Back automatic massaging device

Abstract

The utility model provides a kind of back automatic massage device, it includes massage bed, support frame, first slide rail drive mechanism, second slide rail drive mechanism, massage head system, robot and visual inspection system. First slide rail drive mechanism drives visual inspection system scanning user back profile to generate three-dimensional data;Second slide rail drive mechanism drives robot to move along y axis, and robot realizes multi-degree-of-freedom massage operation by massage head system;Two sides symmetrical arrangement of massage assembly can work synchronously or independently, cooperate temperature adjusting module in massage head to massage and warm up massage head, and be equipped with essential oil supply mechanism to improve comfort. The present application can realize accurate positioning, multi-degree-of-freedom and bilateral synchronous massage, significantly improve massage efficiency and comfort.

Description

Technical Field

[0001] This utility model relates to the field of massage technology, and more specifically, to an automatic back massage device. Background Technology

[0002] Most existing automatic back massage devices are mobile box-type massage robots. The robot is mounted on a mobile box with wheels underneath. The robot needs to be manually pushed to move, which is inconvenient. The massage position also needs to be repeatedly repositioned. In addition, due to individual differences, most traditional massage devices lack intelligent detection methods and cannot obtain information about the user's body posture and massage area in real time. This inevitably leads to inaccurate massage position. These problems not only greatly reduce the user experience, but also reduce the efficiency and effectiveness of the massage.

[0003] In view of this, the applicant hereby submits this application after studying the existing technology. Utility Model Content

[0004] This utility model provides an automatic back massage device. The device uses a sliding rail mechanism of the same specification in conjunction with a vision detection system to scan human bodies with different characteristics, accurately locate the massage head, and ensure that the massage head can massage specific parts, thereby overcoming the shortcomings of the prior art.

[0005] To address the aforementioned technical problems, this utility model provides an automatic back massage device, comprising: a massage bed, a support frame, a first slide rail drive mechanism, a second slide rail drive mechanism, a massage head system, a robot, and a vision detection system; the first slide rail drive mechanism is disposed on the upper end of the support frame and is used to drive the vision detection system to move horizontally above the massage bed; the vision detection system is used to scan and capture the user's body image above the massage bed for analysis; the second slide rail drive mechanism is disposed on one side of the massage bed, and the robot is disposed on the output end of the second slide rail drive mechanism, which drives the robot to move along the y-axis of the massage bed; the massage head system includes a massage head and a massage head connector, the massage head being connected to the output end of the robot via the massage head connector, and the robot drives the massage head to perform movement, rotation, and pressing operations. As a further optimization, two sets of support frames are arranged on both sides of the massage bed; the first slide rail drive mechanism includes a support plate and a transverse lead screw mechanism, with the two sides of the support plate connected and arranged between the two support frames; the transverse lead screw mechanism is mounted on the support plate; the vision detection system is mounted on the output end of the transverse lead screw mechanism, and the vision detection system is controlled to move left and right above the massage bed through the transverse lead screw mechanism.

[0006] As a further optimization, the first slide rail drive mechanism also includes a stepper motor, a main drive wheel, a secondary drive wheel, a transmission belt, and a first slide rail. The first slide rail is installed on the upper end of the support frame, and the two sides of the support plate are slidably connected to the first slide rails on the two side support frames, respectively. The stepper motor is installed on one side of the support frame, the main drive wheel is connected to the stepper motor, the secondary drive wheel is rotatably installed on the other side of the support frame, and the transmission belt is connected between the main drive wheel and the secondary drive wheel. The transmission belt is fixedly connected to the support plate to drive the support plate to move back and forth along the first slide rail.

[0007] As a further optimization, the visual inspection system includes a binocular structured light camera and a connecting plate, wherein the binocular structured light camera is mounted on the output end of the transverse lead screw mechanism via the connecting plate.

[0008] As a further optimization, an electrical control box is also included, which is located on one side of the massage bed, and the second slide rail drive mechanism is located at the upper end of the electrical control box; the electrical control box includes a control system, which is signal-connected to the vision detection system; the control system is used to receive instructions and control the second slide rail drive mechanism to drive the robot to move, as well as the robot's movement.

[0009] As a further optimization, the second slide rail drive mechanism, massage head system and robot are provided in two sets, and are respectively arranged on both sides of the massage bed.

[0010] As a further optimization, the massage head includes a curved portion and a pointed portion; the curved portion is used for muscle massage, and the pointed portion is used for acupoint massage.

[0011] As a further optimization, the massage head system also includes an essential oil supply mechanism, which includes a storage tank, a dropper, and a solenoid valve. The storage tank is installed on the end of the robot, the dropper is installed on the storage tank, and the solenoid valve is located inside the storage tank to control the output of essential oil.

[0012] As a further optimization, the massage head system also includes a temperature regulation module, which is disposed inside the massage head and is used to regulate the temperature of the massage head.

[0013] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0014] This application provides an automatic back massage device. First, by combining a first slide rail drive mechanism and a vision detection system, it can generate three-dimensional contour data of the user's back, thus providing precise positioning information for subsequent massage operations. Second, the design of the robot and massage head system enables multi-degree-of-freedom massage operations, including movements such as movement, rotation, and pressing, which can meet the personalized needs of different users. Third, two sets of the second slide rail drive mechanism, massage head system, and robot are arranged on both sides of the massage bed, respectively, enabling simultaneous or independent massage on both sides. Combined with the temperature regulation module within the massage head to heat the massage head, it significantly improves massage efficiency and comfort. Finally, the introduction of an essential oil supply mechanism not only enhances massage comfort but also precisely controls the output of essential oil through a solenoid valve, avoiding waste. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a top view of the automatic back massage device of this utility model;

[0017] Figure 2 This is a three-dimensional structural diagram of an automatic back massage device according to this utility model;

[0018] Figure 3 This is a schematic diagram of the support plate in one embodiment of the present invention;

[0019] Figure 4 This is a partial structural schematic diagram of one embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the massage head in one embodiment of the present invention;

[0021] The diagram shows: 1. Massage bed; 2. Support frame; 3. First slide rail drive mechanism; 4. Second slide rail drive mechanism; 5. Robot; 6. Vision inspection system; 7. Electrical control box; 8. Massage head; 9. Massage head connector; 10. Support plate; 11. Transverse lead screw mechanism; 12. Stepper motor; 13. Main drive wheel; 14. Secondary drive wheel; 15. Drive belt; 16. First slide rail; 17. Binocular structured light camera; 18. Connecting plate; 19. Storage tank; 20. Dropper; 21. Second slide rail; 22. Slider; 23. Rack; 24. Gear; 25. Motor; 26. Reducer; 27. Moving box. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] Depend on Figures 1 to 5 As shown, this utility model embodiment provides an automatic back massage device, characterized by comprising: a massage bed 1, a support frame 2, a first slide rail drive mechanism 3, a second slide rail drive mechanism 4, a massage head system 8, a robot 5, a vision detection system 6, and an electrical control box 7. The first slide rail drive mechanism 3 is located on the upper end of the support frame 2, used to drive the vision detection system 6 to move horizontally above the massage bed 1. The vision detection system 6 is used to scan and capture the user's body image above the massage bed 1 for analysis, converting the visual information into electrical signals and transmitting them to the control system in the electrical control box 7 for subsequent operations. In this embodiment, the vision detection system 6 includes a binocular structured light camera 17, whose main function is to scan and capture body images located on the massage bed 1, and construct a three-dimensional model of the user through image processing technology. The system uses a dataset trained with a deep neural network combined with image recognition algorithms, such as the YOLO series algorithms, to analyze the captured images, thereby identifying the user's key acupoint locations. This process is achieved through computer vision technology, which greatly improves the accuracy and reliability of acupoint location. The construction of a three-dimensional model of the user through image processing technology and the identification of the user's key acupoint locations using deep neural networks are existing technologies in this field, and will not be elaborated upon here.

[0024] The second slide rail drive mechanism 4 is located on one side of the massage bed 1, above the electrical control box 7. The robot 5 is mounted on the output end of the second slide rail drive mechanism 4, and moves along the y-axis of the massage bed 1 via the second slide rail drive mechanism 4. Specifically, in this embodiment, the second slide rail drive mechanism 4 includes a second slide rail 21, a slider 22, a rack 23, a gear 24, a motor 25, a reducer 26, and a moving box 27. The second slide rail 21 is arranged along the length of the massage bed 1, that is, it is laid on the upper end of the electrical control box 7 along the y-axis. The slider 22 is mounted on the second slide rail 21, the moving box 27 is mounted on the slider 22, and the motor 25 is mounted inside the moving box 27. The motor 25 controls the gear 24 and the rack 23 to cooperate through the reducer 26, thereby driving the moving box to move on the second slide rail 21. This is prior art and will not be described in detail here. In this way, the second slide rail drive mechanism 4 can drive the robot 5 to move back and forth on one side of the massage bed 1 in a stable and precise manner according to the route planned by the control system, so that the massage head 8 can cover the back of the human body and move automatically.

[0025] The massage head system includes a massage head 8 and a massage head connector 9. The massage head 8 is connected to the output end of the robot 5 via the massage head connector 9. The robot 5 drives the massage head 8 to perform movement, rotation, and pressing operations. Specifically, in this embodiment, the user first lies on the massage bed 1. After scanning and analysis by the vision detection system 6, the control system generates a corresponding planned route. The second slide rail drive mechanism 4 drives the moving box to move, thereby driving the robot 5 to move along the planned route. At the same time, the joints and degrees of freedom of the robot 5 are controlled so that the massage head 8 accurately reaches the target position. The massage head 8 is then controlled by the massage head connector 9 to perform movement, rotation, and pressing operations, applying predetermined forces and torques. After the massage head 8 stays at a specific position for a certain period of time, the robot 5 continues to move along the planned route, repeating the above operations until the entire massage process is completed.

[0026] Preferably, the second slide rail drive mechanism 4, the massage head system 8, and the robot 5 are arranged in two sets, respectively on both sides of the massage bed 1. This allows for simultaneous massage of the user from both sides, improving massage efficiency.

[0027] Preferably, the massage head 8 can be detachable, allowing users to choose different shapes of massage heads 8 according to their needs. The main structure of the massage head 8 consists of a curved section and a pointed section. The curved section is mainly used for muscle massage, and its design conforms to the shape of the muscles on the human back, providing uniform massage force over a wide range. The pointed section is mainly used for acupoint massage, and its structure is designed to precisely stimulate specific acupoints on the human back. The massage head 8 can be made of soft silicone or hard plastic to accommodate different massage intensities and comfort requirements. The surface of the massage head 8 can also be equipped with massage particles or massage bumps to enhance the massage effect.

[0028] Preferably, two sets of support frames 2 are arranged on both sides of the massage bed 1; the first slide rail drive mechanism 3 includes a support plate 10 and a transverse screw mechanism, with the two sides of the support plate 10 connected between the two support frames 2, wherein the support plate 10 is provided with an opening; the transverse screw mechanism 11 is mounted on the support plate 10; the vision detection system 6 is mounted on the output end of the transverse screw mechanism 11, thereby driving the binocular structured light camera 17 to move left and right above the massage bed 1 through the moving block of the transverse screw mechanism 11 connected to the connecting plate 18. The binocular structured light camera 17 scans and photographs the user on the massage bed 1 directly below through the opening, thereby accurately assisting the vision detection system 6 in photographing and scanning the human body, and better enabling the shooting range to cover the entire human body.

[0029] Specifically, in this embodiment, the first slide rail drive mechanism 3 further includes a stepper motor 12, a main drive wheel 13, a secondary drive wheel 14, a transmission belt 15, and a first slide rail 16. The first slide rail 16 is installed on the upper end of the support frame 2, and the two sides of the support plate 10 are slidably connected to the first slide rail 16 on the two sides of the support frame 2, respectively. The stepper motor 12 is installed on one side of the support frame 2, the main drive wheel 13 is connected to the stepper motor 12, the secondary drive wheel 14 is installed on the other side of the support frame 2, and the transmission belt 15 is connected between the main drive wheel 13 and the secondary drive wheel 14. The transmission belt 15 is fixedly connected to the support plate 10. The stepper motor 12 drives the main drive wheel 13 to rotate, thereby driving the transmission belt 15 to rotate back and forth between the main drive wheel 13 and the secondary drive wheel 14. Finally, the transmission belt 15 drives the support plate 10 to move back and forth in the direction of the first slide rail 16, further expanding the detection range of the visual inspection system 6, improving the coverage of scanning and shooting, and ensuring that the user's body data can be completely captured.

[0030] Preferably, in this embodiment, the massage head 8 system further includes an essential oil supply mechanism, which includes a storage tank 19, a dripper 20, and a solenoid valve (not shown in the figure). The storage tank 19 is installed on the end of the robot 5, the dripper 20 is installed on the storage tank 19, and the solenoid valve is located inside the storage tank 19 to control the output of essential oil. Specifically, the user can take off their clothes and lie face down on the massage bed 1. The visual detection system 6 can capture and analyze the user's body data more accurately to provide more precise muscle fiber direction and acupoint location, thereby further controlling the massage head 8. Furthermore, during the massage, the solenoid valve is opened by the control system, allowing the massage essential oil stored in the storage tank 19 to drip onto the user's body surface through the dripper 20, followed by massage through the massage head 8. This results in a better massage effect, a wider variety of massage modes, and a more comfortable massage.

[0031] Preferably, the massage head system also includes a temperature regulation module, which is located inside the massage head and is used to regulate the temperature of the massage head. It can heat the massage head during massage, so that the massage head can perform heat therapy massage while performing mechanical massage, which can accelerate muscle relaxation and blood circulation and improve the massage effect. In one implementation method, the temperature regulation module can be preset and controlled by the electrical control box, or controlled by transmitting a signal to a mobile phone or remote control, which is convenient for users to adjust during use. There are many ways, which will not be elaborated here.

[0032] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic back massage device, characterized in that, include: Massage bed, support frame, first slide rail drive mechanism, second slide rail drive mechanism, massage head system, robot and vision inspection system; The first slide rail drive mechanism is located at the upper end of the support frame to drive the vision detection system to move horizontally above the massage bed; The visual inspection system is used to scan and capture the user's body image above the massage bed for analysis. The second slide rail drive mechanism is located on one side of the massage bed, and the robot is located on the output end of the second slide rail drive mechanism. The robot is driven by the second slide rail drive mechanism to move along the y-axis of the massage bed. The massage head system includes a massage head and a massage head connector. The massage head is connected to the output end of the robot via the massage head connector, and the robot drives the massage head to perform movement, rotation, and pressing operations.

2. The automatic back massage device according to claim 1, characterized in that... Two sets of support frames are arranged on both sides of the massage bed; the first slide rail drive mechanism includes a support plate and a transverse lead screw mechanism, with the two sides of the support plate connected and arranged between the two support frames; the transverse lead screw mechanism is mounted on the support plate; the vision detection system is mounted on the output end of the transverse lead screw mechanism, and the vision detection system is controlled to move left and right above the massage bed through the transverse lead screw mechanism.

3. The automatic back massage device according to claim 2, characterized in that... The first slide rail drive mechanism further includes a stepper motor, a main drive wheel, a secondary drive wheel, a transmission belt, and a first slide rail. The first slide rail is installed on the upper end of the support frame, and the two sides of the support plate are slidably connected to the first slide rails on the two side support frames, respectively. The stepper motor is installed on one side of the support frame, the main drive wheel is connected to the stepper motor, the secondary drive wheel is rotatably installed on the other side of the support frame, and the transmission belt is connected between the main drive wheel and the secondary drive wheel. The transmission belt is fixedly connected to the support plate to drive the support plate to move back and forth along the first slide rail.

4. The automatic back massage device according to claim 2, characterized in that, The visual inspection system includes a binocular structured light camera and a connecting plate. The binocular structured light camera is mounted on the output end of the transverse lead screw mechanism via the connecting plate.

5. An automatic back massage device according to claim 1, characterized in that... It also includes an electrical control box, which is located on one side of the massage bed, and the second slide rail drive mechanism is located at the upper end of the electrical control box; the electrical control box includes a control system, which is signal-connected to the vision detection system; the control system is used to receive instructions and control the second slide rail drive mechanism to drive the robot to move, as well as the robot's movement.

6. An automatic back massage device according to claim 1, characterized in that... The second slide rail drive mechanism, massage head system and robot are provided in two sets, and are respectively arranged on both sides of the massage bed.

7. An automatic back massage device according to claim 1, characterized in that... The massage head includes a curved portion and a pointed portion; the curved portion is used for muscle massage, and the pointed portion is used for acupoint massage.

8. An automatic back massage device according to claim 1, characterized in that... The massage head system also includes an essential oil supply mechanism, which includes a storage tank, a dropper, and a solenoid valve. The storage tank is installed on the end of the robot, the dropper is installed on the storage tank, and the solenoid valve is located inside the storage tank to control the output of essential oil.

9. An automatic back massage device according to claim 1, characterized in that... The massage head system also includes a temperature adjustment module, which is disposed inside the massage head and is used to adjust the temperature of the massage head.

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