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Massage robot actuating mechanism

A technology of executive mechanism and robot, which is applied in kneading massage appliances, physical therapy, vibration massage, etc., can solve the problems that affect the active promotion of massage techniques, and meet the requirements of massage operation characteristics, good massage operation characteristics requirements, and high rigidity Effect

Inactive Publication Date: 2010-11-24
张家港科康智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But to this day, clinical treatment in major hospitals is still performed manually by a small number of experienced masseurs, and factors affecting massage effects (such as massage position, power and its changes, technique use, and psychological adjustment of patients, etc.) cannot be expressed in words. Accurate and quantitative description, thus affecting the active promotion of massage techniques

Method used

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Examples

Experimental program
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Effect test

Embodiment approach 1

[0023] as attached figure 1 Shown, the present invention comprises the mobile pair A (16) of two translation guide rails, the mobile pair B (17) of two translation guide rails, fixed platform (14), moving platform (9), parallel mechanism and plane rocker mechanism; A five-degree-of-freedom mechanical arm (19) is connected in series on two translational guide rails composed of the moving pair A (16) of the guide rail and the moving pair B (17) of the two translational guide rails, and the fixed platform (14) is fixed to the five-degree-of-freedom mechanical arm (19). connect.

[0024] The fixed platform (14) and the intermediate moving platform (9) are equipped with a parallel mechanism. The parallel mechanism includes active branch chain A, active branch chain B, auxiliary branch chain A and auxiliary branch chain B; active branch chain A and active branch chain B, auxiliary branch chain A and auxiliary branch chain B are symmetrically arranged on four platforms on the upper ...

Embodiment approach 2

[0030] combine figure 2 , the difference from Embodiment 2 is that the active branch A includes the moving pair A (4) of the active branch, the rotating pair B (6) of the active branch and the rotating pair A (5) of the active branch, and the active branch The moving pair A (4) of the chain, the rotating pair B (6) of the active branch chain and the rotating pair A (5) of the active branch chain are connected in sequence, and the moving pair A (4) of the active branch chain is fixed to the fixed platform (14) connection, the rotating pair A (5) of the active branch chain is fixedly connected with the moving platform (9); the active branch chain B includes the rotating pair D (12) of the active branch chain, the moving pair B (15) of the active branch chain, and the active branch chain The rotating pair C (11) of the branch chain, the rotating pair D (12) of the active branch chain, the moving pair B (15) of the active branch chain, and the rotating pair C (11) of the active b...

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Abstract

The invention discloses a massage robot actuating mechanism, and relates to the field of medical machines. A main mechanism is formed by serially connecting two translational guide rails with a five degree-of-freedom mechanical arm, a two degree-of-freedom parallel mechanism comprising a translational mechanism and a rotary mechanism, and a crank rocker mechanism. The massage robot actuating mechanism comprises a sliding pair A (16) of the two translational guide rails, a sliding pair B (17) of the two translational guide rails, a fixed platform (14), a moving platform (9), the parallel mechanism and a planer rocker mechanism. The two translational guide rails are matched with the two degree-of-freedom parallel mechanism comprising the translational mechanism and the rotary mechanism and the crank rocker mechanism to complete actions such as rolling, pressing, rubbing, vibrating and patting in massage manipulation together. The mechanism has the advantages of simple and compact structure, high rigidity, flexible rotation, good dynamic performance, large pivot angle of the moving platform, low degree of freedom, simple kinematics analysis and easy real-time control.

Description

technical field [0001] The invention relates to the field of medical machinery, in particular to a kind of two-degree-of-freedom parallel mechanism that utilizes two-translational guide rails with five degrees of freedom connected in series, one translation and one rotation, and a crank-rocker mechanism plus a three-dimensional force sensor and a control system. The robot can be used in traditional Chinese medicine massage, such as massage or massage for the elderly with waist and leg pain. It belongs to the research field of the space parallel robot and the crank-rocker mechanism in series with fully decoupled motion mechanism and the modernization of traditional Chinese medicine medical equipment. Background technique [0002] In 1999, my country entered into an internationally recognized aging society. The elderly population over 60 years old accounted for 10% of the country's total population. By the end of 2008, the national elderly population had increased to 169 millio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H7/00A61H23/02
Inventor 马履中陈修祥尹小琴许永根吴伟光杨启志
Owner 张家港科康智能科技有限公司
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