Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage

Abstract

The invention discloses a three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage. The three-degree-of-freedom series-parallel type robot for the traditional Chinese medicine manipulation and massage comprises a movable base plate, a lifting device, an in-parallel support and a massage enforcement division. The lifting device is used to adjust heights of the in-parallel support and the massage enforcement division, the in-parallel support is a 4 HRU type in-parallel mechanism of two degrees of freedom with one translation and one rotation, and the massage enforcement division can choose a profile modeling massage finger and a column type massage head to realize manipulation and massage movements by a man hand or an elbow portion and enforces the manipulation and massage movements such as vertical vibration massage, transverse tumbling, rotary massage and any combination based on the three basic massage modes to human body parts. The three-degree-of-freedom series-parallel type robot for the traditional Chinese medicine manipulation and massage can overcome the defects of the prior art and has three degrees of freedom with one translation and two rotations; the profile modeling massage finger can be adjusted with high flexibility and bio-fidelity and strong in adaptation towards the human body manipulation and massage parts; the three-degree-of-freedom series-parallel type robot for the traditional Chinese medicine manipulation and massage also has the advantages of being good in decoupling property of mechanism movements, steady and reliable in work, compact in structure, convenient to operate and maintain, high in safety and the like.

Description

technical field [0001] The invention relates to a traditional Chinese medicine massage massage robot, in particular to a three-degree-of-freedom mixed type traditional Chinese medicine massage massage robot, which belongs to the technical field of space robot mechanism and modernization of traditional Chinese medicine medical equipment. Background technique [0002] As for the name of Tuina massage, it is customarily called massage in the north, but it is mostly called massage in the south. The two are just the same meaning, but different names. Massage is a consistent appellation since ancient times, derived from the most commonly used techniques - pressing and rubbing. The term tuina was commonly used in children's massage in ancient times. Because children's bodies are weak and thin, they can only use gentle techniques such as pushing and holding, so it is called tuina, which is different from the massage techniques used by adults. That is to say, the massage technique i...

AI Technical Summary

Problems solved by technology

Domestic research on massage robots mainly includes: Chinese Patent No. 03132071.6 "A New Class of Traditional Chinese Traumatology Medical Massage Robot" discloses a hybrid five-degree-of-freedom parallel massage robot model; Chinese Patent No. 200510094463. The national patent discloses the patent of "a new series-parallel TCM massage robot" applied by Jiangsu University. This technical solution provides a robot that simulates the massage technique of a massage technician. It installs the "massage hand" on two translation-rotation parallel mechanisms On the platform, at the same time, the virtual fixed platform of the parallel mechanism is connected to the frame through the mobile pair, and the "massage hand" installed on the moving platform completes rolling, pushing, vibration, rubbing, clapping, rubbing and striking. However, it is still difficult to achieve the effect of traditional Chinese medicine massage therapy; the Chinese patent application number 201010597512.2 discloses a Chinese medicine massage massage robot, which is composed of a bed body, a space six-degree-of-freedom main body mechanism, and a massage hand. method, rubbing method, pushing method, wiping method, pressing method, pointing method, pinching method, clapping method, hitting method, playing method, rolling method, palm kneading, finger kneading, vibration method, shaking method, holding method, kneading method, Pulling method, dialing method, rubbing method, shaking method, pulling method, pulling method and other common one-handed and two-handed massage massage techniques; the Chinese patent "Intelligent Active Instrument Massage Method and Its Massage Robot" with application number 200410083661.1 adopts two levels The movement guide rail and the three-joint series mechanical arm realize the massage movement; the Chinese patent "automatic walking massage robot" with the application number of 200520015784 can realize the massage action of pressing or clapping by moving on the massage bed along the guide rail; the Chinese patent of the application number of 201010044834 " "Ashi acupoint diagnosis and massage robot" provides a kind of diagnosis and massage robot with good safety, which can operate on multiple parts of the human body widely distributed in a natural position, especially for the diagnosis and massage of Ashi acupoint; the application number is 200780034904 The Chinese patent "Kneading and rolling robot massage device" is converted into the movement of multiple curved massage heads depending on the curved track through the movement of the mounting parts along the curved track; the Chinese patent "Breast Massage Robot" with application numbers 200610137890.6 and 200510069440.3 "Provide a massage that completely imitates manual techniques to massage the breasts

The above-mentioned multi-degree-of-freedom massage or massage robots may have complex structures, too much freedom of movement, many power sources required, difficult control, or limited massage effects, so they cannot be popularized and applied.

[0007] In addition, there are also some instruments similar to simulated massage techniques on the market, but these instruments simulate only one technique, which can only play the role of relaxation, health care, relief and elimination of fatigue, and often fail to achieve the purpose of health care

More importantly, most of the existing massage devices focus on the design of the massage action, and the massage hands used are basically rigid massage hands, massage balls or other fixed-shaped profiling massage heads, which directly contact the human body and perform massage. The shape of the end device of the massage action is not changeable or adjustable, and its flexibility and simulation are very low, which is far from the effect of manual massage.

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