncture point of coordinate origin, according in step 6 Parameter calculate position (x, y, z) of the degree point in mechanical arm coordinate system.
Wherein b is parallax range, d=ur-vlIt is parallax, f is focal length, v=vl=vr, v0, v0It is video camera internal reference.

Claims (8)

1. a kind of massage robot, which is characterized in that including console (1), six shaft mechanical arms (2) and massaging manipulator (4)；It presses The manipulator (4) that rubs is connected on six shaft mechanical arms (2), and six shaft mechanical arms (2) are arranged on console (1)；Console (1) includes Host computer (7), 3D vision identifying system, six shaft mechanical arm control cabinets (6) and massaging manipulator control cabinet (9)；3D vision Identifying system, six shaft mechanical arm control cabinets (6) and massaging manipulator control cabinet (9) are all connected to host computer (7)；Massaging manipulator Control cabinet (9) connection massaging manipulator (4) simultaneously controls massaging manipulator work；The output end connection six of 3D vision identifying system The input terminal of shaft mechanical arm control cabinet (6), 3D vision identifying system connects massaging manipulator (4)；Six shaft mechanical arm control cabinets (6) movement of six shaft mechanical arms (2) is controlled according to the acupuncture point coordinate information of 3D vision identifying system output；Host computer is used for each System sends operational order and monitors massage robot operating status in real time；
Massaging manipulator (4) includes servo electric cylinders (16), manipulator mounting bracket (17), the first massage head (13), the second massage Head (14) and 3 D stereo camera (12)；The two sides of manipulator mounting bracket (17) are fixedly installed servo electric cylinders (16) respectively, The lower end of one servo electric cylinders is connected with the first massage head (13), and the lower end of another servo electric cylinders is connected with the second massage head (14), servo electric cylinders are used to adjust the height of the first massage head (13) and the second massage head (14)；The setting of binocular vision camera exists In manipulator mounting bracket, binocular vision camera is connect with 3D vision identifying system.
2. a kind of massage robot according to claim 1, which is characterized in that console (1) bottom surface is provided with several bands Brake caster (10)；The internal first layer of console (1) is provided with six shaft mechanical arm control cabinets (6)；Console (1) inner second layer It is disposed with host computer (7) and massaging manipulator control cabinet (9), host computer (7) side is provided with ups power (8)；Console (1) upper surface is provided with touch display (5), and touch display (5) is connected to console (1) top by display bracket (15) Face.
3. a kind of massage robot according to claim 1, which is characterized in that the first massage head (13) includes referring to press skull Frame (24) refers to by head bearing support (25), deep groove ball bearing, first driven shaft (26), second driven shaft (27), stepper motor (20), the second mounting bracket (21) and driving shaft (28)；First driven shaft (26), second driven shaft (27) and driving shaft (28) are equal For crankshaft；Stepper motor (20) is fixed on above the second mounting bracket (21) by motor mounting plate, one end of driving shaft (28) The output end of stepper motor is connected, is provided with below the second mounting bracket (21) and refers to head skeleton (24), refer to head skeleton (24) upper surface is fixedly installed finger by head bearing support (25), refers to that there are three deep-groove ball axis by the setting of head bearing support (25) upper surface It holds；The other end of driving shaft passes through the second mounting bracket (21) and is connected on a deep groove ball bearing (25), other two zanjon First driven shaft (26) and second driven shaft (27) are respectively arranged between ball bearing and the second mounting bracket (21) lower surface.
4. a kind of massage robot according to claim 3, which is characterized in that the second mounting bracket (21) and servo electric cylinders (16) lower end is fixedly connected；Refer to that head skeleton (24) are inverted-cone shape, conical surface is provided with gully, and the is provided in gully One electric heating wire (29) refers to that head skeleton outer sheath is equipped with and refers to by silica gel head (30).
5. a kind of massage robot according to claim 1, which is characterized in that the second massage head (14) includes the first installation Bracket (18), palm head mounting plate (31) and palm head skeleton (32)；Under one end of first mounting bracket (18) and servo electric cylinders End connection, the other end are fixedly connected with palm head mounting plate (31), and the lower surface of palm head mounting plate (31) is fixedly connected with the palm Head skeleton (32).
6. a kind of massage robot according to claim 5, which is characterized in that palm head skeleton (32) surface is provided with ditch Gully is provided with the second electric heating wire (33) in gully；It slaps head skeleton outer sheath and is equipped with the palm by silica gel head (34).
7. a kind of massage robot according to claim 1, which is characterized in that manipulator mounting bracket (17) upper surface is set It is equipped with multi-dimension force sensor (11), multi-dimension force sensor (11) upper surface is connect with six degree of freedom cooperation robot；Multi-dimensional force passes Sensor (11) is connect with massaging manipulator control cabinet (9).
8. a kind of massage robot according to claim 1, which is characterized in that host computer (7) is connected with remote-control handle.
CN201910172734.0A 2019-03-07 2019-03-07 A kind of massage robot Pending CN109674647A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910172734.0A CN109674647A (en) 2019-03-07 2019-03-07 A kind of massage robot

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Cited By (22)

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Publication number Priority date Publication date Assignee Title
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
CN110339045A (en) * 2019-08-09 2019-10-18 武汉芮海医疗科技有限公司 A kind of vibration massage function and moxibustion robot device
CN110421560A (en) * 2019-07-04 2019-11-08 天津大学 A kind of cooperation robot constant force massage method based on pid algorithm
CN110882152A (en) * 2019-12-04 2020-03-17 武汉市海沁医疗科技有限公司 Self-rotating massage mechanism and massage system
CN110882150A (en) * 2019-12-04 2020-03-17 武汉市海沁医疗科技有限公司 Massage robot acupuncture point tracking system based on visual positioning
CN111281788A (en) * 2020-04-07 2020-06-16 高文文 Massage method, device and host with meridian physiotherapy massage function
CN111369854A (en) * 2020-03-20 2020-07-03 广西生态工程职业技术学院 Vr virtual reality laboratory operating system and method
CN111494189A (en) * 2020-04-30 2020-08-07 程琪 Medical instrument for treating cervical vertebra pain
CN111671638A (en) * 2020-06-19 2020-09-18 深圳市宗匠科技有限公司 Fascia gun pressure balance control method and fascia gun
CN113304037A (en) * 2021-03-26 2021-08-27 上海大学 Series-parallel massage robot integrating multiple intelligent perceptions
CN113499233A (en) * 2021-07-23 2021-10-15 河南中硕聚润健康科技有限公司 Moxibustion machine is fired slowly in full automatization health preserving
CN113752257A (en) * 2021-08-27 2021-12-07 中科尚易健康科技(北京)有限公司 Mechanical arm track correction method based on position feedback information and control terminal
CN113797088A (en) * 2021-08-31 2021-12-17 中科尚易健康科技(北京)有限公司 Linkage control method and system for mechanical arm and bed
CN113808184A (en) * 2021-08-30 2021-12-17 中科尚易健康科技(北京)有限公司 Interpolation method and device based on point cloud identification, equipment and storage medium
CN113813168A (en) * 2021-08-30 2021-12-21 中科尚易健康科技(北京)有限公司 Meridian point follow-up identification method and device, equipment and storage medium
CN113995668A (en) * 2021-12-13 2022-02-01 沈阳天仁合一科技有限公司 Intelligent moxibustion instrument
CN115554127A (en) * 2022-11-16 2023-01-03 北京凌波澄机器人科技有限公司 Negative pressure physiotherapy robot
WO2023101950A1 (en) * 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Position control for patient console
CN117045497A (en) * 2023-08-16 2023-11-14 睿尔曼智能科技（北京）有限公司 Massaging robot, control method and massaging method
NL2031874B1 (en) * 2022-05-16 2023-11-24 Univ Beihang Intelligent robot for back-slap sputum excretion
CN117428777A (en) * 2023-11-28 2024-01-23 北华航天工业学院 Hand-eye calibration method of bag-removing robot
US11963730B2 (en) 2021-11-30 2024-04-23 Endoquest Robotics, Inc. Steerable overtube assemblies for robotic surgical systems

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Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN110421560A (en) * 2019-07-04 2019-11-08 天津大学 A kind of cooperation robot constant force massage method based on pid algorithm
CN110339045A (en) * 2019-08-09 2019-10-18 武汉芮海医疗科技有限公司 A kind of vibration massage function and moxibustion robot device
CN110882150A (en) * 2019-12-04 2020-03-17 武汉市海沁医疗科技有限公司 Massage robot acupuncture point tracking system based on visual positioning
CN110882152A (en) * 2019-12-04 2020-03-17 武汉市海沁医疗科技有限公司 Self-rotating massage mechanism and massage system
CN111369854A (en) * 2020-03-20 2020-07-03 广西生态工程职业技术学院 Vr virtual reality laboratory operating system and method
CN111281788A (en) * 2020-04-07 2020-06-16 高文文 Massage method, device and host with meridian physiotherapy massage function
CN111494189A (en) * 2020-04-30 2020-08-07 程琪 Medical instrument for treating cervical vertebra pain
CN111671638A (en) * 2020-06-19 2020-09-18 深圳市宗匠科技有限公司 Fascia gun pressure balance control method and fascia gun
CN113304037B (en) * 2021-03-26 2022-11-22 上海大学 Series-parallel massage robot integrating multiple intelligent perceptions
CN113304037A (en) * 2021-03-26 2021-08-27 上海大学 Series-parallel massage robot integrating multiple intelligent perceptions
CN113499233A (en) * 2021-07-23 2021-10-15 河南中硕聚润健康科技有限公司 Moxibustion machine is fired slowly in full automatization health preserving
CN113499233B (en) * 2021-07-23 2023-08-25 河南中硕聚润健康科技有限公司 Full-automatic health-preserving flame-retardant moxibustion machine
CN113752257A (en) * 2021-08-27 2021-12-07 中科尚易健康科技(北京)有限公司 Mechanical arm track correction method based on position feedback information and control terminal
CN113808184A (en) * 2021-08-30 2021-12-17 中科尚易健康科技(北京)有限公司 Interpolation method and device based on point cloud identification, equipment and storage medium
CN113813168A (en) * 2021-08-30 2021-12-21 中科尚易健康科技(北京)有限公司 Meridian point follow-up identification method and device, equipment and storage medium
CN113797088A (en) * 2021-08-31 2021-12-17 中科尚易健康科技(北京)有限公司 Linkage control method and system for mechanical arm and bed
WO2023101950A1 (en) * 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Position control for patient console
US11963730B2 (en) 2021-11-30 2024-04-23 Endoquest Robotics, Inc. Steerable overtube assemblies for robotic surgical systems
CN113995668A (en) * 2021-12-13 2022-02-01 沈阳天仁合一科技有限公司 Intelligent moxibustion instrument
CN113995668B (en) * 2021-12-13 2023-08-25 沈阳天仁合一科技有限公司 Intelligent moxibustion instrument
NL2031874B1 (en) * 2022-05-16 2023-11-24 Univ Beihang Intelligent robot for back-slap sputum excretion
CN115554127A (en) * 2022-11-16 2023-01-03 北京凌波澄机器人科技有限公司 Negative pressure physiotherapy robot
CN117045497A (en) * 2023-08-16 2023-11-14 睿尔曼智能科技（北京）有限公司 Massaging robot, control method and massaging method
CN117045497B (en) * 2023-08-16 2024-04-23 睿尔曼智能科技（北京）有限公司 Massaging robot, control method and massaging method
CN117428777A (en) * 2023-11-28 2024-01-23 北华航天工业学院 Hand-eye calibration method of bag-removing robot

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Application publication date: 20190426