CN111135035A

CN111135035A - Flexible massage robot

Info

Publication number: CN111135035A
Application number: CN202010054243.9A
Authority: CN
Inventors: 张弘; 张学成; 江楠; 曲绍兴
Original assignee: Institute of Flexible Electronics Technology of THU Zhejiang
Current assignee: Institute of Flexible Electronics Technology of THU Zhejiang
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-05-12
Anticipated expiration: 2040-01-17
Also published as: CN111135035B

Abstract

The invention provides a flexible massage robot. The flexible massage robot comprises a base, a posture adjusting part, an intelligent control part and a soft hand; the posture adjusting part is provided with a rotating frame with an adjustable space position, the intelligent control part is arranged on the rotating frame and can rotate around a first horizontal axis relative to the rotating frame, and the intelligent control part is connected with the soft hand to detect the position of the soft hand and adjust the position and/or the deformation of the soft hand according to a control signal generated based on the detected position. The soft hand of the flexible massage robot can accurately reach the part to be massaged, better fit the part to be massaged and have better use effect.

Description

Flexible massage robot

Technical Field

The invention relates to the technical field of flexible equipment, in particular to a flexible massage robot.

Background

The massage is a physical therapy method which is based on the theory of viscera and meridians of traditional Chinese medicine, combines the anatomical and pathological diagnosis of western medicine, and acts on specific parts of the body surface by hand to regulate the physiological and pathological conditions of the body and achieve the purpose of physical therapy.

Actually, the massage triggers the chemical reaction of the brain, can promote the reduction of the cortisol of the body by releasing various hormones, is used as a medical health care means, acts on a specific part of the body surface or meridian points by a manipulation to regulate the physiological and pathological conditions of the body, achieves the aims of physical therapy of dredging the meridian, promoting the circulation of qi and blood, regulating the tendons and restoring, smoothing the joints, regulating the functions of internal organs and enhancing the disease resistance, has good treatment effects on common diseases such as strain injury of the motion system, cardiovascular diseases, lumbar disc herniation, cervical disc herniation and the like, has the effects of health care, body building, disease prevention, disease removal and disease delay, is widely loved by people, and is an important component for realizing healthy life style of people.

However, the current massage robot mainly realizes the whole massage effect through the cooperation of the mechanical arm and the hand, the intelligent degree is relatively low, and the rigid fingers are mostly adopted as the main body of the massage, and the rigid fingers are greatly limited due to the defects of the rigid fingers in the massage process, for example, the rigid fingers are stiff and heavy, and the irreversible damage to people is possibly caused when the motor fails; in addition, the control mode of the rigid fingers is complex, and a set of complete massage system is complex to operate, high in manufacturing cost and large in size, and is not beneficial to portable use.

Disclosure of Invention

In view of the above, there is a need for an improved flexible massage robot to solve the problem of poor use effect of the rigid massage robot in the prior art.

The invention provides a flexible massage robot, which comprises a base, a posture adjusting part, an intelligent control part and a soft hand, wherein the base is provided with a plurality of massage arms; the posture adjusting part is arranged on the base and is provided with a rotating frame with an adjustable spatial position; the intelligent control part is arranged on the rotating frame and can rotate around a first horizontal axis relative to the rotating frame, and the intelligent control part is connected with the soft hand to detect the position of the soft hand and adjust the position and/or the deformation of the soft hand according to a control signal generated based on the detected position.

Through this flexible massage robot, its base is used for bearing gesture adjustment portion, intelligent control portion and software hand etc.. The software hand passes through intelligent control portion to be connected on the gesture adjustment portion, can adjust the position of software hand like this through the gesture adjustment portion to position demand when making it can satisfy the massage. The intelligent control part is connected with the rotating frame through the posture adjusting part, so that the intelligent control part can rotate around a first horizontal axis relative to the rotating frame, the degree of freedom of the intelligent control part and a software hand installed on the intelligent control part can be further improved, and the adaptability of the software hand is better. In addition, the intelligent control part can also detect the position of the soft hand so as to generate a control signal according to the position of the soft hand and control the position and/or the deformation of the soft hand according to the control signal, so that the soft hand can accurately reach the part to be massaged.

Optionally, in order to increase the degree of freedom of the soft hand, the posture adjustment unit includes: the first posture adjusting assembly is rotatably arranged on the base around a first vertical axis; the second posture adjustment assembly is connected to the first posture adjustment assembly, can move in the vertical direction relative to the base and rotate around the first vertical axis under the driving of the first posture adjustment assembly, and the rotating frame is arranged on the second posture adjustment assembly.

So set up, the rotation around first vertical axis not only can be realized to the software hand, can remove along vertical direction moreover.

Optionally, in order to enable the first attitude adjustment assembly to drive the second attitude adjustment assembly to move in the vertical direction, the first attitude adjustment assembly includes: the linear mechanism is connected with the base through a first rotating mechanism arranged on the base and rotates around a first vertical axis relative to the base under the driving of the first rotating mechanism; cantilever structure, cantilever structure connect on sharp mechanism to remove along vertical direction relative the base under sharp mechanism's drive, second attitude adjustment subassembly is connected on cantilever structure.

So set up, rectilinear mechanism can drive second attitude adjustment subassembly and remove along vertical direction, and cantilever structure can install second attitude adjustment subassembly moreover.

Optionally, in order to expand the position adjustable range of the second attitude adjustment assembly, the cantilever structure includes: the first end of the first cantilever is connected to the linear mechanism and moves in the vertical direction relative to the base under the driving of the linear mechanism; the first end of the second cantilever is connected with the second end of the first cantilever, the second cantilever can rotate around a second vertical axis relative to the first cantilever, the second attitude adjusting assembly is connected to the second end of the second cantilever, and the second attitude adjusting assembly can rotate around a third vertical axis relative to the second cantilever.

So set up, can rotate around vertical axis relatively between first cantilever and the second cantilever, like this through the position of the first cantilever of combination adjustment and second cantilever, just can make the adjustable range of second attitude adjustment subassembly bigger.

Optionally, in order to further improve the degree of freedom and the position adjustable range of the soft hand, the second posture adjustment assembly comprises: the fixing frame is rotatably connected to the first posture adjusting assembly around a third vertical axis; the second rotating mechanism is connected to the fixed frame, the rotating frame is connected to the second rotating mechanism and can rotate around a second horizontal axis under the driving of the second rotating mechanism, and the second horizontal axis is perpendicular to the first horizontal axis; and the intelligent control part is rotatably connected to the rotating frame around the first horizontal axis through the third rotating mechanism.

So set up, just make the software hand have around the rotatory degree of freedom of second horizontal axis and around the degree of freedom of first horizontal axis rotation, and then the gesture that can adjust to is abundanter.

Optionally, in order to be able to better control and adjust the soft hand, the intelligent control part comprises: the intelligent control installation shell is rotatably connected to the rotating frame around a first horizontal axis; the control driving piece is arranged on the intelligent control installation shell; and the transmission rod assembly is connected between the soft hand and the control driving piece and can rotate around a fourth vertical axis under the driving of the control driving piece so as to drive the soft hand to move.

So set up, the control driving piece can be through the position and the gesture of transfer line subassembly adjustment software hand.

Optionally, in order to ensure reliability of the control, the control drive comprises: the steering engine is arranged on the intelligent control mounting shell; the carousel, the carousel is connected on the steering wheel, and the transfer line subassembly articulates on the carousel.

So set up, can reliably, accurately control the rotation of carousel through the steering wheel.

Optionally, in order to accurately determine the position of the soft hand, the intelligent control part further comprises a position detector which is arranged on the turntable and detects the rotation angle of the turntable so as to determine the position of the soft hand according to the rotation angle.

So set up, the turned angle that position detector can detect the carousel and then, calculates the position of software hand according to flexible massage robot's structure, size.

Optionally, in order to better adjust the position of the paw, the soft hand comprises two independent paws, the transmission rod assembly comprises two transmission structures, the transmission structures are connected with the paws in a one-to-one correspondence manner, and the transmission structures comprise: the first end of the first mounting rod is hinged on the control driving piece; the second mounting rod is rotatably connected to the intelligent control mounting shell around a fourth vertical axis through the first mounting shaft, the first end of the second mounting rod is hinged to the second end of the first mounting rod, and the second end of the second mounting rod is connected with the paw; and the first end of the third mounting rod is rotatably connected to the intelligent control mounting shell around a fifth vertical axis through a second mounting shaft, and the second end of the third mounting rod is connected with the paw.

So set up, can adjust the position of hand claw through transmission structure.

Alternatively, to ensure that the second and third mounting rods may not interfere, the axial centers of the first and second mounting shafts are located on the same horizontal straight line.

So set up, reliable rotation can be guaranteed to second installation pole and third installation pole.

Optionally, in order to ensure the reliability of the soft hand, the soft hand comprises two independent paws, each paw comprising: the combined board is connected with the intelligent control part and is driven by the intelligent control part to adjust the position; the finger, the finger is connected on the compoboard, and the end of ventilating of finger is sealed through sealed piece, and is provided with the joint of ventilating with the end intercommunication of ventilating of finger on the sealed piece.

So set up, the software hand can be reliably connected with intelligent control portion for the position of software hand can be adjusted reliably.

Optionally, in order to improve the massage effect, a plurality of massage contacts with variable shapes and sizes are arranged on the fingers.

With the arrangement, the massage contact can be better adapted to the massage requirement by changing the massage contact.

Optionally, in order to improve the intelligence, a control system is disposed in the base, a wireless touch sensor for detecting touch data is disposed on the finger, the wireless touch sensor is in data connection with the control system and sends the detected touch data to the control system, and the touch data includes at least one of pressure, position, temperature, humidity, and vibration.

By the arrangement, the wireless touch sensor can detect touch data, so that the massage device can better adapt to massage requirements.

Optionally, to improve massage comfort, electrical heating elements are provided on the fingers to adjust the surface temperature of the fingers.

By the arrangement, the surface temperature of the fingers can better meet the requirements of the massaged people.

Drawings

Fig. 1 is a schematic perspective view of a flexible massage robot without a base according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure at A in FIG. 1;

fig. 3 is a schematic perspective view of a flexible massage robot setting base according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a part of fingers of the flexible massage robot according to the embodiment of the present invention;

fig. 5 is a schematic perspective view of an intelligent control part of the flexible massage robot according to the embodiment of the present invention;

fig. 6 is a partially enlarged view of the connection assembly and the soft hand of the flexible massage robot according to the embodiment of the present invention.

Description of the main elements

1. A base; 2. a first rotating mechanism; 3. a linear mechanism; 4. a cantilever structure; 41. a first cantilever; 42. a second cantilever; 5. a second attitude adjustment assembly; 51. a fixed mount; 52. a second rotating mechanism; 53. a rotating frame; 531. mounting holes; 6. an intelligent control part; 62. an intelligent control mounting shell; 621. mounting a plate; 622. a bottom case; 623. an upper shell; 624. a sensor aperture; 63. a turntable; 64. a steering engine; 65. a first mounting bar; 66. a second mounting bar; 661. a first mounting shaft; 67. a third mounting bar; 671. a second mounting shaft; 68. a position detector; 7. a soft hand; 71. a composition board; 72. a sealing plate; 73. a finger; 74. a vent fitting; 75. a massage contact; 76. and installing a threaded hole.

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 6, there is provided a flexible massage robot according to an embodiment of the present invention, which includes a base 1, a posture adjustment section, an intelligent control section 6, and a soft hand 7; the posture adjusting part is arranged on the base 1 and is provided with a rotating frame 53 with an adjustable spatial position; the intelligent control part 6 is arranged on the rotating frame 53 and can rotate around a first horizontal axis relative to the rotating frame 53, and the intelligent control part 6 is connected with the soft hand 7 to detect the position of the soft hand 7 and adjust the position and/or the deformation of the soft hand 7 according to a control signal generated based on the detected position.

The base 1 of the flexible massage robot is used for bearing a posture adjusting part, an intelligent control part 6, a soft hand 7 and the like. The soft hand 7 is connected to the posture adjustment part through the intelligent control part 6, so that the position of the soft hand 7 can be adjusted through the posture adjustment part, and the position requirement during massage can be met. The intelligent control part 6 is connected with the rotating frame 53 of the attitude adjusting part, so that the intelligent control part 6 can rotate around a first horizontal axis (as shown by Y1 in fig. 1) relative to the rotating frame 53, and further the degree of freedom of the intelligent control part 6 and the soft hand 7 mounted on the intelligent control part can be improved, and the adaptability of the soft hand 7 is better. In addition, the intelligent control part 6 can also detect the position of the soft hand 7 so as to generate a control signal according to the position of the soft hand 7, and then control the position and/or the deformation of the soft hand 7 according to the control signal, so that the soft hand 7 can accurately reach the part to be massaged, and the soft hand 7 has better conformability, so that the part to be massaged can be better attached to improve the massage effect and ensure the safety of massage.

As shown in fig. 1-4, in this embodiment, the base 1 may be a sitting structure, which is directly placed or fixed at a desired position, or the base 1 may be a universal wheel structure, so that the flexible massage robot can be moved more easily by connecting universal wheels to the base 1. Of course, the base 1 is not limited to the two structures described above, but may be any other suitable structure.

In the present embodiment, the base 1 is also used to house a control system and the like. For example, the base 1 is mainly provided with a conversion circuit, a control system, a related expansion joint, a counterweight, and the like. Therefore, the whole motion control of the flexible massage robot can be realized through the conversion circuit and the control system which are arranged in the base 1. For example, the control system generates a control signal based on the detected position of the soft hand 7, controls the operation of the attitude adjustment section and the intelligent control section 6 by the control signal, and adjusts the position and/or deformation of the soft hand 7.

The expansion joint can be used for being connected with other equipment (such as a U disk, an upper computer and the like) to realize application expansion. The type of expansion joint may be appropriately selected according to the other devices to be connected.

The counterweight may be used to maintain the stability of the flexible massage robot.

Alternatively, in the present embodiment, in order to ensure the degree of freedom of the soft hand 7 and satisfy the massage requirements for different parts to be massaged, the posture adjustment part includes the first posture adjustment component and the second posture adjustment component 5. The first attitude adjustment assembly is rotatably arranged on the base 1 around a first vertical axis (Z1 shown in FIG. 1); the second posture adjustment assembly 5 is connected to the first posture adjustment assembly, and driven by the first posture adjustment assembly, the second posture adjustment assembly can move in the vertical direction relative to the base 1 and rotate around the first vertical axis, and the rotating frame 53 is arranged on the second posture adjustment assembly 5.

Like this first attitude control assembly can drive the second attitude control assembly 5 that sets up on it and rotate when rotating around first vertical axis, and second attitude control assembly 5 can also be along vertical direction reciprocating motion under the drive of first attitude control assembly moreover. The multi-degree-of-freedom movement of the soft hand 7 can be realized through the matching of the first posture adjustment component and the second posture adjustment component.

Alternatively, in the present embodiment, a specific first posture adjustment assembly is exemplified, and the first posture adjustment assembly includes the linear mechanism 3 and the cantilever structure 4.

The linear mechanism 3 is connected with the base 1 through a first rotating mechanism 2 arranged on the base 1, and is driven by the first rotating mechanism 2 to rotate around a first vertical axis relative to the base 1; the cantilever structure 4 is connected on the linear mechanism 3 and moves along the vertical direction relative to the base 1 under the driving of the linear mechanism 3, and the second posture adjusting component 5 is connected on the cantilever structure 4.

For example, the first rotating mechanism 2 may be a structure combining a motor and a speed reducer, the motor may be disposed in the base 1, an output shaft of the motor is vertically disposed, the linear mechanism 3 is connected to the output shaft of the motor through the speed reducer, and the speed reducer is driven to rotate by the motor, so that the linear mechanism 3 can integrally rotate around a first vertical axis. The first rotating mechanism 2 with the structure has the advantages of compact structure, reliable control and high control precision of the rotating angle.

The motor in the first rotating mechanism 2 includes, but is not limited to, a dc motor, a stepping motor, a servo motor, or the like.

Of course, in other embodiments, the first rotating mechanism 2 may adopt any other suitable structure as long as it is ensured that the linear mechanism 3 can rotate around the first vertical axis.

The linear mechanism 3 is used for controlling the cantilever structure 4 to reciprocate along the vertical direction. The linear mechanism 3 can be selected according to different requirements such as actual adjusting speed, running stability and the like, for example, the linear mechanism 3 includes but is not limited to a linear motor, a motor screw, or a cylinder and the like.

In this embodiment, the cantilever structure 4 is used to cooperate with the first rotating mechanism 2 and the linear mechanism 3 to further increase the degree of freedom of the soft hand 7, thereby increasing the adjustable range thereof. In the illustrated embodiment, the boom structure 4 is used for mounting the second attitude adjustment assembly 5, and the boom structure 4 includes two revolute pairs by which it is ensured that the boom structure 4 can be rotated about the second vertical axis (Z2 shown in fig. 1) relative to the linear mechanism 3 and that the second attitude adjustment assembly 5 can be rotated about the third vertical axis (Z3 shown in fig. 1) relative to the boom structure 4.

It should be noted that all the vertical axes (including but not limited to the first vertical axis to the fifth vertical axis) in the present embodiment are axes parallel to each other.

To achieve the above object, in the illustrated embodiment, the cantilever structure 4 includes a first cantilever 41 and a second cantilever 42.

The first end of the first cantilever 41 is connected to the linear mechanism 3 and moves in the vertical direction relative to the base 1 under the driving of the linear mechanism 3; the first end of the second suspension arm 42 is connected to the second end of the first suspension arm 41, the second suspension arm 42 is rotatable relative to the first suspension arm 41 about a second vertical axis, the second attitude adjustment assembly 5 is connected to the second end of the second suspension arm 42, and the second attitude adjustment assembly 5 is rotatable relative to the second suspension arm 42 about a third vertical axis.

For example, the second end of the first suspension arm 41 is connected to the first end of the second suspension arm 42 via a rotating member A, so that the second suspension arm 42 can rotate around the second vertical axis under the driving of the rotating member A. The second end of the second cantilever 42 is connected to the second attitude adjusting assembly 5 via a rotating member B, so that the second attitude adjusting assembly 5 can rotate about the third vertical axis under the driving of the rotating member B.

The selection of rotating members a and B may be determined based on actual speed, stability of operation, and the like, including but not limited to dc motors, stepper motors, servo motors, and the like. The rotating member a and the rotating member B may be the same or different.

By mounting the second attitude adjusting assembly 5 using the first attitude adjusting assembly of the above structure, the second attitude adjusting assembly 5 has a plurality of degrees of freedom, and the region in which the tip can be adjusted is wider.

In this embodiment, the end of the second posture adjustment assembly 5 can be connected to the soft hand 7, so as to adjust the position of the soft hand 7. For example, the second attitude adjusting assembly 5 includes a fixed frame 51, a second rotating mechanism 52, and a third rotating mechanism.

The fixed frame 51 is rotatably connected to the first attitude adjusting assembly around a third vertical axis; the second rotating mechanism 52 is connected to the fixed frame 51, and the rotating frame 53 is connected to the second rotating mechanism 52 and can rotate around a second horizontal axis (as shown by Y2 in fig. 1) under the driving of the second rotating mechanism 52, and the second horizontal axis is perpendicular to the first horizontal axis; the intelligent control unit 6 is rotatably connected to the rotating frame 53 about the first horizontal axis by a third rotating mechanism.

Specifically, the fixing frame 51 is used for mounting the second rotating mechanism 52, and the fixing frame 51 is connected to the second end of the second suspension arm 42 of the first attitude adjustment assembly and can rotate around the third vertical axis relative to the second suspension arm, so that the second rotating mechanism 52 can also rotate.

The second rotating mechanism 52 is used to mount the rotating frame 53 and allow the rotating frame 53 to rotate about a second horizontal axis. For example, the second rotating mechanism 52 may be a steering engine or the like, which may preferably be a double-headed steering engine. The rotating frame 53 is connected to both ends of the steering engine.

The third rotating mechanism is provided on the rotating frame 53, and is connected to the intelligent control part 6 after passing through the mounting hole 531 to drive the intelligent control part 6 to rotate about the first horizontal axis. The third rotating mechanism may be a motor or the like, which may preferably be a small-sized stepping motor or the like. The mounting hole 531 may be used to mount a rotation shaft of a motor.

In this way, the second attitude adjusting assembly 5 adjusts the end attitude using two rotation pairs (e.g., the second rotating mechanism 52 and the third rotating mechanism) whose axes are perpendicular to each other. Therefore, the first horizontal axis of the third rotating mechanism is perpendicular to the second horizontal axis of the second rotating mechanism 52, and the third vertical axis of the fixed frame 51 rotating around is perpendicular to the first horizontal axis and the second horizontal axis respectively, so that the degree of freedom of the intelligent control part 6 is higher, and the degree of freedom of the soft hand 7 is further improved.

Of course, in other embodiments, the second posture adjustment assembly 5 may have other structures, which is not limited by the embodiment.

Optionally, the intelligent control 6 includes an intelligent control mounting case 62, a control drive and a drive rod assembly.

The smart control mounting case 62 is rotatably connected to the turret 53 about a first horizontal axis; the control driving piece is arranged on the intelligent control mounting shell 62; the transmission rod assembly is connected between the soft hand 7 and the control driving piece and can rotate around a fourth vertical axis (as shown by Z4 in figure 6) under the driving of the control driving piece so as to drive the soft hand 7 to move.

As shown in fig. 4 to 6, in the present embodiment, the smart control case 62 is used to mount other structures of the smart control section 6. Specifically, the smart control housing 62 includes a bottom housing 622, a mounting plate 621, an upper housing 623, and a sensor hole 624.

The bottom case 622 and the upper case 623 cooperate to form an installation space, and the upper case 623 is connected to the third rotating mechanism. The mounting plate 621 is fixedly connected to the bottom case 622 and is at least partially located in the mounting space. The sensor hole 624 may be used to mount a binocular vision sensor for identifying a target for controlling the position and mode of the soft hand 7.

In this embodiment, the control driving member is disposed on the bottom case 622 and passes through the mounting plate 621. The control driving piece is used for being connected with the transmission rod assembly and driving the transmission rod assembly to move.

For example, the control driving member comprises a steering engine 64 and a turntable 63, and the steering engine 64 is arranged on the intelligent control mounting shell 62; the turntable 63 is connected to a steering engine 64, and the transmission rod assembly is hinged to the turntable 63.

The rotary table 63 is arranged on a rotor of the steering engine 64, and the transmission rod assembly is connected to the rotary table 63, so that the rotary table 63 can rotate under the driving of the steering engine 64, and the transmission rod assembly moves.

Alternatively, in order to be able to calculate the position of the soft hand 7, the intelligent control part 6 further includes a position detector 68, and the position detector 68 is disposed on the turntable 63 and detects the rotation angle of the turntable 63 to determine the position of the soft hand 7 according to the rotation angle.

Specifically, the position detector 68 may be an angle sensor installed above the turntable 63 to measure the rotation angle of the turntable 63, thereby calculating the position of the soft hand 7.

In the present embodiment, since the soft hand 7 includes two independent claws, the transmission rod assembly includes two transmission structures, and the transmission structures are connected with the claws in a one-to-one correspondence manner.

Wherein the transmission structure comprises a first mounting rod 65, a second mounting rod 66 and a third mounting rod 67. A first end of the first mounting rod 65 is hinged to the control drive member; the second mounting rod 66 is rotatably connected to the smart control mounting case 62 around a fourth vertical axis (the fourth vertical axis is a central line of the first mounting shaft 661) through the first mounting shaft 661, a first end of the second mounting rod 66 is hinged to a second end of the first mounting rod 65, and a second end of the second mounting rod 66 is connected to the claw; the first end of the third mounting rod 67 is rotatably connected to the smart control mounting case 62 via a second mounting axle 671 about a fifth vertical axis (the fifth vertical axis being the centerline of the second mounting axle 671 as shown by Z5 in fig. 6), and the second end of the third mounting rod 67 is connected to the gripper.

Therefore, the turntable 63 can be driven to rotate in the rotating process of the steering engine 64, so that the two first mounting rods 65 can move to drive the connected second mounting rods 66 to rotate, and the third mounting rod 67 and the soft hand 7 can move.

In the present embodiment, the axial center of the first mounting shaft 661 and the axial center of the second mounting shaft 671 are located on the same horizontal straight line, so that the soft hand 7 can be more easily adjusted in position.

Alternatively, in this embodiment, the soft hand 7 comprises two separate paws, each of which comprises a combination board 71 and a finger 73. At least two fingers 73 are arranged, the combined plate 71 is connected with the intelligent control part 6, and the position is adjusted under the driving of the intelligent control part 6; the finger 73 is attached to the combining plate 71, and a ventilation end of the finger 73 is sealed by a sealing block 72, and a ventilation joint 74 communicating with the ventilation end of the finger 73 is provided on the sealing block 72.

In one possible way, the finger 73 can be deformed into a desired posture and/or opened and closed by switching the input positive and negative pressure, so as to meet different massage requirements, such as pressing and clicking.

Specifically, the combination board 71 is provided with 6 slots, two slots in the middle are used for the ventilation joints 74 to pass through, the slots on two sides correspond to the mounting threaded holes 76 on the sealing board 72 to be mounted through threads, and the distance between the centers of the slots is greater than the distance between the threads of the mounting threaded holes 76, so that the mounting distance of the fingers 73 can be adjusted according to actual use conditions.

The distance between the centers of the circular arcs at the two ends of the slot hole refers to the distance between the centers of the circular arcs at the two ends of the slot hole, and the distance between the threads of the mounting threaded hole 76 refers to the distance between the centers of two adjacent mounting threaded holes 76 along the extension direction (i.e., the length direction) of the slot hole. In other words, the slot is understood as a rectangular slot having two ends respectively spliced with arc sections, and the rectangular length of the slot is longer than the distance between the centers of two adjacent mounting screw holes 76 in the slot extending direction, so that when the sealing plate 72 is fixed on the combination plate 71 by a bolt or the like, the position of the bolt in the slot can be adjusted to adjust the mounting distance of the fingers 73 to each other.

Preferably, the finger 73 is provided with a plurality of massaging contacts 75 of variable shape and size. Thus, different shapes and sizes of the massage contacts 75 can be set according to different modes of massage.

Preferably, the finger 73 is provided with a wireless touch sensor for detecting touch data, the wireless touch sensor is in data connection with the control system in the base 1 and transmits the detected touch data to the control system, and the touch data comprises at least one of pressure, position, temperature, humidity and vibration. Therefore, the state of the person to be massaged at present can be analyzed through measuring the pressure, the position, the temperature, the humidity and the vibration, and the massage mode can be adjusted in a self-adaptive mode.

Preferably, an electric heating element is provided on the finger 73 to adjust the surface temperature of the finger 73.

In particular, the electric heating member may be a heating resistance wire, so that the temperature of the surface of the hand can be changed by heating, and more comfortable massage can be achieved.

When the flexible massage robot is used, the flexible massage robot can be placed on a table top, and an intelligent transport robot (AGV) can be additionally arranged to move on the ground.

After a voice module in the flexible massage robot receives an instruction of a person, the target is identified and positioned through a binocular vision sensor, the positions and the poses of the first rotating mechanism 2, the linear mechanism 3, the cantilever structure 4, the second posture adjusting component 5 and the intelligent control part 6 are adjusted at the same time, the soft hand 7 is moved to a required position, the relative positions of the two paws are adjusted through the intelligent control part 6, the soft hand 7 reaches the target position, and then the air inlet pressure and the air inlet flow of the soft hand 7 are controlled by combining the intelligent control part 6, so that massage in different modes is realized. In addition, when the human body moves, the binocular vision sensor can actively follow, so that the soft hand 7 can massage.

The flexible massage robot of the embodiment has the following technical effects:

this flexible massage robot massages, and the software hand is made by the flexible material that can bear big meeting an emergency, more presses close to the soft characteristic of living beings, has continuous deformation and operating capability, can make oneself be in different forms through warping, has following advantage:

(1) the flexibility is greater. The mechanism of the flexible massage robot is to imitate the living things in the nature, the external material of the flexible massage robot is generally made of flexible composite materials, and the flexible operation of the flexible massage robot is increased.

(2) The flexibility is higher. Compared with the traditional robot which realizes one degree of freedom for each rigid connecting rod, the flexible massage robot is provided with a flexible actuator and a soft material outer skin, and has more degrees of freedom and continuous deformation capability.

(3) The safety is more reliable. The flexible massage robot is convenient to operate, safe and reliable user experience can be provided for people, and any secondary injury to tissues and organs of a human body can not be caused.

(4) The acupuncture point massage is accurate. The flexible massage robot realizes comprehensive understanding of human tissues and organs by implanting the intelligent chip, and can plan the whole massage track through human-computer interaction.

(5) The feedback information is more timely. By using an intelligent algorithm, the flexible massage robot outputs data in real time on the premise of ensuring the action consistency, makes certain analysis on the data and provides reasonable medical suggestions.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims

1. A flexible massage robot is characterized by comprising a base (1), a posture adjusting part, an intelligent control part (6) and a soft hand (7);

the posture adjusting part is arranged on the base (1) and is provided with a rotating frame (53) with an adjustable spatial position;

the intelligent control part (6) is arranged on the rotating frame (53) and can rotate around a first horizontal axis relative to the rotating frame (53), and the intelligent control part (6) is connected with the soft hand (7) to detect the position of the soft hand (7) and adjust the position and/or the deformation of the soft hand (7) according to a control signal generated based on the detected position.

2. The flexible massage robot according to claim 1, wherein the attitude adjustment section comprises:

a first attitude adjustment assembly rotatably disposed on the base (1) about a first vertical axis;

second posture adjustment subassembly (5), second posture adjustment subassembly (5) are connected on the first posture adjustment subassembly under the drive of first posture adjustment subassembly, can be relative base (1) moves along vertical direction and winds first vertical axis rotates, rotating turret (53) set up on second posture adjustment subassembly (5).

3. The flexible massage robot of claim 2, wherein the first attitude adjustment assembly comprises:

the linear mechanism (3) is connected with the base (1) through a first rotating mechanism (2) arranged on the base (1), and is driven by the first rotating mechanism (2) to rotate around the first vertical axis relative to the base (1);

cantilever structure (4), cantilever structure (4) are connected on rectilinear mechanism (3), and it is relative under the drive of rectilinear mechanism (3) base (1) moves along vertical direction, second gesture adjustment subassembly (5) are connected on cantilever structure (4).

4. The flexible massage robot according to claim 3, wherein the cantilever structure (4) comprises:

the first end of the first cantilever (41) is connected to the linear mechanism (3), and the first cantilever (41) is driven by the linear mechanism (3) to move in the vertical direction relative to the base (1);

a second boom (42), a first end of the second boom (42) being connected to a second end of the first boom (41), and the second boom (42) being rotatable about a second vertical axis relative to the first boom (41), the second attitude adjustment assembly (5) being connected to a second end of the second boom (42), and the second attitude adjustment assembly (5) being rotatable about a third vertical axis relative to the second boom (42).

5. The flexible massage robot according to any one of claims 2-4, wherein the second attitude adjustment assembly (5) comprises:

a mount (51), said mount (51) rotatably connected to said first attitude adjustment assembly about said third vertical axis;

the second rotating mechanism (52), the second rotating mechanism (52) is connected to the fixed frame (51), the rotating frame (53) is connected to the second rotating mechanism (52) and can rotate around a second horizontal axis under the drive of the second rotating mechanism (52), and the second horizontal axis is perpendicular to the first horizontal axis;

and the intelligent control part (6) is rotatably connected to the rotating frame (53) around the first horizontal axis through the third rotating mechanism.

6. The flexible massage robot according to claim 1, wherein the intelligent control part (6) comprises:

an intelligent control mounting housing (62), the intelligent control mounting housing (62) being rotatably connected to the turret (53) about the first horizontal axis;

a control drive disposed on the smart control mounting case (62);

and the transmission rod assembly is connected between the soft hand (7) and the control driving piece and can rotate around a fourth vertical axis under the driving of the control driving piece so as to drive the soft hand (7) to move.

7. The flexible massage robot of claim 6, wherein the control drive comprises:

the steering engine (64) is arranged on the intelligent control mounting shell (62);

the rotary table (63) is connected to the steering engine (64), and the transmission rod assembly is hinged to the rotary table (63).

8. The flexible massage robot according to claim 7, wherein the intelligent control part (6) further comprises a position detector (68), the position detector (68) being provided on the turntable (63) and detecting a rotation angle of the turntable (63) to determine the position of the soft hand (7) according to the rotation angle.

9. The flexible massage robot according to any one of claims 6-8, wherein the soft hand (7) comprises two independent paws, the transmission rod assembly comprises two transmission structures connected with the paws in a one-to-one correspondence, the transmission structures comprising:

a first mounting rod (65), a first end of the first mounting rod (65) being hinged to the control drive;

a second mounting rod (66), wherein the second mounting rod (66) is rotatably connected to the intelligent control mounting shell (62) around the fourth vertical axis through a first mounting shaft (661), a first end of the second mounting rod (66) is hinged to a second end of the first mounting rod (65), and a second end of the second mounting rod (66) is connected to the claw;

a third mounting rod (67), a first end of the third mounting rod (67) is rotatably connected to the intelligent control mounting shell (62) around a fifth vertical axis through a second mounting shaft (671), and a second end of the third mounting rod (67) is connected with the paw.

10. The flexible massage robot of claim 9, wherein the axial center of the first mounting shaft (661) and the axial center of the second mounting shaft (671) are located on the same horizontal straight line.

11. The flexible massage robot of claim 1, wherein the soft hand (7) comprises two independent paws, each of said paws comprising:

the combined plate (71), the combined plate (71) is connected with the intelligent control part (6), and the position of the combined plate is adjusted under the driving of the intelligent control part (6);

the combined plate comprises a finger (73), the finger (73) is connected to the combined plate (71), the ventilation end of the finger (73) is sealed through a sealing block (72), and a ventilation joint (74) communicated with the ventilation end of the finger (73) is arranged on the sealing block (72).

12. The flexible massage robot according to claim 11, wherein a plurality of massage contacts (75) of variable shape and size are provided on the finger (73).

13. The flexible massage robot according to claim 11, wherein a control system is provided in the base (1), and a wireless tactile sensor for detecting tactile data is provided on the finger (73), the wireless tactile sensor being in data connection with the control system and transmitting the detected tactile data to the control system, the tactile data comprising at least one of pressure, position, temperature, humidity and vibration.

14. The flexible massage robot according to claim 11, wherein an electric heating element is provided on the finger (73) to adjust the surface temperature of the finger (73).