Full-automatic modular massage complete equipment, combined layout structure and control method

Abstract

The invention discloses full-automatic modular massage complete equipment, a combined layout structure and a control method. The mobile massage system comprises a mobile massage system control platform deck, a mobile mechanical arm control platform deck and a cable, and the mobile massage system control platform deck comprises a massage control cabinet, a massage operation control system, a wireless navigation system and a self-walking device arranged at the bottom of the massage control cabinet. Each movable mechanical arm control carrying platform comprises a mechanical arm control cabinet and a movable walking device controlled by a wireless navigation system, and each movable mechanical arm control carrying platform and each movable massage system control carrying platform are respectively provided with a data transmission interface matched with a cable. The device has the advantages that the complete equipment can be automatically moved to different massage beds for free combination according to requirements, one set of complete equipment can correspond to different massage beds, massage robots do not need to be arranged on all the massage beds, and therefore occupied space is reduced, and the acquisition cost is reduced.

Description

Technical Field

[0001] The invention relates to a massage robot, in particular to a full-automatic modular massage equipment set, a combined layout structure and a control method, belonging to the technical field of massage equipment. Background Art

[0002] Massage equipment usually includes a massage bed and a massage mechanical arm with a massage component (massage hand) arranged beside the massage bed (collectively referred to as a massage robot). During massage, the customer lies on the massage bed, and the mechanical arm drives the massage hand to massage various parts of the customer's body. In the prior art, each massage bed is equipped with one or more independently controlled massage robots, for example: Authorization announcement number: CN 114712129 B, the invention patent named a lying massage robot, the publication number is: 108143597A, and the invention patent application named a mobile massage robot, both disclose massage devices with different functions. According to these public documents, although they can indeed achieve the purpose of massage, they generally have the following defects: (1) Each massage bed is equipped with a corresponding immovable massage robot to form a complete set of massage equipment. Therefore, on the one hand, the complete set of massage equipment occupies a large massage space, and on the other hand, the massage robot of each set of massage equipment has an independent massage control system. The cost of the entire product is high and the purchase cost remains high; (2) The massage robot configured on each massage bed is equipped with massage components with specific functions to achieve massage of different parts. When different parts of the body need to be massaged, the massage robot or massage components need to be replaced continuously, which is complicated, the replacement efficiency is low, and the user experience is poor. (3) The end effector of the massage robot of each set of massage equipment can only be equipped with a single massage component, which has a single function, poor flexibility, and cannot be expanded. It cannot meet the diverse massage needs of users, further reducing the customer experience. Summary of the invention

[0003] The present invention is particularly aimed at the problems of single function, lack of flexibility and scalability of existing massage equipment, and provides a fully automatic modular massage equipment set, combined layout structure and control method that can realize free combination and multiple massage functions, thereby improving equipment flexibility and user experience.

[0004] In order to solve the above technical problems, the fully automatic modular massage robot of the present invention includes a mobile massage system control platform, at least one mobile mechanical arm control platform matched with the mobile massage system control platform, and cables arranged on different massage beds for enabling the mobile massage system control platform and each mobile mechanical arm control platform to communicate and be powered. The mobile massage system control platform includes a massage control cabinet, a massage operation control system arranged in the massage control cabinet, a wireless navigation system for navigating and controlling the mobile mechanical arm control platform, and a self-propelled device arranged at the bottom of the massage control cabinet. The mobile mechanical arm control platform includes a mechanical arm control cabinet equipped with a mechanical arm and a mobile walking device arranged at the bottom of the mechanical arm control cabinet and controlled by the wireless navigation system. Each mobile mechanical arm control platform and the mobile massage system control platform are also respectively provided with a data transmission interface matched with the cable. Each mobile mechanical arm control platform can follow the mobile massage system control platform under the navigation of the mobile massage system control platform and move synchronously to the required corresponding massage bed and be connected to the cable of the massage bed through the data transmission interface.

[0005] The end of the robotic arm is equipped with an end effector with a 3D depth sensing camera, and the end effector is hung with a massage component through a hanging plate.

[0006] The cable has a plurality of interface sockets, and each of the mobile robot arm control platform and the mobile massage system control platform can be plugged into different interface sockets through respective data transmission interfaces to realize mutual information transmission.

[0007] The massage component comprises a finger kneading massage module installed on the mounting plate as a main mount and a massage suction cup for adsorbing the auxiliary mount component.

[0008] The robot arm control cabinet is provided with a rotatable end automatic mounting device, on which different auxiliary load components are mounted. Through the movement of the robot arm, the auxiliary load components mounted on the end automatic mounting device can be selectively adsorbed onto the massage magnetic suction cup.

[0009] The auxiliary components include but are not limited to a shock wave device, a moxibustion device, a palm massager, a thermal therapy device, and a light therapy device.

[0010] The robot arm control cabinet is a nested lifting structure.

[0011] The top surface of the mobile massage operation control platform is provided with a display / control component.

[0012] A combined layout structure based on the above-mentioned fully automatic modular massage equipment set includes at least one massage room and at least one massage bed placed in each of the massage rooms and at least one fully automatic modular massage equipment set placed in the massage room. The mobile massage system in each set of the fully automatic modular massage equipment set controls the platform to issue navigation instructions so that the mobile mechanical arm matched with it can control the platform to move to the massage bed in the massage room to be controlled and communicate through cables.

[0013] A control method for the combined layout structure of the fully automatic modular massage equipment set as described above comprises the following steps: A. Establishing a wireless communication signal connection between the mobile massage system control platform and the required mobile robotic arm control platform by operating the display / control components of the fully automatic modular massage equipment set to be controlled; B. The mobile massage system controls the platform to move to the desired massage bed by controlling the mobile mechanical arm based on the wireless navigation system through wireless signals. At the same time, the mobile massage system controls the platform itself to move to the desired massage bed under the driving of its own self-propelled device. C. Connecting the mobile massage system control platform and the mobile mechanical arm control platform to different interface sockets of the massage bed through their respective data transmission interfaces to realize information transmission between them; D. Operate the display / control component again to execute the massage control command to perform massage. During the massage process, image information is collected through the 3D depth sensing camera.

[0014] The advantages of the present invention are: (1) A complete set of equipment consisting of a mobile massage system control platform and at least one mobile robotic arm control platform matched with the mobile massage system control platform is provided, and each mobile robotic arm control platform can follow the mobile massage system control platform under the navigation of the mobile massage system control platform and move synchronously to the required corresponding massage bed and be connected to the cable of the massage bed through a data transmission interface, so that the complete set of equipment can be automatically moved to different massage beds according to needs for free combination. One set of equipment can correspond to different massage beds, and there is no need to equip all massage beds with massage robots, thereby reducing space occupancy and lowering purchase costs.

[0015] (2) By controlling multiple mobile robotic arm control platforms through a mobile massage system control platform, different massage components can be mounted on the robotic arms on different mobile massage system control platforms. In addition to using a set of massage control systems to control multiple mobile robotic arm control platforms to achieve the purpose of reducing costs, different mobile robotic arm control platforms can also be used to carry different massage components, thereby achieving massage of different parts of the body, without the need to replace the massage robot or replace the massage components (main mounting).

[0016] (3) By setting a mounting plate with a main mounting position and a sub-mounting position on the end effector, in addition to the finger kneading massage module as the main mount, the massage magnetic suction cup can also be used to absorb different sub-mount components. Therefore, in addition to performing conventional massage operations on the finger kneading massage module as the main mount, completely different sub-mount components (for example: shock wave device, moxibustion device, palm massager, thermal therapy device and light therapy device, etc.) can be mounted through only one end effector, which greatly expands the range of different functions, meets the user's rich and diverse massage needs, greatly improves the user experience, and has excellent flexibility.

[0017] (4) By cooperating with the massage magnetic suction cup through the rotatable end automatic mounting device set on the robot arm control cabinet, the auxiliary load component mounted on the end automatic mounting device can be directly adsorbed onto the massage magnetic suction cup through the movement of the robot arm. Therefore, even if the auxiliary load component is replaced, the replacement efficiency is very high, which further improves the user experience.

[0018] (5) By combining and arranging the fully automatic modular massage equipment sets to form fully automatic modular massage equipment sets that can be used interchangeably in different massage room configurations, free and flexible use is achieved. Its clever use method is very flexible and greatly reduces product cost and use cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the fully automatic modular massage equipment in use state of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the control platform of the mobile massage system in the present invention; Figure 3 It is a schematic diagram of the exploded structure of the control platform of the mobile massage system of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the mobile robot arm controlling the carrier in the present invention; Figure 5 for Figure 4 A schematic diagram of the enlarged structure at point A; Figure 6 for Figure 4 A schematic diagram of the enlarged structure at B; Figure 7 It is a structural schematic diagram of the massage bed in the present invention; Figure 8 It is a three-dimensional structural schematic diagram of the combined layout structure of the fully automatic modular massage equipment set of the present invention; Fig. 9 It is a schematic diagram of the top view of the combined layout structure of the fully automatic modular massage equipment set of the present invention. DETAILED DESCRIPTION

[0020] The following is a further detailed description of the fully automatic modular massage equipment, combined layout structure and control method of the present invention in conjunction with the accompanying drawings and specific embodiments. Example

[0021] As shown in the figure, the fully automatic modular massage equipment set of this embodiment includes a mobile massage system control platform 2, two mobile mechanical arm control platforms 1 matched with the mobile massage system control platform 2, and cables 3 arranged on different massage beds for communicating between the mobile massage system control platform and each mobile mechanical arm control platform. In this embodiment, the cables 3 on each massage bed have three interface sockets 13, and the two mobile mechanical arm control platforms 1 and the mobile massage system control platform 2 are also respectively provided with data transmission interfaces matched with the cables 3. Preferably, the interface sockets 13 and the data transmission interfaces of the mobile massage system control platforms adopt conventional magnetic structures to improve docking efficiency. When the mobile massage system control platform 2 and the two mobile mechanical arm control platforms 1 move to a certain massage bed, each mobile mechanical arm control platform 1 and the mobile massage system control platform 2 can be respectively plugged into one of the interface sockets through their respective data transmission interfaces to realize the transmission of information between each other; the mobile massage system control platform 2 includes a massage control cabinet 4, a massage operation control system 5 arranged in the massage control cabinet, a wireless navigation system for navigating and controlling the mobile mechanical arm control platform, and a self-propelled device 6 arranged at the bottom of the massage control cabinet, and the top surface of the mobile massage operation control platform 2 is also provided with a display / control component 19, and the display / control component 19 can be a massage control cabinet. 4, a display / control panel fixedly mounted on the top, or a tablet computer placed on the massage control cabinet, which communicates with the massage operation control system in a wireless manner; the mobile mechanical arm control platform 1 includes a mechanical arm control cabinet 8 equipped with a mechanical arm 7 and a mobile walking device 9 arranged at the bottom of the mechanical arm control cabinet 8 and controlled by a wireless navigation system. The self-propelled walking device 6 and the mobile walking device 9 are both conventional walking mechanisms and have their own walking control systems. The walking control system of the mobile walking device 9 is controlled by the wireless navigation system of the mobile massage operation control platform 2. Of course, the mobile mechanical arm control platform 1 and the mobile massage system control platform 2 are both equipped with a battery system that can realize It is now movable without plugging in electricity. In addition, a socket can also be provided on the side of the massage bed. At this time, a plug is connected to the cable 3, and the plug is connected to the socket to realize power supply to the mobile mechanical arm control platform 1 and the mobile massage system control platform or power supply to the battery system; the end of the mechanical arm 6 is equipped with an end effector 10 with a 3D depth camera, and the end effector 10 is mounted with a massage component 12 through a mounting plate 11. The massage component 12 includes a finger kneading massage module 23 installed on the mounting plate 11 as the main mount and a massage magnetic suction cup 14 for adsorbing the auxiliary load components, wherein the auxiliary load components include but are not limited to a shock wave device 16, a moxibustion device 17, a palm massager 18, a thermal therapy device, and a light therapy device, etc.;When in use, each mobile mechanical arm control platform 1 can follow the mobile massage system control platform 2 under the navigation to move synchronously to the required corresponding massage bed and be connected to the cable 3 of the massage bed through the data transmission interface. ;

[0022] Furthermore, the robot control cabinet 8 is provided with a rotatable terminal automatic mounting device 15. Specifically, the terminal automatic mounting device 15 includes a turntable 28 driven to rotate by a driving device, a turntable 24 fixedly mounted on the turntable, and a plurality of clamping grooves 25 arranged around the edge of the turntable. The terminal automatic mounting device 15 is mounted with different auxiliary load components through different clamping grooves. The driving device is a conventional driving motor and matching driving components and is installed in the robot control cabinet 8. Through the action of the robot arm, the auxiliary load components mounted on the terminal automatic mounting device 15 can be adsorbed onto the massage suction cup 14 (preferably a massage magnetic suction cup).

[0023] Furthermore, the robot control cabinet 8 can also be designed as a nested lifting structure. The nested lifting structure is also a conventional structure. As long as the robot control cabinet 8 can be lifted and lowered, the present embodiment does not limit it. For example, the robot control cabinet 8 can be set as a fixed shell 26 and a lifting shell 27 placed in the fixed shell. The lifting shell is driven to lift and lower by a cylinder. Through the design of the lifting structure, the height of the robot arm can be adjusted, thereby further improving the maneuverability.

[0024] In addition, for the movement of the mobile robotic arm control platform 1 and the mobile massage system control platform 2, in order to improve the positioning accuracy, the self-propelled device 6 and the mobile walking device 9 can adopt the walking mechanism of the AGV trolley, so that when the equipment is installed, the entire environment is scanned and modeled, and a map is generated and stored in the control system of the walking mechanism of the AGV trolley; the movement command is issued through the tablet computer, and when the walking mechanism of the AGV trolley receives the movement command, the control system calculates, plans and analyzes according to the stored operation map and the current position and driving direction of the walking mechanism of the AGV trolley, selects the best driving route, and automatically controls driving and steering. When the AGV arrives at the designated position and stops accurately, the mobile robotic arm control platform 1 and the mobile massage system control platform and the interface sockets on the massage bed will automatically dock to realize charging, power supply and signal transmission; after the massage is completed, you can choose to start the walking mechanism of the AGV trolley and drive to the standby area. Example

[0025] The present embodiment is a combined layout structure based on the fully automatic modular massage equipment set in the first embodiment, which includes at least one massage room 20, at least one massage bed 21 placed in each massage room, and at least one fully automatic modular massage equipment set 22 placed in the massage room. The mobile massage system in each set of fully automatic modular massage equipment set 22 controls the carrier 2 to issue navigation instructions, which enables the mobile mechanical arm matched with it to control the carrier 1 to move to the massage bed in the desired massage room, and to communicate and power it through cables. As can be seen from the figure, in the present embodiment, two massage rooms 20 are included, one of which has a massage bed, and the other has two massage beds, and at the same time, a set of fully automatic modular massage equipment is placed in both massage rooms. Example

[0026] This embodiment is a control method for the combined layout structure of the fully automatic modular massage equipment set based on the second embodiment, and it includes the following steps: A. Establishing a wireless communication signal connection between the mobile massage system control platform 2 and the mobile mechanical arm control platform 1 to be controlled by operating the display / operation panel of the fully automatic modular massage equipment set 22 to be controlled; B. The mobile massage system controls the platform 2 to move to the desired massage bed by controlling the mobile mechanical arm based on the wireless navigation system through wireless signals. At the same time, the mobile massage system controls the platform 2 itself to move to the desired massage bed under the drive of its own self-propelled device 6. C. Connecting the mobile massage system control platform 2 and the mobile mechanical arm control platform 1 to different interface sockets of the massage bed through their respective data transmission interfaces to realize information transmission between them; D. Operate the control panel again to execute the massage control instructions to perform massage. During the massage, the 3D depth camera collects image information, and the operator operates through the tablet computer. The customer can also view the massage status in real time through the tablet computer, including but not limited to.

[0027] Furthermore, an infrared component is provided at the end of the extended robotic arm 7 for positioning point movement. The generated massage points are projected onto the back, and the operator can directly adjust the points on the back. The operator can also wear AR glasses to achieve operations combining virtual and reality.

[0028] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A fully automatic modular massage equipment set, characterized by: The invention comprises a mobile massage system control platform (2), at least one mobile mechanical arm control platform (1) matched with the mobile massage system control platform, and cables (3) arranged on different massage beds for connecting the mobile massage system control platform and each of the mobile mechanical arm control platforms for communication and power supply. The mobile massage system control platform (2) comprises a massage control cabinet (4), a massage operation control system (5) arranged in the massage control cabinet, a wireless navigation system for navigation control of the mobile mechanical arm control platform, and a self-propelled device (6) arranged at the bottom of the massage control cabinet. The platform (1) comprises a robot arm control cabinet (8) equipped with a robot arm (7) and a mobile walking device (9) arranged at the bottom of the robot arm control cabinet (8) and controlled by a wireless navigation system. Each of the mobile robot arm control platforms (1) and the mobile massage system control platform (2) is also provided with a data transmission interface matched with a communication cable (3). Each of the mobile robot arm control platforms (1) can follow the mobile massage system control platform under the navigation of the mobile massage system control platform (2) and move synchronously to a desired corresponding massage bed and be connected to the cable (3) of the massage bed through the data transmission interface.

2. The fully automatic modular massage robot according to claim 1, characterized in that: The end of the mechanical arm (7) is equipped with an end effector (10) having a 3D depth sensing camera, and the end effector (10) is hung with a massage component (12) via a hanging plate (11).

3. The fully automatic modular massage robot according to claim 1 or 2, characterized in that: The cable (3) has a plurality of interface sockets (13), and each of the mobile mechanical arm control platform (1) and the mobile massage system control platform (2) can be plugged into different interface sockets via respective data transmission interfaces to achieve mutual information transmission.

4. The fully automatic modular massage robot according to claim 2, characterized in that: The massage component (12) comprises a finger kneading massage module (23) installed on the mounting plate (11) as a main mount, and a massage magnetic suction cup (14) for adsorbing a secondary mount component.

5. The fully automatic modular massage robot according to claim 4, characterized in that: The mechanical arm control cabinet (8) is provided with a rotatable terminal automatic mounting device (15), and different auxiliary load components are mounted on the terminal automatic mounting device (15). Through the movement of the mechanical arm, the auxiliary load components mounted on the terminal automatic mounting device (15) can be selectively adsorbed onto the massage magnetic suction cup (14).

6. The fully automatic modular massage robot according to claim 5, characterized in that: The auxiliary components include, but are not limited to, a shock wave device (16), a moxibustion device (17), a palm massager (18), a thermal therapy device, and a phototherapy device.

7. A fully automatic modular massage robot according to claim 1, 2, 4, 5 or 6, characterized in that: The mechanical arm control cabinet (8) is a nested lifting structure.

8. The fully automatic modular massage robot according to claim 1, characterized in that: A display / control component (19) is provided on the top surface of the mobile massage operation control platform (2).

9. A combined layout structure based on the fully automatic modular massage equipment set according to any one of claims 1 to 8, characterized in that: The invention comprises at least one massage room (20), at least one massage bed (21) placed in each of the massage rooms, and at least one fully automatic modular massage equipment set (22) placed in the massage room. The mobile massage system control platform (2) in each of the fully automatic modular massage equipment sets (22) issues a navigation instruction, so that the mobile mechanical arm control platform (1) matched therewith can be moved to the massage bed in the desired massage room and communicated with via a cable.

10. A method for controlling the combined layout structure of the fully automatic modular massage equipment set as claimed in claim 9, characterized in that: The following steps are involved: A. establishing a wireless communication signal connection between the mobile massage system control platform (2) and the mobile mechanical arm control platform (1) to be controlled by operating the display / control component (19) of the fully automatic modular massage equipment set (22) to be controlled; B. The mobile massage system control platform (2) controls the mobile mechanical arm control platform (1) to move to the desired massage bed through wireless signals based on the wireless navigation system. At the same time, the mobile massage system control platform (2) itself is also driven by its own self-propelled device (6) to move to the desired massage bed. C. plugging the mobile massage system control platform (2) and the mobile mechanical arm control platform (1) into different interface sockets of the massage bed through their respective data transmission interfaces to achieve mutual information transmission; D. Operate the display / control component (19) again to execute the massage control command to perform massage, and collect image information through the 3D depth sensing camera during the massage process.

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