An ultrasonic shoulder massage robot based on a six-degree-of-freedom parallel mechanism

Abstract

The invention relates to an ultrasonic shoulder massage robot based on a six-degree-of-freedom parallel mechanism. The ultrasonic shoulder massage robot comprises a lower platform, wherein six parallel branched chains are uniformly mounted on the upper end surface of the lower platform along the axis direction, and the upper ends of the six parallel branched chains are uniformly mounted on an upper platform; each parallel branched chain comprises a hollow lower threaded shaft the lower end of which is welded to the lower platform, a No.1 spherical hinge is mounted on each corresponding hollow lower threaded shaft through a thread connecting method, a No.1 sleeve is mounted on the upper end of each No.1 spherical hinge through a thread connecting method, a hydraulic cylinder is mounted on the upper end of each No.1 sleeve through a thread connecting manner, a No.2 sleeve is mounted on the upper end of each corresponding hydraulic cylinder through a thread connecting manner, a No.2 spherical hinge is mounted on the upper end of each No.2 sleeve through a thread connecting manner, a hollow upper threaded shaft is mounted on the upper end of each No.2 spherical hinge through a thread connecting manner, and each hollow upper threaded shaft is welded to the lower end surface of the upper platform. With the ultrasonic shoulder massage robot, the stable ultrasonic uniform massage function for the shoulders can be realized, and a novel path for the shoulder massage is provided.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to an ultrasonic shoulder massage robot based on a six-degree-of-freedom parallel mechanism. Background technique [0002] With the continuous improvement of people's living standards, phenomena such as reading books for a long time, facing computer screens, using mobile phones, and playing mahjong can be seen everywhere. The tense state has brought many ailments to people, such as cerebral hypoxia, headache, insomnia, dizziness, and nervous disorders. The existing way to solve these shoulder pains is mainly massage. Through effective massage of acupuncture points, the tension of the trapezius muscle of the shoulder can be relaxed and relieved, so as to relieve the patient's pain. [0003] The shoulder massage methods in the prior art are mainly manual massage or automatic massage equipment massage. The manual shoulder massage is mainly to massage the trapezius muscle of the should...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above problems, the present invention provides an ultrasonic shoulder massage robot based on a six-degree-of-freedom parallel mechanism, which can solve the problems of manually adjusting the massage position, cumbersome operation, and low work efficiency in the manual shoulder massage method, and can also solve the current problems. There are problems in the automatic shoulder massage method, such as non-adjustable massage height, small application range, non-adjustable massage force, small massage range, poor massage effect, vibration of the equipment during the massage process and poor massage stability, which can realize shoulder stability. Ultrasonic uniform massage function, and has adjustable massage height, wide application range, adjustable massage force, large massage range, good massage effect, no vibration during massage, good massage stability, no need to manually adjust the massage position, easy to operate and With the advantages of high work efficiency, it provides a new way of shoulder massage

Images