Bionic intelligent massage chair

Abstract

The invention relates to the technical field of fitness equipment, in particular to a bionic intelligent massage armchair which comprises an adjustable seat, a multi-axis mechanical arm, a bionic robot arm and a controller, the adjustable seat comprises a seat frame, a multi-section adjustable cushion and a driving motor, the multi-section adjustable cushion and the driving motor are installed on the seat frame, and the multi-axis mechanical arm is installed on the multi-section adjustable cushion. The relative angles of the multiple sections of adjustable pads are adjusted through a driving motor, then a straight chair, a deck chair or a flat bed form is formed, multi-shaft mechanical arm connecting bases are designed on the left side and the right side of the middle of the chair frame, multi-shaft mechanical arms are connected to the left side and the right side of the middle of the chair frame through the multi-shaft mechanical arm connecting bases, and each multi-shaft mechanical arm is connected with a bionic robot hand; the multi-axis mechanical arm and the bionic manipulator are electrically connected with the controller; compared with the prior art, the problems of poor massage flexibility, small massage range, low comfort and the like in the existing massage chair technology can be solved, and personalized and diversified massage requirements of users with different heights and different figures can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of fitness equipment, and in particular to a bionic intelligent massage chair. Background Art

[0002] Traditional massage chairs simulate manual massage through the mechanical movement of two or more massage balls on the massage mechanism. However, the massage effect of this mechanism is very different from that of a real human hand massage, and there are mainly the following deficiencies:

[0003] 1. The massage range and trajectory of the massage balls of the traditional mechanism are fixed, and there are still many parts of the human body that cannot be effectively massaged and relaxed.

[0004] 2. During the massage process of the massage balls of the traditional mechanism, there is a lack of effective real-time sensing feedback system support. The actions are too rigid and single, unable to achieve the flexibility of a human hand, unable to always maintain effective feedback like a human hand massage, and unable to make real-time adjustments according to the human body curve and muscle state to give fine massage angles, massage depths, and massage force adjustments.

[0005] 3. The shape of the massage balls of the traditional mechanism is single, unable to support the generation of more flexible massage techniques, and it is easy to use inappropriate massage techniques or inappropriately matched forces on certain parts, resulting in discomfort such as incomplete massage or soreness.

[0006] 4. Limited by the need for a guide rail structure to cooperate with the traditional massage mechanism, when using a massage chair on the market, the human body posture can only be selected between sitting and lying supine, and the prone position, which is more convenient for massage, cannot be selected. The massage is often limited to the back, starting from the bottom up on the back, unable to reach the front part of the human body. The hands, feet, and head are only massaged through simple actions such as squeezing by airbags and mechanical structures, and it is impossible to perform fine and diverse massages on the limbs and head like a real human massage. Summary of the Invention

[0007] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a bionic intelligent massage chair based on a bionic robotic hand and a multi-axis robotic arm, which can solve the problems of poor massage flexibility, small massage range, and low comfort in the existing massage chair technology, and can meet the personalized and diverse massage needs of users with different heights and body shapes.

[0008] To achieve the above object, a bionic intelligent massage chair is designed, which includes an adjustable seat 1, a multi-axis robotic arm 2, a bionic robotic hand 3 and a controller 4. The adjustable seat 1 includes a chair frame 101, a multi-section adjustable pad and a driving motor. The multi-section adjustable pad and the driving motor are installed on the chair frame 101. The multi-section adjustable pad adjusts the relative angle through the driving motor, and then forms the shape of a straight chair, a reclining chair or a flat bed. On both the left and right sides of the middle of the chair frame 101, there are multi-axis robotic arm connection seats 109, and the multi-axis robotic arm 2 is connected through the multi-axis robotic arm connection seats 109. A bionic robotic hand 3 is connected to each multi-axis robotic arm 2. The multi-axis robotic arm 2 and the bionic robotic hand 3 are respectively electrically connected to the controller 4.

[0009] Further, the multi-section adjustable pad of the adjustable seat 1 includes a seat cushion 102, a backrest group 103, a thigh group 104 and a calf group 105. The seat cushion 102 is fixed in the middle of the chair frame 101. One side of the seat cushion 102 is rotatably connected to the backrest group 103, and the other side of the seat cushion 102 is rotatably connected to the thigh group 104. The other side of the thigh group 104 is rotatably connected to the calf group 105.

[0010] Further, the driving motors of the adjustable seat 1 include a backrest group push rod motor 106, a thigh group push rod motor 107 and a calf group push rod motor 108. The backrest group push rod motor 106 and the thigh group push rod motor 107 are both installed and fixed on the chair frame 101. The telescopic end of the backrest group push rod motor 106 is connected to the backrest group 103, and the telescopic end of the thigh group push rod motor 107 is connected to the thigh group 104. The calf group push rod motor 108 is installed and fixed on the thigh group 104, and the telescopic end of the calf group push rod motor 108 is connected to the calf group 105.

[0011] Further, a backrest group push rod motor connection seat 110 and a thigh group push rod motor connection seat 111 are installed below the middle of the chair frame 101. The backrest group push rod motor 106 and the thigh group push rod motor 107 are respectively installed on the backrest group push rod motor connection seat 110 and the thigh group push rod motor connection seat 111.

[0012] Further, the thigh group 104 is composed of a thigh pad 112 and a thigh frame 113. Two push rod motor connectors one 114 are provided at the bottom of the thigh frame 113. The two push rod motor connectors one 114 are respectively connected to the thigh group push rod motor 107 and the calf group push rod motor 108. The calf group 105 is composed of a calf pad 115 and a calf frame 116. A push rod motor connector two 117 is provided at the bottom of the calf frame 116. The push rod motor connector two 117 is connected to the telescopic end of the calf group push rod motor 108. The backrest group 103 is composed of a backrest frame 118, a backrest pad 119, and a headrest 120. The backrest pad 119 is installed on the backrest frame 118. The headrest 120 is rotatably connected to the backrest frame 118. A push rod motor connector three 121 is provided at the bottom of the backrest frame 118. The push rod motor connector three 121 is connected to the telescopic end of the backrest group push rod motor 106.

[0013] Further, the multi-axis robotic arm 2 includes a base 201 and a plurality of robotic arm joints 202 mounted thereon. The base 201 is connected to the output end of a base motor 203 and is fixed to the multi-axis robotic arm connectors 109 on both sides of the middle of the chair frame 101 through the base motor 203. A shoulder motor 204 is installed between the base 201 and the robotic arm joint 202. Elbow motors 205 and wrist motors 206 are installed between the robotic arm joints 202. The base motor 203, the shoulder motor 204, the elbow motor 205, and the wrist motor 206 are all joint motors and are respectively electrically connected to a controller 4. The controller 4 is fixed under the massage chair seat.

[0014] Further, the bionic robotic hand 3 is detachably connected to the end of the multi-axis robotic arm 2. The bionic robotic hand 3 is used to simulate the human hand to perform massage operations. The bionic robotic hand 3 has a plurality of moving joints and integrates a plurality of force control micro servo motors inside. The main frame inside the bionic robotic hand 3 is made of aluminum alloy. The outer surfaces of the palm and the back of the hand of the bionic robotic hand 3 are made of silicone material. The fingertips and finger pads of the bionic robotic hand 3 are made of conductive silicone.

[0015] Further, bioelectric response sensors 303 are provided at the fingertips and finger pads of the bionic robotic hand 3. The bioelectric response sensors 303 analyze muscle tension and fatigue areas, capture sore point data by detecting the electromyogram signals or bioelectrical impedance of human muscles, and generate targeted massage programs in combination with AI algorithms; piezoresistive tactile sensors 304 are provided inside the fingertips and finger pads. The piezoresistive tactile sensors 304 generate an electric current by applying pressure to the tactile array, thereby achieving the effect of simulating human tactile feedback; external sensors are provided at the wrist position of the bionic robotic hand 3. The external sensors include a high-definition camera and an infrared camera, and the high-definition camera and the infrared camera are used to capture the user's body contour, analyze the body shape curve by combining image processing technology, and generate a 3D body shape model through visual data, thereby realizing massage path planning.

[0016] Further, the massage of the bionic robotic hand 3 is carried out in cooperation with internal sensors and external sensors. The internal sensors include position sensors, bending sensors and tension sensors. The internal sensors are used to enable the bionic robotic hand 3 to understand its own state, and calculate the strength and effect of the massaged part through algorithms; the external sensors include a high-definition camera and an infrared camera. In the pre-operation stage, the external sensors use proximal sensors to detect the distance between the body part and the bionic robotic hand 3. When the bionic robotic hand 3 touches the body part, the tactile sensors are used to provide information about the massaged part and the contact force, and the massage operation is adjusted immediately according to the information fed back by the internal sensors and external sensors.

[0017] Further, the control system of the controller 4 includes a microcomputer processor, an operation panel 5, a Bluetooth module and a communication interface. The microcomputer processor controls the movement trajectories, strength and speed of the multi-axis robotic arm 2 and the bionic robotic hand 3 according to the user's body data collected by the sensor system, thereby realizing personalized massage; when the user uses it, the corresponding massage mode is selected through the operation panel 5 or voice. The control system controls the bionic robotic hand 3 to perform massage according to the data collected by the sensor system, and adjusts the massage technique and strength immediately according to the feedback.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] (1) The massage chair of the present invention adopts modular multi-axis robotic arms, dexterous hand modules, tactile sensors, controllers, etc., and realizes various bionic action massages on various parts of the body by simulating the human hand;

[0020] (2) The chair frame of the massage chair of the present invention is composed of multiple adjustable components. Through the driving motor, the chair frame can be changed into different forms of chair or bed according to needs. Specifically, by changing the relative angles between the chair frame components, the different flexion and extension angles of the user's lower legs, thighs, and waist joints can be adjusted, forming different postures conducive to massage, and better cooperating with the dexterous hand massage;

[0021] (3) The dexterous hand of the present invention simulates the massage techniques of the human hand to perform whole-body bionic massage on users, meeting the personalized and diverse massage needs of users with different heights and body shapes, and providing a massage experience that is close to that of a real human hand and is more flexible and comfortable.

[0022] In summary, the present invention provides an intelligent bionic massage chair based on a bionic robotic hand and a multi-axis robotic arm. The multi-sensor cooperation combined with the AI algorithm solves the problems of poor massage flexibility, small massage range, and low comfort in the existing massage chair technology, and is worthy of popularization and application. [Description of the Drawings]

[0023] Figure 1 is the structural schematic diagram of the present invention Figure 1 (in the form of a straight chair);

[0024] Figure 2 is the structural schematic diagram of the present invention Figure 2 (in the form of a reclining chair);

[0025] Figure 3 is the structural schematic diagram of the present invention Figure 3 (in the form of a flat bed);

[0026] Figure 4 is the exploded view of the present invention;

[0027] Figure 5 is the exploded view of the adjustable seat of the present invention;

[0028] Figure 6 is the structural schematic diagram of the chair frame of the present invention;

[0029] Figure 7 is the structural schematic diagram of the thigh group of the present invention;

[0030] Figure 8 is the structural schematic diagram of the calf group of the present invention;

[0031] Figure 9 is the structural schematic diagram of the backrest group of the present invention Figure 1 ;

[0032] Figure 10 is the structural schematic diagram of the backrest group of the present invention Figure 2 ;

[0033] Figure 11 is the exploded view of the backrest group of the present invention;

[0034] Figure 12 is the structural schematic diagram of the installation structure of the push rod motor of the backrest group of the present invention;

[0035] Figure 13It is a schematic diagram of the installation structure of the thigh group push rod motor and the calf group push rod motor of the present invention;

[0036] Figure 14 It is a schematic diagram of the structure at the multi-axis robotic arm of the present invention;

[0037] Figure 15 It is a schematic diagram of the installation structure of the bionic robotic hand of the present invention;

[0038] Figure 16 It is a schematic diagram of the structure of the bionic robotic hand of the present invention Figure 1 ;

[0039] Figure 17 It is Figure 16 The partial enlarged view at A in;

[0040] Figure 18 It is a schematic diagram of the structure of the bionic robotic hand of the present invention Figure 2 ;

[0041] In the figure: 1, adjustable seat; 2, multi-axis robotic arm; 3, bionic robotic hand; 4, controller; 5, operation panel; 101, chair frame; 102, seat cushion; 103, backrest group; 104, thigh group; 105, calf group; 106, backrest group push rod motor; 107, thigh group push rod motor; 108, calf group push rod motor; 109, multi-axis robotic arm connecting seat; 110, backrest group push rod motor connecting seat; 111, thigh group push rod motor connecting seat; 112, thigh pad; 113, thigh frame; 114, push rod motor connecting seat one; 115, calf pad; 116, calf frame; 117, push rod motor connecting seat two; 118, backrest frame; 119, backrest pad; 120, headrest; 121, push rod motor connecting seat three; 201, base; 202, robotic arm joint; 203, base motor; 204, shoulder motor; 205, elbow motor; 206, wrist motor; 301, upper phalanx; 302, palm; 303, bioelectric response sensor; 304, piezoresistive tactile sensor; 305, wrist. [Detailed implementation manners]

[0042] As shown in the attached Figure 1 to the attached Figure 18As shown in the figure, the present invention provides a bionic intelligent massage chair, which includes an adjustable seat 1, a multi-axis robotic arm 2, a bionic robotic hand 3 and a controller 4. The adjustable seat 1 includes a chair frame 101, a multi-section adjustable pad and a driving motor. The multi-section adjustable pad and the driving motor are installed on the chair frame 101. The multi-section adjustable pad adjusts the relative angle through the driving motor, and then forms the shape of a straight chair, a reclining chair or a flat bed. On both the left and right sides of the middle part of the chair frame 101, there are multi-axis robotic arm connection seats 109, and the multi-axis robotic arm 2 is connected through the multi-axis robotic arm connection seats 109. A bionic robotic hand 3 is connected to each multi-axis robotic arm 2. The multi-axis robotic arm 2 and the bionic robotic hand 3 are respectively electrically connected to the controller 4.

[0043] The multi-section adjustable pad of the adjustable seat 1 includes a seat cushion 102, a backrest group 103, a thigh group 104 and a calf group 105. The seat cushion 102 is fixed in the middle of the chair frame 101. One side of the seat cushion 102 is rotatably connected to the backrest group 103, and the other side of the seat cushion 102 is rotatably connected to the thigh group 104. The other side of the thigh group 104 is rotatably connected to the calf group 105. The driving motors of the adjustable seat 1 include a backrest group push rod motor 106, a thigh group push rod motor 107 and a calf group push rod motor 108. The backrest group push rod motor 106 and the thigh group push rod motor 107 are both installed and fixed on the chair frame 101. The telescopic end of the backrest group push rod motor 106 is connected to the backrest group 103, and the telescopic end of the thigh group push rod motor 107 is connected to the thigh group 104. The calf group push rod motor 108 is installed and fixed on the thigh group 104, and the telescopic end of the calf group push rod motor 108 is connected to the calf group 105.

[0044] A backrest group push rod motor connection seat 110 and a thigh group push rod motor connection seat 111 are installed below the middle part of the chair frame 101. The backrest group push rod motor 106 and the thigh group push rod motor 107 are respectively installed on the backrest group push rod motor connection seat 110 and the thigh group push rod motor connection seat 111. The thigh group 104 is composed of a thigh pad 112 and a thigh frame 113. There are two push rod motor connection seats one 114 at the bottom of the thigh frame 113. The two push rod motor connection seats one 114 are respectively connected to the thigh group push rod motor 107 and the calf group push rod motor 108. The calf group 105 is composed of a calf pad 115 and a calf frame 116. There is a push rod motor connection seat two 117 at the bottom of the calf frame 116. The push rod motor connection seat two 117 is connected to the telescopic end of the calf group push rod motor 108. The backrest group 103 is composed of a backrest frame 118, a backrest pad 119 and a headrest 120. The backrest pad 119 is installed on the backrest frame 118. The headrest 120 is rotatably connected to the backrest frame 118. There is a push rod motor connection seat three 121 at the bottom of the backrest frame 118. The push rod motor connection seat three 121 is connected to the telescopic end of the backrest group push rod motor 106.

[0045] The multi-axis robotic arm 2 includes a base 201 and a plurality of robotic arm joints 202 mounted thereon. The base 201 is connected to the output end of a base motor 203 and is fixed to the multi-axis robotic arm connection seats 109 on both sides of the middle of the chair frame 101 through the base motor 203. A shoulder motor 204 is installed between the base 201 and the robotic arm joints 202, and elbow motors 205 and wrist motors 206 are installed between the robotic arm joints 202. The base motor 203, the shoulder motor 204, the elbow motors 205, and the wrist motors 206 are all joint motors and are respectively electrically connected to a controller 4, and the controller 4 is fixed under the massage chair seat.

[0046] The bionic robotic hand 3 is detachably connected to the end of the multi-axis robotic arm 2. The bionic robotic hand 3 is used to simulate the human hand to perform massage operations. The bionic robotic hand 3 has a plurality of moving joints and integrates a plurality of force-controlled micro servo motors inside. The main frame inside the bionic robotic hand 3 is made of aluminum alloy. The outer surfaces of the palm and back of the bionic robotic hand 3 are made of silica gel material, and the fingertips and finger pads of the bionic robotic hand 3 are made of conductive silica gel; bioelectrical response sensors 303 are arranged at the fingertips and finger pads of the bionic robotic hand 3. The bioelectrical response sensors 303 detect the electromyographic signals or bioelectrical impedance of human muscles, analyze the muscle tension and fatigue areas, capture the data of sore points, and generate a targeted massage program in combination with an AI algorithm; piezoresistive tactile sensors 304 are arranged inside the fingertips and finger pads. The piezoresistive tactile sensors 304 generate an electric current by applying pressure to the tactile array, thereby achieving the effect of simulating human tactile feedback; external sensors are arranged at the wrist position of the bionic robotic hand 3. The external sensors include a high-definition camera and an infrared camera, and the high-definition camera and the infrared camera are used to capture the user's body contour, analyze the body shape curve in combination with image processing technology, generate a 3D body shape model through visual data, and then achieve massage path planning.

[0047] The massage of the bionic robotic hand 3 is carried out in cooperation with internal sensors and external sensors. The internal sensors include position sensors, bending sensors, and tension sensors. The internal sensors are used to enable the bionic robotic hand 3 to understand its own state and calculate the strength and effect of the massaged part through an algorithm; the external sensors include a high-definition camera and an infrared camera. In the pre-operation stage of the external sensors, a proximal sensor is used to detect the distance between the body part and the bionic robotic hand 3. When the bionic robotic hand 3 touches the body part, the tactile sensor is used to provide information about the massaged part and the contact force, and the massage operation is adjusted immediately according to the information fed back by the internal sensors and the external sensors.

[0048] The control system of the controller 4 includes a microcomputer processor, an operation panel 5, a Bluetooth module, and a communication interface. The microcomputer processor controls the movement trajectory, strength, and speed of the multi-axis robotic arm 2 and the bionic robotic hand 3 according to the user's body data collected by the sensor system, thereby realizing personalized massage. When the user uses it, the corresponding massage mode is selected through the operation panel 5 or voice. The control system controls the bionic robotic hand 3 to perform massage according to the data collected by the sensor system, and adjusts the massage technique and strength immediately according to the feedback.

[0049] The following further describes the present invention in conjunction with the accompanying drawings and specific embodiments:

[0050] A bionic intelligent massage chair includes an adjustable seat, a multi-axis robotic arm, a bionic robotic hand (also called a bionic dexterous hand), a sensor system, and a control system. The working deployment forms of this bionic intelligent massage chair include a straight chair form, a reclining chair form, and a flat bed form, as shown in the attached Figure 1 to the attached Figure 3 figure.

[0051] As shown in the attached Figure 4 to the attached Figure 13 figure, the adjustable seat mainly consists of a chair frame, multiple adjustable cushions, and a drive motor. There are multi-axis robotic arm bases designed on both sides in the middle of the main frame. The adjustable components can make the chair frame change into different forms of chair or bed according to needs through the drive motor, thereby enabling the user's joints to stretch and bend, forming various comfortable sitting and lying postures conducive to massage to better cooperate with the dexterous hand massage. The chair frame is provided with a connecting seat for the push rod motor of the backrest group and a connecting seat for the push rod motor of the thigh group. The multi-axis robotic arm connecting seats are arranged in the middle positions on both the left and right sides. The push rod motor of the backrest group is arranged between the chair frame and the backrest group, the push rod motor of the calf group is arranged between the calf group and the thigh group, and the push rod motor of the thigh group is arranged between the chair frame and the thigh group. The thigh group consists of a large footrest and a large footpad, and a push rod motor connecting seat is arranged at the bottom of the large footrest. The calf group consists of a small footrest and a small footpad, and a push rod motor connecting seat is arranged at the bottom of the small footrest. The backrest group consists of a backrest frame, a backrest pad, and a headrest, and a push rod motor connecting seat is arranged at the bottom of the backrest frame.

[0052] As shown in the attached Figure 14 figure, the multi-axis robotic arm includes a total of six joint motors with different sizes of torque, namely a base motor, a shoulder motor, an elbow motor, and a wrist motor. It is fixed on the connecting bases on both sides in the middle of the massage chair, and the controller is fixed under the massage chair seat. This multi-axis robotic arm can also use the joint module motor to lower the threshold for building the bionic arm, and build a bionic arm with an arm length that meets the working range of the massage chair as needed, which can reach directly to the head and the soles of the feet. The bionic arm cooperates with the cooperative controller to achieve high-precision spatial positioning of the dexterous hand. The joint module (including a brushless torque motor, a low-voltage servo driver, a harmonic reducer, an encoder, and a brake) has a brake and can achieve power-off memory locking.

[0053] As shown in the attachedFigure 15 To Attachment Figure 18 As shown, regarding the bionic robot hand, in order to reduce maintenance costs, the dexterous hand of the massage chair can be a modular built-in dexterous hand; the dexterous hand is connected to the end of the mechanical arm through standard parts, so it is easy to replace; a dexterous hand with twelve motion joints can be used, which has a beautiful appearance, six force-controlled micro-servo motors integrated inside, and a position closed-loop control function with feedforward compensation. Combined with the force-position hybrid control algorithm, it can simulate the human hand to realize massage manipulation operations, and can simulate various massage techniques of the human hand, such as kneading, massage, and acupressure. The parts of the dexterous hand that contact the human body during massage are the upper knuckles and palm parts of the fingers; the internal main frame of the dexterous hand is designed to be aluminum alloy, and the fingertips and finger pulps that contact the human body are designed to be conductive silicone, and the outer surface of the palm and back of the hand is made of silicone material (hardness 30°); bioelectric response sensors are set at the fingertips and finger pulps and piezoresistive tactile sensors are set inside; external sensors are set at the position of the dexterous hand bowl, and the external sensors include high-definition cameras and infrared cameras.

[0054] Dexterous hand massage requires the cooperation of internal and external sensors. Internal sensors can make the dexterous hand better understand its own status. Internal sensors include position sensors, bending sensors and tension sensors, and the strength and effect of the massaged parts are calculated through algorithms. Tactile sensors are key components in dexterous hands that imitate human touch. By applying pressure to the tactile array, current is generated, and the software and hardware are coordinated to the highest-level algorithm, the effect of simulating human tactile feedback is achieved, that is, inputting touch and generating corresponding output.

[0055] External sensor In the pre-operation stage, the proximal sensor is used to detect the distance between the body part and the dexterous hand. When the dexterous hand touches the body part, the tactile sensor is used to provide more detailed information and contact force of the massage part. The dexterous hand adjusts the operation in real time according to the feedback from the internal and external sensors. Set the external sensor (such as the attached one) at the position of the dexterous hand cup. Figure 18 ), external sensors include high-definition cameras and infrared cameras, which use cameras or infrared cameras to capture the user's body contours, combine image processing technology to analyze body curves (such as height, shoulder width, waist circumference, back curve, etc.), and generate 3D body models through visual data to achieve "one thousand faces for one thousand people" massage path planning.

[0056] The bioelectric response sensor of the dexterous hand can detect the electromyographic signals or bioelectrical impedance of human muscles, analyze muscle tension and fatigue areas, and capture sore point data; it can also combine AI algorithms to generate targeted massage programs, such as deep kneading mode for users with lumbar spondylosis. Multi-sensor collaboration integrates multi-sensor data such as pressure, infrared, and vision, improves detection accuracy through algorithm fusion, and generates a user-specific "body shape-health" file to support long-term health tracking.

[0057] The control system of the present invention is composed of a microcomputer processor, an operation panel, a Bluetooth module, a communication interface, etc. The microcomputer processor controls the movement trajectory, strength, and speed of the multi-axis robotic arm and the bionic robotic hand according to the user's body data collected by the sensor system to achieve personalized massage. The microcomputer processor may have an intention recognition algorithm with precise sensitivity evolution, a dynamic memory learning strategy, a minimized classification error, and an incremental recognition function. When in use, the user only needs to sit on the massage chair or lie on the massage bed, and select the corresponding massage mode through the operation panel or voice. The control system will control the dexterous hand to perform massage according to the data collected by the sensor system, and adjust the massage techniques and strength immediately according to the feedback.

[0058] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. The standard parts used can be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machines, parts, and equipment all adopt conventional models in the prior art. The circuit connection adopts the conventional connection method in the prior art, and will not be elaborated here.

[0059] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A bionic intelligent massage chair, characterized in that: The invention comprises an adjustable seat (1), a multi-axis mechanical arm (2), a bionic mechanical hand (3) and a controller (4); the adjustable seat (1) comprises a seat frame (101), a multi-section adjustable cushion and a driving motor; the multi-section adjustable cushion and the driving motor are mounted on the seat frame (101); the multi-section adjustable cushion can adjust the relative angle through the driving motor to form a straight chair, a reclining chair or a flat bed; multi-axis mechanical arm connecting seats (109) are designed on both left and right sides of the middle of the seat frame (101); the multi-axis mechanical arm (2) is connected through the multi-axis mechanical arm connecting seats (109); each multi-axis mechanical arm (2) is connected to a bionic mechanical hand (3); the multi-axis mechanical arm (2) and the bionic mechanical hand (3) are respectively electrically connected to the controller (4).

2. The bionic intelligent massage chair according to claim 1, characterized in that: The multi-section adjustable cushion of the adjustable chair (1) comprises a seat cushion (102), a backrest group (103), a thigh group (104) and a calf group (105); the seat cushion (102) is fixed to the middle of the chair frame (101); one side of the seat cushion (102) is rotatably connected to the backrest group (103); the other side of the seat cushion (102) is rotatably connected to the thigh group (104); and the other side of the thigh group (104) is rotatably connected to the calf group (105).

3. The bionic intelligent massage chair according to claim 2, characterized in that: The driving motor of the adjustable chair (1) comprises a backrest group push rod motor (106), a thigh group push rod motor (107) and a calf group push rod motor (108); the backrest group push rod motor (106) and the thigh group push rod motor (107) are both mounted and fixed on the chair frame (101); the telescopic end of the backrest group push rod motor (106) is connected to the backrest group (103); the telescopic end of the thigh group push rod motor (107) is connected to the thigh group (104); the calf group push rod motor (108) is mounted and fixed on the thigh group (104); and the telescopic end of the calf group push rod motor (108) is connected to the calf group (105).

4. The bionic intelligent massage chair according to claim 3, characterized in that: A backrest group push rod motor connection seat (110) and a thigh group push rod motor connection seat (111) are installed at the lower middle part of the chair frame (101), and the backrest group push rod motor (106) and the thigh group push rod motor (107) are installed on the backrest group push rod motor connection seat (110) and the thigh group push rod motor connection seat (111) respectively.

5. The bionic intelligent massage chair as claimed in claim 3, characterized in that: The thigh group (104) is composed of a thigh pad (112) and a thigh frame (113), and two push rod motor connection seats (114) are arranged at the bottom of the thigh frame (113), and the two push rod motor connection seats (114) are respectively connected to the thigh group push rod motor (107) and the calf group push rod motor (108), and the calf group (105) is composed of a calf pad (115) and a calf frame (116), and the bottom of the calf frame (116) is provided with a push rod motor connection seat (117), and the push rod motor connection seat The second (117) is connected to the telescopic end of the calf group push rod motor (108); the backrest group (103) is composed of a backrest frame (118), a backrest cushion (119) and a headrest (120), the backrest cushion (119) is installed on the backrest frame (118), the headrest (120) is rotatably connected to the backrest frame (118), and the bottom of the backrest frame (118) is provided with a push rod motor connecting seat three (121), and the push rod motor connecting seat three (121) is connected to the telescopic end of the backrest group push rod motor (106).

6. The bionic intelligent massage chair according to claim 1, characterized in that: The multi-axis robotic arm (2) comprises a base (201) and a plurality of robotic arm joints (202) mounted thereon; the base (201) is connected to the output end of a base motor (203) and is fixed to a multi-axis robotic arm connection seat (109) on both sides of the middle of a chair frame (101) through the base motor (203); a shoulder motor (204) is installed between the base (201) and the robotic arm joint (202); an elbow motor (205) and a wrist motor (206) are installed between the robotic arm joints (202); the base motor (203), the shoulder motor (204), the elbow motor (205) and the wrist motor (206) are all joint motors and are electrically connected to a controller (4) respectively; the controller (4) is fixed under the seat of the massage chair.

7. The bionic intelligent massage chair according to claim 1, characterized in that: The bionic robot hand (3) is detachably connected to the end of the multi-axis robot arm (2); the bionic robot hand (3) is used to simulate a human hand to realize massage operation; the bionic robot hand (3) has a plurality of motion joints and is internally integrated with a plurality of force-controlled micro-servo motors; the internal main frame of the bionic robot hand (3) is made of aluminum alloy; the outer surface of the palm and back of the bionic robot hand (3) is made of silicone material; and the fingertips and finger pulps of the bionic robot hand (3) are made of conductive silicone.

8. The bionic intelligent massage chair according to claim 7, characterized in that: The bionic robot hand (3) is provided with bioelectric response sensors (303) at the fingertips and finger pulps. The bioelectric response sensors (303) detect the myoelectric signals or bioelectric impedance of human muscles, analyze muscle tension and fatigue areas, capture sore point data, and generate targeted massage programs in combination with AI algorithms; the fingertips and finger pulps are provided with piezoresistive tactile sensors (304). The piezoresistive tactile sensors (304) generate current by applying pressure to the tactile array, thereby achieving the effect of simulating human tactile feedback; the bionic robot hand (3) is provided with external sensors at the hand bowl position. The external sensors include a high-definition camera and an infrared camera. The high-definition camera and the infrared camera are used to capture the user's body contour, and the body curve is analyzed in combination with image processing technology. A 3D body model is generated through visual data, thereby achieving massage path planning.

9. The bionic intelligent massage chair according to claim 7, characterized in that: The bionic robot hand (3) cooperates with internal sensors and external sensors during massage. The internal sensors include position sensors, bending sensors and tension sensors. The internal sensors are used to enable the bionic robot hand (3) to understand its own state and to calculate the strength and effect of the massaged part through an algorithm. The external sensors include high-definition cameras and infrared cameras. In the pre-operation stage, the external sensors use proximal sensors to detect the distance between the body part and the bionic robot hand (3). When the bionic robot hand (3) contacts the body part, the tactile sensors are used to provide information about the massage part and the contact force, and the massage operation is adjusted in real time according to the information fed back by the internal sensors and the external sensors.

10. The bionic intelligent massage chair according to claim 1, characterized in that: The control system of the controller (4) comprises a microcomputer processor, an operation panel (5), a Bluetooth module and a communication interface. The microcomputer processor controls the movement trajectory, strength and speed of the multi-axis mechanical arm (2) and the bionic mechanical hand (3) according to the user's body data collected by the sensor system, thereby realizing personalized massage. When the user uses it, the corresponding massage mode is selected through the operation panel (5) or voice. The control system controls the bionic mechanical hand (3) to perform massage according to the data collected by the sensor system, and instantly adjusts the technique and strength according to the feedback.

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