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A robot massage head with variable stiffness based on magnetorheological fluid

A magnetorheological fluid and stiffness-changing technology, which is applied in vibration massage, kneading massage appliances, massage auxiliary products, etc., can solve the problems affecting massage comfort and massage effect, poor adaptability to the shape of the back of the human body, and controllable stiffness of the massage head. It can easily control the stiffness of the contact surface, achieve soft contact, and improve the massage effect.

Inactive Publication Date: 2021-07-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The analysis of the existing technology found that the massage robot has the problems of poor controllability of the massage head stiffness and poor adaptability to the shape of the back of the human body. These deficiencies will greatly affect the comfort and effect of massage

Method used

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  • A robot massage head with variable stiffness based on magnetorheological fluid
  • A robot massage head with variable stiffness based on magnetorheological fluid
  • A robot massage head with variable stiffness based on magnetorheological fluid

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Embodiment Construction

[0023] This embodiment is a robot massage head with variable stiffness based on magnetorheological fluid.

[0024] refer to Figure 1 to Figure 8 , this embodiment is based on the variable stiffness robot massage head of magnetorheological fluid, which consists of a linkage mechanism and a massage head assembly. The linkage mechanism is located on the side of the steering gear bracket and is used to connect the steering gear output shaft and the massage head assembly. The hinge linkage mechanism is driven by the steering gear to realize the downward movement; wherein, the linkage mechanism includes the transmission arm plate 1, the steering gear bracket 2, the steering gear output shaft 3, the U-shaped plate shaft 5, the U-shaped plate lower shaft 12, Lower bracket shaft 11, upper connecting rod 6, lower connecting rod 7, U-shaped plate 8 and steering gear; the steering gear is fixed on the steering gear bracket 2, and the steering gear output shaft 3 passes through the round ...

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Abstract

The invention discloses a robot massage head with variable stiffness based on magneto-rheological fluid, which is composed of a link mechanism and a massage head assembly; The head assembly and the hinge link mechanism are driven by the steering gear to realize the downward movement. The stiffness of the massage head assembly can be adjusted by adjusting the input current of the excitation coil; the magnetorheological fluid inside is solid-like during operation; when the massage force is too high, the stiffness of the massage head will change, and the surface shape of the magnetorheological fluid capsule will change with the massaging force. The massage head can realize various massage techniques such as tapping, pushing and kneading. The structure of the massage head is simple, and the stiffness of the contact surface is easy to control, which helps to improve the comfort and massage effect of the massage process. When in use, the stiffness control of the massage head and the massage requirements for different parts of the body can be realized by adjusting the current.

Description

technical field [0001] The invention relates to the technical field of massage robots and rehabilitation equipment, in particular to a robot massage head with variable stiffness based on magnetorheological fluid. Background technique [0002] With the improvement of people's requirements for the quality of life, massage health care has become an important means of treatment, relaxation and health care for the majority of people, especially middle-aged and elderly people, and patients with muscle, joint and bone diseases. However, due to the limited number of licensed massage therapists, unable to meet the market demand, massage robots came into being. Invention patent CN108721104A discloses "an intelligent massage robot", which includes a motion guidance system, a multi-joint mechanical arm, a hand-like massage device, a protection device, a base and a control unit. Invention patent CN 107648026 discloses "a massage head and a massage device including its massage head". The...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H23/02A61H7/00
CPCA61H7/007A61H23/006A61H23/02
Inventor 王文东孙铜森孟李梁超红秦雷
Owner NORTHWESTERN POLYTECHNICAL UNIV