Series-parallel structure-based massage executing device for head massage robot

Abstract

The invention relates to a series-parallel structure-based massage executing device for a head massage robot. The series-parallel structure-based massage executing device comprises a movable underframe, a four-DOF parallel mechanism and a massage head, wherein the four-DOF parallel mechanism is arranged just in the front of the movable underframe; and the massage head is fixed on the four-DOF parallel mechanism. Through cooperative application of the movable underframe and the four-DOF parallel mechanism, a series-parallel structure with high carrying capacity, high motion flexibility, high stability and small required motion space is built; motion of four-DOF directions of one translation and three rotations can be achieved by the four-DOF parallel mechanism; and the series-parallel structure-based massage executing device is good in motion effect, has various freedom of motion, comprehensive contact with the head and adjustable motion and rotation speeds, is wide in applicability, and can be used by people at different age, so that the massage effect of the series-parallel structure-based massage executing device is improved.

Description

technical field [0001] The invention relates to the field of intelligent machinery for medical care, in particular to a head massage robot massage execution device based on a hybrid structure. Background technique [0002] Massage is based on the theory of viscera and meridians of traditional Chinese medicine, combined with the anatomy and pathological diagnosis of Western medicine, and uses techniques or instruments to rub, knead or beat specific parts of the human body back and forth to adjust the physiological and pathological conditions of the body and achieve physical therapy. The method of purpose, in terms of nature, it is a physical therapy method. In terms of massage therapy, it can be divided into health massage, sports massage and medical massage; in terms of parts, massage can be divided into head massage, neck massage, etc. Massage, Waist Massage, Back Massage, Leg Massage, Foot Massage and more. [0003] The head is the place where all the yang meridians of th...

AI Technical Summary

Problems solved by technology

It can be seen that head massage plays an important role in people's health and daily medical care. At present, there are various massage execution parts of head massage equipment on the market, but only the appearance has changed, and there is no difference in essence. There are many differences, but there are generally the following disadvantages: (1) the massage of the head is not comprehensive, and most of them are small single-point contact head massage equipment, and the massage effect is not obvious; For vibration massage, the vibration frequency cannot be adjusted, so it is not suitable for long-term use; (3) The massage executive part has poor movement flexibility, less freedom of movement, and most of them are in series structure, and the movement stability is poor

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