Massage device for hip massage robot based on redundant drive double parallel mechanisms

Abstract

The invention relates to a massage device for a hip massage robot based on redundant drive double parallel mechanisms. The massage device comprises a lower support plate, an upper support plate, left and right side plates, front and back side plates, six-degrees-of-freedom massage actuators and three-degrees-of-freedom massage actuators, wherein the lower support plate is formed in a manner that four rectangular plates are spliced to form an arc-shaped structure, the four rectangular plates are connected through hinges, the upper support plate is positioned just above the lower support plate, the left and right side plates are positioned between the lower support plate and the upper support plate, the front and back side plates are respectively positioned just in front of and just behind the left and right side plates, the six-degrees-of-freedom massage actuators are symmetrically mounted at the middle positions of the lower support plate, and the three-degrees-of-freedom massage actuators are respectively positioned on the left and right sides of the six-degrees-of-freedom massage actuators. The massage device can extend and draw back integrally, is good in flexibility and small in floor area, can massage the hip of the human body, can generate different massage forces according to the different massage parts of the hip, and is comprehensive in massage contact face and obvious in massage effect, so that the hip massage comfort level is improved.

Description

technical field [0001] The invention relates to the field of medical and health care intelligent machinery, in particular to a massage device for a buttocks massage robot based on a redundant drive double-parallel mechanism. 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, Hip Massage, Leg Massage, Foot Massage and more. [0003] When people...

AI Technical Summary

Problems solved by technology

[0004] It can be seen that the buttocks massage plays an important role in people's health and daily medical care. However, the current buttocks massage related equipment has incomplete massage contact, ineffective massage effect, uneven massage force, and insufficient massage execution space. Large size, low bearing capacity, etc. At the same time, the massage force produced by hip massage for different parts of the buttocks is the same, but the force required for different parts of the buttocks is different, causing people to feel uncomfortable when receiving buttocks massage

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