Tap massaging robot

Abstract

The invention relates to a tap massaging robot. The tap massaging robot is characterized by comprising a control system, a stepping motor, a stepping motor driver, a coder, a three-degree-of-freedom rectangular coordinate manipulator, an infrared distance measuring sensor, an acceleration sensor, a tap massaging module, a control handle and a photoelectric limiting switch, the three-degree-of-freedom rectangular coordinate manipulator is provided with three movable shafts, each shaft is mainly composed of a linear module, each linear module is mainly composed of a ball screw, a U-shaped linear guide rail and a sliding seat, the control system comprises a computer, a movement control card and a matched terminal plate, and the tap massaging module is positioned on a Y shaft of the three-degree-of-freedom rectangular coordinate manipulator and comprises a cantilever beam, a massaging head, a vibration exciter and a connecting seat. A cantilever beam mechanism with certain rigidity is adopted, massaging strength and massaging frequency can be automatically adjusted according to different massaging positions, and secondary injury caused by massaging can be avoided.

Description

technical field [0001] The invention relates to the technical field of medical and health care equipment, in particular to a percussion massage robot. Background technique [0002] Traditional Chinese medicine massage has a long history in my country, and its unique therapeutic effect has been generally recognized. Percussion is one of the massage methods in traditional Chinese medicine massage. It has the functions of relaxing tendons and collaterals, promoting blood circulation and removing blood stasis, and harmonizing qi and blood. curative effect. Existing massage equipment is generally a vibration massage method, and its disadvantages are that the massage intensity is too large, which is not suitable for weak patients; the second is that the massage force applied by the massage equipment is rigid and impactful. operation, it is very easy to cause secondary injury to the patient. [0003] The utility model patent with the patent publication number CN201798892U disclo...

AI Technical Summary

Problems solved by technology

Existing massage equipment is generally a vibration massage method, and its disadvantages are that the massage intensity is too large, which is not suitable for weak patients; the second is that the massage force applied by the massage equipment is rigid and impactful. operation, it is very easy to cause secondary injury to the patient

[0003] The utility model patent with the patent publication number CN201798892U discloses a massage device with a percussion massage head. The percussion effect is realized by the percussion shaft with an eccentric wheel. When the motor is started, the eccentric wheel is driven to rotate to generate a percussion Hitting massage effect, its strength is completely controlled by the speed of the motor, and the strength cannot be relieved by changing its own mechanical structure. It can only reduce the speed of the motor. If the speed of the motor is too fast, it will exert a lot of massage force on the human body, and it will still No force feedback, easy to cause harm to the human body

Another example is that the invention patent with the publication number of CN102389364B discloses a gantry-style traditional Chinese medicine massage robot. Although it can complete a variety of massage techniques, in the percussion massage technique, it relies on the movement of the mechanical arm to drive the massage device to realize the percussion. The rigidity of the arm is relatively strong, and flexible massage cannot be realized. Although there is a pressure sensor in the massage device, when the massage force is too large during the massage process, the change of the force cannot be alleviated by changing its own mechanical structure

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