Soft massage robot

Abstract

The invention provides a flexible massaging robot. The flexible massaging robot comprises a base and a mechanical arm arranged on the base, wherein the mechanical arm comprises a first joint, a first trunk, a second joint, a second trunk, a third joint, a third trunk, a fourth joint and a fourth trunk which are connected in sequence, wherein the first joint is arranged on the base through a joint mounting base; the rotary axes of joint output shafts of the first joint and the third joint are positioned along the length direction of the mechanical arm; the rotary axes of joint output shafts of the second joint and the fourth joint are vertical to the length direction of the mechanical arm; each joint is provided with an elastic torque transmission module for transmitting torque through an elastic part. The flexible massaging robot has four degrees of freedom which are accordant with the degree of freedom distribution of a human arm, and can be used for simulating various massaging ways of a doctor; the structure of a human simulation arm can be accepted more easily by a user; moreover, by using the elastic torque transmission modules, the safety is ensured and the massaging operation is finished at high performance.

Description

technical field [0001] The invention relates to the field of robots, in particular to a flexible massage robot. Background technique [0002] Massage is a natural therapy that is non-drug, non-invasive, and non-toxic. Practice has proved that massage not only has a good therapeutic effect on many diseases such as orthopedics, internal medicine, surgery, gynecology, pediatrics, and five sense organs, but also has the functions of health care, disease prevention, and disease prolongation. At the same time, there is no inconvenience of taking medicine, no pain of acupuncture, and it is easy for patients to accept. However, as our country enters an aging society, the increasing demand for massage therapy and the relative shortage of professional massage personnel have become unsolvable contradictions between supply and demand. [0003] In order to solve the above contradictions, on the one hand, different types of home massage equipment such as massage instruments or massage c...

AI Technical Summary

Problems solved by technology

[0006] 2. The technique is single, the strength is uncontrollable, and the therapeutic effect is negligible

Therefore, the designed robot is more similar to special equipment, so that the recipient cannot really relax psychologically and physically, resulting in a greatly reduced massage effect

[0012] 3. It is inconvenient to install, debug and maintain

During maintenance, it is usually necessary to disassemble the circuit and the robot mechanism separately. The disassembly is more complicated, and sometimes the interface part is damaged due to inadvertent disassembly, resulting in poor replaceability of the robot and inconvenient maintenance.

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