CN203694079U - Master-slave massage robot - Google Patents
Master-slave massage robot Download PDFInfo
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- CN203694079U CN203694079U CN201320815037.0U CN201320815037U CN203694079U CN 203694079 U CN203694079 U CN 203694079U CN 201320815037 U CN201320815037 U CN 201320815037U CN 203694079 U CN203694079 U CN 203694079U
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Abstract
The utility model discloses a master-slave massage robot which comprises a main operation end and a driven end, and is characterized in that the main operation end comprises an operating board bottom plate, a three-dimensional force sensor, a press sleeve and a signal acquisition and processing card, wherein the three-dimensional force sensor is arranged in the center of the operating board bottom plate; the press sleeve is sheathed and connected with the upper end of the three-dimensional force sensor; the data is transmitted into the signal acquisition and processing card by the three-dimensional force sensor through a data line; the signal acquisition and processing card is arranged in a computer; the driven end comprises a massage press head, a mechanical arm, a stepping motor, a driver and a visual tracking system; the stepping motor is connected with a servo control card of the computer by the driver; an output end of the stepping motor is connected with the mechanical arm; the tail end of the mechanical arm is provided with the massage press head; the massage press head is connected with a pressure sensor; the massage press head and the visual tracking system are connected with the computer by an A/ D (analog to digital) converter. The master-slave massage robot has the advantages of being accurate in displacement and good in treatment effect.
Description
Technical field
This utility model belongs to electromechanical engineering technical field, is specifically related to a kind of principal and subordinate's massage robot.
Background technology
Along with China enters aging society, lumbago and skelalgia has become one of main slight illness of puzzlement old people.The fixation postures that modern society brain worker is long-term or faulty posture also easily cause lumbar muscle strain.Lumbar muscle strain is common clinical, frequently-occurring disease.Modern medicine there is no very sure curative effect to the treatment of primary disease, and adopts massage and the massotherapy curative effect of the traditional Chinese medical science obvious.
At present electric massage chair and electrical massage bed on the market, is all that rough imitation masseur's maneuver is carried out work, and the position of massage and massage strength are all by by massage person oneself assurance, and the effect that causes thus massage treatment is not fine.Though massage manipulation and the dynamics of more existing research institutions to robot is studied, realize the size of ACTIVE CONTROL massage force by force transducer, but do not consider different patients' the concrete patient's condition, its actual therapeutic effect still differs greatly compared with exper ienced Chinese traditional massage teacher.
Utility model content
This utility model is intended to overcome the defect of prior art, a kind of master-slave mode massage robot is provided, massage frequency and dynamics when recording doctor patient is treated realizing main operation end, the massage robot of driven end is the reproduction of doctor's massaging action, thereby obtains good therapeutic effect.
In order to solve the problems of the technologies described above, this utility model provides following technical scheme:
Principal and subordinate's massage robot, comprise main operation end and driven end, described main operation end comprises operating board base plate, three-dimensional force sensor, press sleeve, signals collecting and transaction card, bench board base plate center is provided with three-dimensional force sensor, three-dimensional force sensor upper end is socketed with press sleeve, three-dimensional force sensor transfers to signal in signals collecting and transaction card by data wire, and signals collecting and transaction card are loaded in computer; Described driven end, comprise massage pressure head, mechanical arm, motor, driver, visual pursuit's system, motor connects the servo controlling card of computer by driver, motor outfan is connected with mechanical arm, at the end of mechanical arm, massage pressure head is installed, massage is connecting pressure transducer on pressure head, and massage pressure head is connected with computer by A/D converter with visual pursuit system.
Further, described mechanical arm is made up of gear train, screw pair, two cradle heads and a linear joint, and a gear of gear train connects screw pair, and another gear of gear train is connected with photoelectric encoder.
Further, described visual pursuit system is by binocular camera and computer control.
Further, massage pressure head below is placed with massage couch.
Further, massage movable press head is to the massage mark of massaging clothes.
Compared with prior art, the utlity model has following beneficial effect:
This utility model has overcome traditional massage armchair and massage robot massage force is grasped the shortcomings such as bad, by veteran Chinese traditional massage Shi Jinhang teaching, can control rationally, exactly massage force and frequency, displacement accurately, improve therapeutic effect, alleviate doctor's duplication of labour amount, saved human resources, realized the tele-medicine object of medical enforcement.
Brief description of the drawings
Fig. 1 is the structural representation of the main operation end of this utility model principal and subordinate massage robot.
Fig. 2 is the principle schematic of the driven end of this utility model principal and subordinate massage robot.
Fig. 3 is the schematic diagram of the massage force control model of this utility model principal and subordinate massage robot.
Fig. 4 is the schematic diagram of the impedance Control square frame of this utility model massage robot.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein is only for description and interpretation this utility model, and be not used in restriction this utility model.
As shown in Figure 1, principal and subordinate's massage robot, comprise main operation end and driven end, described main operation end, comprise operating board base plate 1, three-dimensional force sensor 2, press sleeve 3, signals collecting and transaction card 4, operating board base plate 1 center is provided with three-dimensional force sensor 2, and three-dimensional force sensor 2 upper ends are socketed with press sleeve 3, three-dimensional force sensor 2 transfers to signals collecting and transaction card 4 by data wire 5 by signal, and signals collecting and transaction card 4 are loaded in computer.As shown in Figure 2, described driven end, comprises massage pressure head 6, mechanical arm 7, motor 8, driver 9, visual pursuit's system, for completing the input of main operation end motion signal, and the outputing to massage pressure head and realize the action of robot of drive control signal.Motor 8 connects the servo controlling card 14 of computer 10 by driver 9, motor 8 outfans are connected with mechanical arm 7, described mechanical arm 7 is made up of gear train 71, screw pair 72, two cradle heads and a linear joint, have 3 degree of freedom, can move on the interior any point of work space position.One gear of gear train 71 connects screw pair 72, and another gear of gear train is connected with photoelectric encoder 73.At the end of mechanical arm 7, massage pressure head 6 is installed, massage is connecting pressure transducer 11 on pressure head 6, and massage pressure head 6 is connected with computer by A/D converter 12 with visual pursuit system.Described visual pursuit system forms by the binocular camera 13 for measuring massage pressure head and patient acupuncture point gauge point relative position with for collection position signal the computer control that carries out image processing.Get from different directions the image of gauge point based on two cameras of diverse location with angle, by calculating the pixel value difference of a direction of this gauge point, obtain the true three-dimension coordinate of this impact point.Massage pressure head 6 belows are placed with massage couch 15.Massage pressure head 6 moves to the massage mark of massaging clothes.
The essential of exercise of the finger poking meridian method for the treatment of lumbar muscle strain indication is that thumb flicking is at acupuncture point or patient's position to be treated, taking wrist as fulcrum, do circumnutation by a small margin around Z axis, can be decomposed into along the movement of X, Y, Z axis direction, the realization of this massage manipulation action only needs 3 degree of freedom.Other Chinese traditional massage maneuver at least needs 3 degree of freedom of X, Y, Z axis can complete as the palm pressing maneuver, the fundamental hand work such as method, rolling manipulation of shaking.In order to realize the method for shaking, slap pressing maneuver, refer to the closed loop control of the massage strength of the massage manipulation such as poking meridian method and rolling manipulation, the control system of massage robot needs three-dimensional force sensor to carry out sensing detection and the feedback of strength.Use three-dimensional force sensor 2 can record the component of doctor's massage force X, Y, tri-directions of Z in the time that main operation end is pressed.Massage force signal imports in computer and processes through data wire 5 and signals collecting and transaction card 4.
Fig. 3 is massage robot massage force control model, its implementation process is as follows: the motion of motor driven gear group, photoelectric encoder detection position, speed, pass motion to massage pressure head by screw pair, pressure transducer detects contact force, the position detecting, speed and contact force are by servo controlling card and data collecting card collection and be input in impedance controller, impedance controller draws control signal by contrast expected force and feedback force, servo controlling card is sent to corresponding instruction, then amplify by driver, move with drive stepping motor, motor is followed the tracks of this ideal position by more accurate kinematic accuracy.
Fig. 4 is the impedance Control block diagram of massage robot, expect that the contact force Fo difference DELTA F that massage force Fi and pressure transducer detect obtains desirable position vector Xi by impedance controller, the difference DELTA X of the physical location vector Xo that Xi and encoder detect moves by step motor control system control massage robot, thereby human body soft tissue model is exerted pressure and realized the power control of massage.
When concrete use massage robot, doctor first finds massage patient's massage position (being massaging point) and puts on massaging clothes to patient according to the state of an illness, sticks massage labelling at acupuncture point place.After binocular camera real-time image acquisition, through computer program identification marking point, accurately obtain massage position, then carry out servo-drive, make to drive massage movable press head to target location by mechanical arm.
Doctor uses and refers to soft, palm massage manipulation teaching a period of time such as pressure on the press sleeve of operating side, and the information such as massage force signal and compression frequency are transferred to computer through data wire.Then mechanical arm drives massage pressure head to press patient's human body soft tissue, the pressure that force transducer gathers simultaneously, when massage strength reaches after main operation end doctor's massage force value, stop applying power, can control thus driven end and make it reappear doctor's compression frequency and dynamics.
The foregoing is only explanation embodiment of the present utility model; be not limited to this utility model; for a person skilled in the art; all within spirit of the present utility model and principle; any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (5)
1. principal and subordinate's massage robot, comprise main operation end and driven end, it is characterized in that, described main operation end comprises operating board base plate, three-dimensional force sensor, press sleeve, signals collecting and transaction card, bench board base plate center is provided with three-dimensional force sensor, three-dimensional force sensor upper end is socketed with press sleeve, and three-dimensional force sensor transfers to signal in signals collecting and transaction card by data wire, and signals collecting and transaction card are loaded in computer; Described driven end, comprise massage pressure head, mechanical arm, motor, driver, visual pursuit's system, motor connects the servo controlling card of computer by driver, motor outfan is connected with mechanical arm, at the end of mechanical arm, massage pressure head is installed, massage is connecting pressure transducer on pressure head, and massage pressure head is connected with computer by A/D converter with visual pursuit system.
2. principal and subordinate's massage robot according to claim 1, it is characterized in that, described mechanical arm is made up of gear train, screw pair, two cradle heads and a linear joint, and a gear of gear train connects screw pair, and another gear of gear train is connected with photoelectric encoder.
3. principal and subordinate's massage robot according to claim 1, is characterized in that, described visual pursuit system is by binocular camera and computer control.
4. principal and subordinate's massage robot according to claim 1, is characterized in that, massage pressure head below is placed with massage couch.
5. principal and subordinate's massage robot according to claim 1, is characterized in that, massage movable press head is to the massage mark of massaging clothes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320815037.0U CN203694079U (en) | 2013-12-12 | 2013-12-12 | Master-slave massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320815037.0U CN203694079U (en) | 2013-12-12 | 2013-12-12 | Master-slave massage robot |
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| CN203694079U true CN203694079U (en) | 2014-07-09 |
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| CN201320815037.0U Expired - Fee Related CN203694079U (en) | 2013-12-12 | 2013-12-12 | Master-slave massage robot |
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| CN (1) | CN203694079U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104523415A (en) * | 2014-11-24 | 2015-04-22 | 周维虎 | Suspension-type active joint and passive joint mixed traditional Chinese medicine massage robot |
| CN104523420A (en) * | 2015-01-23 | 2015-04-22 | 梁涛 | Online diagnosis and treatment device and online diagnosis and treatment method |
| CN104133406B (en) * | 2014-07-29 | 2016-08-31 | 合肥工业大学 | A kind of automatic control system adjusted for massage bed pressure |
| CN106890082A (en) * | 2016-03-10 | 2017-06-27 | 程瑜 | Intelligence is attacked a vital point manipulator |
| CN106943300A (en) * | 2016-03-10 | 2017-07-14 | 程瑜 | The method and system of acupuncture therapeutic health care body shaping |
| CN107898626A (en) * | 2017-12-20 | 2018-04-13 | 大连交通大学 | A kind of binocular vision acupoint positioning instrument and its method of work |
| CN109357797A (en) * | 2018-09-03 | 2019-02-19 | 奥佳华智能健康科技集团股份有限公司 | A kind of massage head torque investigating method and system |
| CN109718092A (en) * | 2018-12-28 | 2019-05-07 | 华中科技大学 | Thermosensitive moxibustion system and method based on articulated robot |
| CN110141498A (en) * | 2019-06-04 | 2019-08-20 | 辰耀智能装备(厦门)有限公司 | A kind of moxa-moxibustion smart collaboration robot and its operating method |
| CN110308682A (en) * | 2019-06-24 | 2019-10-08 | 西北工业大学 | A kind of back massage robot control system and method |
| CN113143749A (en) * | 2021-03-03 | 2021-07-23 | 珠海美佳音科技有限公司 | Acupoint massage device and massage control method thereof |
-
2013
- 2013-12-12 CN CN201320815037.0U patent/CN203694079U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104133406B (en) * | 2014-07-29 | 2016-08-31 | 合肥工业大学 | A kind of automatic control system adjusted for massage bed pressure |
| CN104523415A (en) * | 2014-11-24 | 2015-04-22 | 周维虎 | Suspension-type active joint and passive joint mixed traditional Chinese medicine massage robot |
| CN104523420A (en) * | 2015-01-23 | 2015-04-22 | 梁涛 | Online diagnosis and treatment device and online diagnosis and treatment method |
| CN104523420B (en) * | 2015-01-23 | 2016-11-09 | 梁涛 | A kind of online diagnosing and treating apparatus |
| CN106890082A (en) * | 2016-03-10 | 2017-06-27 | 程瑜 | Intelligence is attacked a vital point manipulator |
| CN106943300A (en) * | 2016-03-10 | 2017-07-14 | 程瑜 | The method and system of acupuncture therapeutic health care body shaping |
| CN107898626A (en) * | 2017-12-20 | 2018-04-13 | 大连交通大学 | A kind of binocular vision acupoint positioning instrument and its method of work |
| CN109357797A (en) * | 2018-09-03 | 2019-02-19 | 奥佳华智能健康科技集团股份有限公司 | A kind of massage head torque investigating method and system |
| CN109718092A (en) * | 2018-12-28 | 2019-05-07 | 华中科技大学 | Thermosensitive moxibustion system and method based on articulated robot |
| CN110141498A (en) * | 2019-06-04 | 2019-08-20 | 辰耀智能装备(厦门)有限公司 | A kind of moxa-moxibustion smart collaboration robot and its operating method |
| CN110308682A (en) * | 2019-06-24 | 2019-10-08 | 西北工业大学 | A kind of back massage robot control system and method |
| CN113143749A (en) * | 2021-03-03 | 2021-07-23 | 珠海美佳音科技有限公司 | Acupoint massage device and massage control method thereof |
| CN113143749B (en) * | 2021-03-03 | 2023-10-31 | 珠海美佳音科技有限公司 | Acupoint massage device and massage control method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20171212 |
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| CF01 | Termination of patent right due to non-payment of annual fee |