Chinese massage robot

A robot and TCM technology, applied in the mechanization of TCM massage, the research on the modernization of space robot mechanisms and TCM medical equipment, and the field of automation devices. , massage physicians are easily fatigued, etc., to achieve the effect of good system decoupling and dynamic characteristics, huge economic and social benefits, and light weight

Inactive Publication Date: 2011-05-18
扬中中科维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

At present, traditional Chinese medicine massage is mainly manual massage, which is labor-intensive, and massage doctors are prone to fatigue. The curative effect of massage mainly depends on the technical proficiency, experience and techniques of massage doctors. It is difficult to summarize, inherit, popularize and apply massage techniques with good curative effect, which seriously hampers the development of TCM massage industry

Method used

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Experimental program
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Effect test

Embodiment approach 1

[0017] as attached figure 1 , figure 2 , image 3 As shown, the present invention includes linear guide rail and drive 1, slider frame 2, rotating pair A 3, control motor 4, active link A 5, driven link A 6, active link B 7, driven link B 8. Active connecting rod C 9, driven connecting rod C 10, driving connecting rod D 11, driven connecting rod D 12, single universal joint 13, cylinder pair 14, massage hand 15, bed body 16, tablet computer control System 17, binocular vision sensor 18, infrared human body acupoint sensor 19, wherein massage hand 15 includes anti-reverse double crank mechanism 20, palm force sensor 21, vibration motor 22, palm and single finger 23, kneading method drive motor 24, finger Back force sensor 25, passive wide finger 26, gear mechanism 27, finger drive motor 28, active narrow finger 29, tip force sensor 30, massage mobile phone holder 31, single finger force sensor 32, swing cam mechanism 33, cam drive motor 34 , Revolving pair B 35.

[0018] L...

Embodiment approach 2

[0021] as attached figure 1 , figure 2 , image 3 , Figure 4 As shown, the difference between this embodiment and Embodiment 1 is: respectively in the active link A 5, the driven link A 6, the active link B 7, the driven link B 8, the active link C 9, the driven link Connecting rod C 10, driving connecting rod D 11, driven connecting rod D 12, cylinder pair 14 outer walls, and rotating secondary shaft between driven connecting rod A 6 and driven connecting rod B 8 balance masses 36 are installed to make space The main mechanism of the six-degree-of-freedom massage massage robot is completely statically balanced, which improves the safety of the system, reduces the volume and weight, and reduces the power and size of the drive motor.

Embodiment approach 3

[0023] as attached Figure 5 As shown, the difference between this embodiment and Embodiments 1 and 2 is that two sets of space six-degree-of-freedom main mechanisms and massage hands 15 described in Embodiments 1 and 2 are symmetrically arranged in the length direction of the bed body 16 to form a pair of massage hands. The massage massage robot, under the unified control of the tablet computer control system 17, uses two massage hands to perform traditional Chinese medicine massage, improves the efficiency of massage massage, and performs massage massage that requires two-handed manipulations such as rubbing, shaking, pulling, and stretching.

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Abstract

The invention discloses a Chinese massage robot, relating to the field of Chinese massage mechanical and automatic devices. The Chinese massage robot is characterized by comprising a bed body (16), a spatial six degrees of freedom main body mechanism and a massage hand (15) and can realize a palm-rubbing technique, a scrubbing method, a pushing manipulation, a wiping manipulation, a pressing manipulation, a pointing method, a finger-nail pressing method, a clapping method, a striking method, a rebounding method, a rolling method, a palm-kneading method, a finger-kneading method, a tremble manipulation, a shaking manipulation, a holding method, a kneading method, a plucking method, a pushing method, a twisting method, a pulling and turning method, a stretching method and other general single-hand and dual-hand massage methods. The invention has the advantages of simple structure, high rigidity, small size, light weight, low cost, large motion space, sensitive and quick action, favorable decoupling, real-time and dynamic response characteristics of system control, and the like.

Description

technical field [0001] The invention relates to the field of mechanization and automation of traditional Chinese medicine massage and massage, and belongs to the research field of space robot mechanism and modernization of traditional Chinese medicine medical equipment. Background technique [0002] Traditional Chinese massage massage is to stimulate the skin, muscles, joint nerves, blood vessels and lymph of the human body through various techniques, promote local blood circulation, improve metabolism, thereby promoting the body's natural disease resistance and promoting the absorption of inflammatory exudates. , relieve muscle spasms and pains. Tuina massage is good at relaxing tendons and collaterals, promoting blood circulation and dissipating blood stasis, reducing swelling and relieving pain, so it is most commonly used in traumatic diseases and various pain syndromes. At present, traditional Chinese medicine massage is mainly manual massage, which is labor-intensive,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H7/00A61H23/06A61H39/04
Inventor 陈修祥桑鹏刘正浩费琪源马履中
Owner 扬中中科维康智能科技有限公司
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