Acupoint palpation and massage robot

Abstract

The application relates to a meridian and acupoint pressing and massaging robot, which comprises a mechanical arm control module, a control panel, an X sliding table, a multi-dimensional force sensor, a Y electric cylinder, a pressing module, a rolling module and a main support; the X sliding table is fixed on the main support, the multi-dimensional force sensor is fixed on a sliding seat of the X sliding table, the Y electric cylinder is fixed on a stress surface of the multi-dimensional force sensor, and the Y electric cylinder is horizontally perpendicular to the X sliding table; a connecting plate is arranged at the top end of a push rod of the Y electric cylinder; the pressing module and the rolling module are vertically arranged on the two sides of the connecting plate; the mechanical arm control module adopts a single-chip microcomputer or a PLC as a control component; the control panel comprises at least one handheld touch screen or a remote controller or a wired controller; the X sliding table, the Y electric cylinder, the multi-dimensional force sensor, a ZA sliding table, a pressing device, a ZB electric cylinder and the control panel are electrically connected with the mechanical arm control module. The device has good safety and can be used for automatic pressing and massaging of meridians and acupoints.

Description

Technical Field

[0001] This invention relates to a massage and acupressure device, and more particularly to a massage and acupressure robot primarily used for acupoints and meridians. Background Technology

[0002] Acupoints refer to meridians and acupoints (points on the body). Acupressure is a traditional Chinese medicine diagnostic method that involves touching, feeling, pressing, and tapping, combined with questioning and observation to collect clinical data from the patient. Acupoint acupressure is specifically performed on acupoints and meridians and is one aspect of acupressure. Acupoint massage is a distinctive and essential feature of traditional Chinese medicine massage (tuina). Acupoint acupressure massage is an important method for diagnosis and treatment in traditional Chinese medicine. With the development of technology and the modernization of traditional Chinese medicine, automated devices and robots for acupressure, massage, moxibustion, and acupuncture have emerged, but practically usable equipment is still limited, and the techniques and methods need further improvement.

[0003] A Chinese patent application (application number 201010044834.4) filed by the inventor discloses an Ashi point diagnosis and massage robot, which is a diagnostic and massage device. It offers good safety and can operate on multiple widely distributed parts of the human body in a natural position, particularly for the identification and massage of Ashi points. The robot includes a control center, a visual positioning device, a mechanical motion device, a pressure monitoring device, an operation panel, and a voice device. The signal output of the visual positioning device is connected to the control center; the control input of the mechanical motion device is connected to the control output of the control center; the signal input of the pressure monitoring device is connected to the mechanical motion device, and its signal output is connected to the control center; the operation panel is connected to the control center or communicates wirelessly with the control center; the signal input and output of the voice device are connected to the control center or communicate wirelessly with the control center. Its drawbacks include the use of gravity-based pressure application in the massage device, resulting in relatively bulky components; and the simple structure of the massage components limiting its massage function.

[0004] The utility model patent applied for by the inventor (application number 202220733509.7) provides an acupoint massage device: It relates to the core components of an automatic massage instrument, specifically an acupoint massage device with good safety and accurate positioning for acupoints or other body parts. It includes an electric slide, a pressing device, a force sensor, and a pressing safety device. The electric slide is driven by a servo motor and has a slider and an electromagnetic brake. The pressing device is loaded on the slider of the electric slide and includes a base, a pressing rod, a pressing rod limiting guide, a pressing element, a compression spring, and a compression spring limiting element. The force sensor is located between the pressing rod and the pressing element. The pressing safety device is a normally closed electromagnet or electromagnetic chuck, along with an armature and an armature limiting element, loaded on the pressing rod limiting guide. The pressing rod limiting guide can have two linear bearings, respectively installed on the base and the lower end of the slide, or installed on the base of the pressing device via a guide tube. Its drawback is that the pressing parts cannot be automatically added or removed. Summary of the Invention

[0005] The purpose of this invention is to provide a robot that integrates massage and diagnosis, which is safer and can be operated on the human body, especially for the massage and diagnosis of meridians and acupoints.

[0006] To achieve the above objectives, the present invention adopts the following technical solution.

[0007] A meridian acupressure massage robot includes a robotic arm control module, a control panel, an X-slide table, a multi-dimensional force sensor, a Y-cylinder, a pressing module, a rolling module, and a main support.

[0008] The X-slide is fixed on the main support, the multi-dimensional force sensor is fixed on the slide block of the X-slide, the Y-cylinder is fixed on the force-bearing surface of the multi-dimensional force sensor, and the Y-cylinder is horizontal and vertical to the X-slide. The top of the push rod of the Y-cylinder is provided with a connecting plate, and the pressing module and the rolling module are respectively vertically arranged on both sides of the connecting plate.

[0009] The pressing module includes a ZA slide, a pressing device, a connector a, and a pressing component. The ZA slide is connected to one side of the connecting plate. The pressing device is fixed on the slide base of the ZA slide. The connector a is fixed to the bottom of the pressing device. The pressing component is located at the bottom of the connector a and is movably connected to the connector a.

[0010] The rolling module includes a ZB electric cylinder, a connector b, and a rolling element. The ZB electric cylinder is connected to the other side of the connecting plate. The connector b is fixed on the push rod of the ZB electric cylinder. The rolling element is located at the bottom of the connector b and is movably connected to the connector b.

[0011] The robotic arm control module uses a microcontroller or PLC as the control component. The control panel includes at least one handheld touch screen (also called a touch screen), remote control, or wired controller. The X slide, Y electric cylinder, multi-dimensional force sensor, ZA slide, pressing device, ZB electric cylinder, and control panel are all electrically connected to the robotic arm control module.

[0012] Furthermore, the pressing device includes a base, a pressing rod, a guide tube, a compression spring, a compression spring limiting member, an electromagnetic chuck, an armature, and an armature limiting member. The base is connected to the slide of the ZA slide table. An upper limit member and a lower limit member are respectively provided at the upper and lower ends of the base. Both the upper and lower limit members have through holes. The guide tube passes through the through holes and is fixedly connected to the upper and lower limit members. The bottom end of the guide tube extends out of the lower limit member. Linear bearings A and B, with their axes aligned on the same straight line, are respectively installed at the upper and lower ends of the guide tube. The pressing rod is positioned on the linear axis. The pressing rod is located within bearing A and linear bearing B, and its length is greater than that of the guide tube. Connector A is fixed to the bottom end of the pressing rod. The compression spring is sleeved on the pressing rod and located above the upper limit positioner. The compression spring limiter is located on the upper part of the pressing rod and between the compression spring and the upper limit positioner. The electromagnetic chuck is located on the side of the pressing rod and the compression spring and located above the upper limit positioner. The armature limiter is located at the top of the pressing rod. The armature is sleeved on the pressing rod and located between the armature limiter and the compression spring. The electromagnetic chuck is electrically connected to the robotic arm control module.

[0013] Furthermore, a force sensor is provided between the pressing rod and the connecting piece a. The signal output end of the force sensor is electrically connected to the robotic arm control module to monitor the pressing force of the pressing device.

[0014] Furthermore, the electromagnetic chucks are divided into two identical electromagnetic chucks, A and B, which are connected to the same circuit. Electromagnetic chucks A and B are respectively located on the side of the pressing rod and the compression spring and above the upper limit member. The armature limit member is located at the top of the pressing rod, and the armature is sleeved on the pressing rod, with the armature located between the armature limit member and the compression spring. Both electromagnetic chucks A and B are electrically connected to the robotic arm control module.

[0015] Furthermore, the acupoint massage robot is also equipped with an auxiliary device, which includes a functional frame. The functional frame includes a U-shaped fixed frame, a horizontal support, two linear bearings C, two guide rods, a first electric push rod, and a shelf. The top of the fixed frame is connected to the main support, and the horizontal support is connected to the fixed frame. The horizontal support has three holes on the same horizontal line. The first electric push rod is set in the middle hole, and the support of the first electric push rod is connected to the horizontal support. The push rod end of the first electric push rod is connected to the shelf. Linear bearings C are embedded in the holes on the left and right sides. The two guide rods are respectively set in the two linear bearings C and one end is connected to the shelf. Several U-shaped storage positions are arranged side by side on the shelf, and the openings of the storage positions face outward. The first electric push rod is electrically connected to the robotic arm control module.

[0016] Furthermore, the acupoint massage robot is also equipped with a PC and an imaging module. The PC is electrically connected to the robotic arm control module for motion control and information storage. The imaging module includes a camera, which is fixed below the Y-cylinder by a camera mount. The imaging module is electrically connected to the PC.

[0017] Furthermore, the shelf is provided with a visual alignment mark, which is a six-pointed star in shape. The visual alignment mark serves as the visual positioning origin of the imaging module and the mechanical movement origin of the robotic arm control module for alignment.

[0018] Furthermore, the auxiliary device also includes a lifting and translating bed, which is located beside the main support and is used for subjects to lie down or sit. The lifting and translating bed includes a bed frame, longitudinal guide rails, longitudinal electric push rods, transverse rails, transverse electric push rods, a bed surface, and a lifting and translating bed controller. The longitudinal guide rails are located on the two inner side walls of the bed frame. The longitudinal electric push rods are located at the bottom of the bed frame, and the push rod ends of the longitudinal electric push rods are connected to the crossbeams of the bed frame. The transverse rails are located on the crossbeams of the bed frame, and the bed surface is located above the transverse rails. The transverse electric push rods are movably connected to the side walls of the bed frame, and the push rod ends of the transverse electric push rods are connected to the bed surface. Both the longitudinal and transverse electric push rods are electrically connected to the lifting and translating bed controller. The lifting and translating bed controller is equipped with switches and function keys for controlling the start, stop, and pushing direction of the longitudinal and transverse electric push rods.

[0019] Furthermore, the auxiliary device also includes surface markers, a voice prompter, and a battery. The surface markers are circular in shape and are applied, printed, or projected onto the subject's body surface to mark acupoint and meridian locations. The voice prompter includes a voice chip and a speaker. The voice chip's button interface is connected to the robotic arm control module and the PC. The speaker is electrically connected to the voice chip. The voice chip and speaker are used to prompt the robot's operating status, operation, and issue warnings. The battery is a rechargeable battery. The X-slide, Y-cylinder, ZA-slide, ZB-cylinder, robotic arm control module, PC, imaging module, electromagnetic chuck, electromagnetic chuck C, and voice prompter are all electrically connected to the battery. The battery serves as a backup power source to supply power to the robot's components when the external power supply fails.

[0020] Furthermore, both connector a and connector b include a cup holder and an electromagnetic chuck C. The cup holder has a downward-opening groove, and the electromagnetic chuck C is disposed in the groove of the cup holder. The pressing member and the rolling member can both be embedded in the groove of the cup holder and can be adsorbed on the bottom of the electromagnetic chuck C. The electromagnetic chuck C is electrically connected to the robotic arm control module.

[0021] Furthermore, the pressing component includes an end a, a neck a, and a pressing end arranged sequentially from top to bottom, and the rolling component includes an end b, a neck b, and a omnidirectional ball arranged sequentially from top to bottom; the diameter of end a is larger than the diameter of neck a, and the diameter of end b is larger than the diameter of neck b; end a and end b can be embedded in and adsorbed into the groove of the cup holder; neck a and neck b are both matched with the size of the placement position and are used to dynamically connect the shelf of the functional frame; the pressing end is used to apply a pressing action to the subject, and the omnidirectional ball is used for rolling massage.

[0022] The beneficial effects of this invention are:

[0023] 1. This device can perform palpation examination, massage and treatment on acupoints, meridians or body parts in a horizontal position, and perform palpation examination and massage on the acupoints and meridians of the subject; it can perform automatic acupoint massage using pressing, kneading, meridian rolling and circular rolling methods, and can be used for palpation examination and massage treatment of pressure reactions such as tenderness in human or animal bodies.

[0024] 2. This device uses a Cartesian coordinate robot facing one side as its basic architecture, which has some advantages compared with single-column supported multi-joint robots and gantry-type robots:

[0025] (1) The robot is located on one side of the examination table, which is in line with clinical examination and treatment operating habits;

[0026] (2) The palpation and massage components can easily move along the long and short axes of the examination bed to realize palpation and massage in a supine position;

[0027] (3) The mechanical structure is simple, stable, and easy to maintain;

[0028] (4) Motion control programs are easy to develop and have low costs;

[0029] (5) It can carry more functional components and has a large expansion space.

[0030] 3. Equipped with multi-dimensional force sensors and pressure sensors, it monitors the force on the robot's moving parts in real time to prevent mechanical injury to the subject or operator; the ZB electric cylinder adopts a high-sensitivity force-controlled electric cylinder, which can precisely control the massage intensity, avoid mechanical force causing injury to the subject, and improve the safety of robot use.

[0031] 4. The pressing device of the ZA slide is equipped with an electromagnetic chuck to control the pressing rod. The subject or tester can disconnect the electromagnetic chuck and release the pressing by controlling the controller or PC. It is equipped with a connector containing the electromagnetic chuck and an electric functional frame to realize the automatic loading and unloading of pressing and rolling parts, which improves the automation level of robot use.

[0032] 5. Equipped with machine vision positioning and ring-shaped body surface markings, it can achieve accurate automatic positioning of acupoints and meridians; a horizontal connecting plate is set at the output end of the Y electric cylinder, and the ZA slide and ZB electric cylinder are installed at the same time to increase the robot's functions and better realize the integration of massage and diagnosis.

[0033] 6. This invention introduces electromechanical automation and robotics technology to realize the objectification and automation of TCM acupoint and meridian massage, thereby providing data for clinical practice and scientific research, and partially replacing manual labor; it can be used for TCM scientific research, teaching and clinical practice. Attached Figure Description

[0034] Figure 1 This is a block diagram showing the overall structural relationship of the massage robot in an embodiment of the present invention.

[0035] Figure 2 This is a front view schematic diagram of the mechanical structure of the massage robot in an embodiment of the present invention.

[0036] Figure 3 This is a side view schematic diagram of the mechanical structure of the massage robot in an embodiment of the present invention.

[0037] Figure 4 This is a structural diagram of the pressing module in an embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of the main structure of the pressing module in an embodiment of the present invention.

[0039] Figure 6 This is a side view of the pressing module in an embodiment of the present invention.

[0040] Figure 7 This is a structural relationship block diagram of the rolling module in an embodiment of the present invention.

[0041] Figure 8 This is a front view structural diagram of the rolling module in an embodiment of the present invention.

[0042] Figure 9 This is a cross-sectional view of connector a and connector b in an embodiment of the present invention.

[0043] Figure 10 This is a front view of the pressing component in an embodiment of the present invention.

[0044] Figure 11 This is a front view of the rolling element in an embodiment of the present invention.

[0045] Figure 12 This is a top view of the functional frame in an embodiment of the present invention.

[0046] Figure 13 This is a side view of the functional frame in an embodiment of the present invention.

[0047] Figure 14 This is a front view of the lifting and translating bed in an embodiment of the present invention.

[0048] Figure 15 This is a side view of the lifting and translating bed in an embodiment of the present invention.

[0049] Figure 16 This is a schematic diagram of the structure of the lifting and translating bed controller in an embodiment of the present invention.

[0050] Figure 17 This is a schematic diagram of surface markings in an embodiment of the present invention.

[0051] The meanings of the labels in the figures are as follows:

[0052] 1-PC; 2-Imaging module, 21-Camera; 3-Robotic arm control module; 4-Control panel; 5-X-slide table, 51-X-slide table slide block; 6-Multi-dimensional force sensor; 7-Y-cylinder, 71-Y-cylinder push rod, 72-Connecting plate; 8-Pressing module.

[0053] 81-ZA slide table, slide base of 811-ZA slide table;

[0054] 82-Pressing device, 821-Base, 822-Pressing rod, 823-Guide tube, 8231-Upper limit component, 8232-Lower limit component, 824-Compression spring, 825-Compression spring limiting component, 826-Electromagnetic chuck, 8261-Electromagnetic chuck A, 8262-Electromagnetic chuck B, 827-Armature, 828-Armature limiting component;

[0055] 83-Connector a, 831-Cup holder, 832-Electromagnetic chuck c;

[0056] 84-Pressing element, 841-End a, 842-Neck a, 843-Pressing end;

[0057] 9-Force sensor;

[0058] 10-Rolling module, 101-ZB electric cylinder, 1011-Push rod of ZB electric cylinder, 102-Connector b, 103-Rolling component, 1031-End b, 1032-Neck b, 1033-Universal ball;

[0059] 11-Auxiliary device, 111-Main support, 112-Camera mount;

[0060] 113-Functional rack, 1131-Fixed rack, 1132-Horizontal support, 1133-Linear bearing C, 1134-Guide rod, 1135-First electric push rod, 1136-Shelf, 1137-Storage position;

[0061] 114-Lifting and sliding bed, 1141-Bed frame, 1142-Longitudinal guide rail, 1143-Longitudinal electric push rod, 1144-Transverse rail, 1145-Transverse electric push rod, 1146-Bed surface, 1147-Lifting and sliding bed controller, 1148-Switch, 1149-Function key;

[0062] 115 - Visual alignment markers, 116 - Body surface markers. Detailed Implementation

[0063] To better understand the above-described objects, features, and advantages of the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description to provide a thorough understanding of the invention; however, the invention may be practiced in other ways different from those described herein, and therefore, the invention is not limited to the specific embodiments disclosed below.

[0064] Explanation of terms appearing in this specification:

[0065] Slide tables, electric cylinders, and electric push rods are all linear actuators.

[0066] Slide table: also known as electric slide table or linear module; the lead screw is equipped with a slide block (slider) to bear the load.

[0067] Electric cylinder: also known as electric cylinder, uses a coupling or synchronous belt pulley to connect the motor and the lead screw to achieve precise position control and thrust control; the load is applied to the top of the electric cylinder, and there is no slide (slider).

[0068] Electric linear actuator: The electric motor drives the lead screw nut, converting the rotational motion of the motor into linear motion. The actuator action is completed by the forward and reverse rotation of the motor. The material and control precision are lower than those of the electric cylinder, and there is no slide (slider).

[0069] Multi-dimensional force sensor: A force sensor capable of simultaneously measuring force and torque components in two or more directions. The most complete form is a six-dimensional force / torque sensor, which can simultaneously measure three force components and three torque components. This robot uses a six-axis force sensor, also known as a six-dimensional force sensor.

[0070] like Figures 1-17 The illustrated acupoint massage robot includes a robotic arm control module 3, a control panel 4, an X-slide 5, a multi-dimensional force sensor 6, a Y-cylinder 7, a pressing module 8, a rolling module 10, and a main support 111. The X-slide 5 is fixed to the main support 111, the multi-dimensional force sensor 6 is fixed to the slide base 51 of the X-slide, and the Y-cylinder 7 is fixed to the force-bearing surface of the multi-dimensional force sensor 6, with the Y-cylinder 7 being horizontal and vertical to the X-slide 5. A connecting plate 72 is provided at the top of the push rod 71 of the Y-cylinder, and the pressing module 8 and the rolling module 10 are respectively vertically arranged on both sides of the connecting plate 72. The X-slide 5 includes a servo motor, a lead screw, a slide base, and an electromagnetic brake. The lead screw is connected to the output shaft of the servo motor, and the slide base is movably connected to the lead screw. The electromagnetic brake is used to lock the lead screw and the output shaft of the servo motor when power is off, stopping the slide base from moving. The Y-type electric cylinder 7 includes a servo motor, a lead screw, an electromagnetic brake, and a push rod. The lead screw is connected to the output shaft of the servo motor, and the electromagnetic brake is used to lock the lead screw and the output shaft of the servo motor when the power is off, so that the push rod stops moving.

[0071] The pressing module 8 includes a ZA slide 81, a pressing device 82, a connecting member a 83, and a pressing member 84. The ZA slide 81 has the same structural composition as the X slide 5. The ZA slide 81 is connected to one side of the connecting plate 72. The pressing device 82 is fixed on the slide base 811 of the ZA slide. The connecting member a 83 is fixed to the bottom of the pressing device 82. The pressing member 84 is disposed at the bottom of the connecting member a 83 and is movably connected to the connecting member a 83. Wherein, as... Figure 5 , Figure 6As shown, the pressing device 82 includes a base 821, a pressing rod 822, a guide tube 823, a compression spring 824, a compression spring limiting member 825, an electromagnetic chuck 826, an armature 827, and an armature limiting member 828. The base 821 is connected to the slide 811 of the ZA slide table. The upper end and lower end of the base 821 are respectively provided with an upper limiting member 8231 and a lower limiting member 8232. Both the upper limiting member 8231 and the lower limiting member 8232 are provided with... A through hole is provided, through which a guide tube 823 passes and is fixedly connected to an upper limit member 8231 and a lower limit member 8232. The bottom end of the guide tube 823 extends out of the lower limit member 8232. Linear bearings A and B, with their axes aligned on the same straight line, are respectively installed at the upper and lower ends of the guide tube 823. A pressing rod 822 is installed inside linear bearings A and B, and the length of the pressing rod 822 is greater than the length of the guide tube 823. A connecting piece a83 fixes the bottom end of the pressing rod 822. A compression spring 824 is sleeved on the pressing rod 822 and located above the upper limit member 8231. A compression spring limiting member 825 is installed on the upper part of the pressing rod 822 and located between the compression spring 824 and the upper limit member 8231. The electromagnetic chuck 826 is divided into two identical electromagnetic chucks, A 8261 and B 8262. Electromagnetic chucks A 8261 and B 8262 are connected to the same circuit. Electromagnetic chuck A 8261 and electromagnetic chuck B 8262 are respectively disposed on the side of pressing rod 822 and compression spring 824 and located above upper limit member 8231. The armature limiting member 828 is disposed at the top of pressing rod 822. The armature 827 is sleeved on pressing rod 822 and is located between armature limiting member 828 and compression spring 824. Electromagnetic chuck A 8261 and electromagnetic chuck B 8262 are both electrically connected to robotic arm control module 3.

[0072] A force sensor 9 is provided between the pressing rod 822 and the connecting piece a 83. The signal output end of the force sensor 9 is electrically connected to the robotic arm control module 3 to monitor the force of the pressing piece 84 on the subject, so as to control the pressing movement and record the pressing force value.

[0073] like Figure 8 As shown, the rolling module 10 includes a ZB electric cylinder 101, a connecting member b 102, and a rolling member 103. The ZB electric cylinder 101 is a force-controlled electric cylinder. The ZB electric cylinder 101 is connected to the other side of the connecting plate 72. The connecting member b 102 is fixed on the push rod 1011 of the ZB electric cylinder. The rolling member 103 is located at the bottom of the connecting member b 102 and is movably connected to the connecting member b 102.

[0074] The robotic arm control module 3 uses a microcontroller or PLC as the control component; the control panel 4 includes at least one handheld touchscreen, remote control, or wired controller. In this embodiment, a handheld touchscreen is used as the control panel 4, and models such as GT01 touchscreen or TK6071IP touchscreen can be selected; the X-slide 5, Y-cylinder 7, multi-dimensional force sensor 6, ZA slide 81, pressing device 82, ZB-cylinder 101, and control panel 4 are all electrically connected to the robotic arm control module 3; the signal output terminal of the multi-dimensional force sensor 6 is electrically connected to the robotic arm control module 3 to monitor the load of the Y-cylinder. 7. The force conditions of ZA slide 8, ZB electric cylinder 101 and their follower components serve as the basis for judging the safety status of the robot's movement during operation. If unexpected resistance is encountered and the force exceeds the threshold, the robot will stop moving to prevent mechanical movement from causing injury or damage. The robotic arm control module 3 is used to control the operation of each component. The control panel 4 is equipped with "Press Diagnosis" key, "Scan 1" key, "Scan 2" key, "Scan 3" key, "Scan 4" key, "Press" key, "Press" key, "Press and Knead" key, "Stop and Return" key, etc., for communicating with the robotic arm control module 3, setting parameters, displaying status, and issuing commands such as movement, stop, storage, and deletion.

[0075] In this embodiment, the acupoint massage robot is further equipped with an auxiliary device 11, which includes a functional frame 113, such as... Figure 12 , Figure 13 As shown, the functional frame 113 includes a U-shaped fixed frame 1131, a horizontal support 1132, two linear bearings C1133, two guide rods 1134, a first electric push rod 1135, and a shelf 1136. The top of the fixed frame 1131 is connected to the main support 111. The horizontal support 1132 is connected to the fixed frame 1131. The horizontal support 1132 has three holes on the same horizontal line. The first electric push rod 1135 is disposed in the middle hole and its support is connected to the horizontal support 1132. The push rod end of the first electric push rod 1135... The device is connected to the shelf 1136 through the hole. Linear bearings C1133 are embedded in the holes on the left and right sides. Two guide rods 1134 are respectively set in the two linear bearings C1133 and one end is connected to the shelf 1136. The guide rods 1134 can slide in the linear bearings C1133. The guide rods 1134, the first electric push rod 1135, and the shelf 1136 are all horizontally arranged. Four U-shaped storage positions 1137 are arranged side by side on the shelf 1136, and the openings of the storage positions 1137 face outward. The first electric push rod 1135 is electrically connected to the robotic arm control module 3.

[0076] Among them, such as Figure 9As shown, both connector a 83 and connector b 102 include a cup holder 831 and an electromagnetic chuck 832. The cup holder 831 has a downward-facing groove, and the electromagnetic chuck 832 is disposed within the groove of the cup holder 831. The pressing member 84 and the rolling member 103 can both be embedded in the groove of the cup holder 831 and can be attracted to the bottom of the electromagnetic chuck 832. The electromagnetic chuck 832 is electrically connected to the robotic arm control module 3. In use, the cup holder 831 of connector a 83 is connected to the bottom end of the pressing rod 822, and the cup holder 831 of connector b 102 is connected to the bottom end of the push rod 1011 of the ZB electric cylinder. The electromagnetic chuck 832 maintains its suction force when energized and loses its suction force when de-energized. The power supply is controlled by the robotic arm control module 3 and operated through the control panel 4 or the PC 1. Connector a 83 is used to enable automatic replacement of pressing part 84 or rolling part 103, and connector b 102 is also used to enable automatic replacement of pressing part 84 or rolling part 103; that is, connector a 83 and connector b 102 can both be connected to pressing part 84 and rolling part 103, and can be freely combined according to actual usage requirements.

[0077] Among them, such as Figure 10 , Figure 11 As shown, the pressing member 84 includes an end a 841, a neck a 842, and a pressing end 843 arranged sequentially from top to bottom. The rolling member 103 includes an end b 1031, a neck b 1032, and a universal ball 1033 arranged sequentially from top to bottom. The diameter of end a 841 is larger than the diameter of neck a 842, and the diameter of end b 1031 is larger than the diameter of neck b 1032. Ends a 841 and b 1031 can be embedded in and adhered to the groove of cup holder 831. Neck a 842 and neck b 1032 are both matched with the size of the placement position 1137 for dynamically connecting the shelf 1136 of the functional frame 113. The pressing end 843 is used to apply pressure to the subject, and the universal ball 1033 is used for rolling massage. The rolling member 103 (universal ball 1033 part) can be prefabricated in different specifications and models for rolling massage along a straight line or in a circle. The first electric push rod 1135 controls the horizontal movement of the shelf 1136. Its power supply is controlled by the robotic arm control module 3 and operated through the control panel 4. The shelf 1137 is used to place different specifications and models of pressing parts 84 and rolling parts 103. When in standby mode, the shelf 1136 is located below the X slide table 5. When adding or removing pressing parts 84 and rolling parts 103, the first electric push rod 1135 pushes the shelf 1136 to the loading / unloading position. When the robot is in standby mode, the ZA slide table 81 and the ZB electric cylinder 101 are located above the loading / unloading position. Connector a 83 can be directly facing any pressing part 84, and connector b 102 can be directly facing any rolling part 103.

[0078] In another embodiment, the acupoint massage robot is further provided with a PC 1 and an imaging module 2. The PC 1 is electrically connected to the robotic arm control module 3 for motion control and information storage. The imaging module 2 includes a camera 21, which is fixed below the Y-cylinder 7 by a camera mount 112. The imaging module 2 is electrically connected to the PC 1.

[0079] Among them, such as Figure 12 As shown, the shelf 1136 is provided with a visual alignment mark 115. The visual alignment mark 115 is in the shape of a six-pointed star. The visual alignment mark 115 serves as the visual positioning origin of the imaging module 2 and the mechanical movement origin of the robotic arm control module 3 for alignment.

[0080] In this embodiment, the auxiliary device 11 further includes a lifting and translating bed 114, which is arranged beside the main support 111 for the subject to lie supine, prone, lateral, or sitting. Figures 14-16 As shown, the lifting and translating bed 114 includes a bed frame 1141, longitudinal guide rails 1142, longitudinal electric push rods 1143, transverse rails 1144, transverse electric push rods 1145, a bed surface 1146, and a lifting and translating bed controller 1147. The longitudinal guide rails 1142 are mounted on the two inner side walls of the bed frame 1141. The longitudinal electric push rods 1143 are mounted at the bottom of the bed frame 1141, and the push rod ends of the longitudinal electric push rods 1143 are connected to the crossbeams of the bed frame 1141. The transverse rails 1144 are mounted on the crossbeams of the bed frame 1141. The bed surface 1146 is located above the transverse rails 1144 and can move horizontally along the transverse rails 1144. The transverse electric push rods 1144... 5. The side wall of the bed frame 1141 is rotatably connected, meaning its inclination can be rotated and changed. The end of the transverse electric push rod 1145 is hinged to the bed surface 1146, used to push the bed surface 1146 to move left and right (the transverse electric push rod 1145 can also be directly set to a horizontal position, in which case the top of the push rod is fixedly connected to the bottom of the bed surface 1146 through a connector). The longitudinal electric push rod 1143 and the transverse electric push rod 1145 are both electrically connected to the lifting and translating bed controller 1147. The lifting and translating bed controller 1147 is equipped with a switch 1148 and four function keys 1149, which are used to control the start, stop, and pushing direction of the longitudinal electric push rod 1143 and the transverse electric push rod 1145, respectively. The use of an electric lifting and translating bed can be used to assist in the positioning of the subject's body surface, compensate for the insufficient stroke of the robot's X-stage, ZA-stage, and ZB-stage electric cylinder, and reduce the overall size of the robot body.

[0081] In this embodiment, the auxiliary device 11 further includes a body surface marker 116, a voice prompter, and a battery. The body surface marker 116 is circular in shape and is applied, printed, or projected onto the subject's body surface to mark the location of acupoints and meridians. In this embodiment, the inner diameter of the body surface marker 116 is 12mm, the outer diameter is 14mm, and the center of the ring corresponds to the center of the acupoint or positioning base point. The voice prompter integrates a voice chip and a speaker. The button interface (i.e., signal input and output terminals) of the voice chip are connected to the robotic arm control module 3 and the PC 1 to prompt the robot's operating status, operation, and issue warnings. The battery is a rechargeable battery, such as a lithium battery. The X slide 5, Y electric cylinder 7, ZA slide 81, ZB electric cylinder 101, robotic arm control module 3, PC 1, imaging module 2, electromagnetic chuck 826, electromagnetic chuck C 832, and voice prompter are all electrically connected to the battery. The battery serves as a backup power source to supply power to the robot's components when the external power supply fails. Both batteries and external power sources are used to prevent the robot from stopping in case of an unexpected power outage, which would prevent the mechanical pressure on the subject from being released.

[0082] The PC 1 is equipped with a visual positioning module, which can receive the image signal transmitted by the imaging module 2, obtain the position information of the subject's body surface marker 116, and transmit the position information to the robotic arm control module 3 through the PC 1. The robotic arm control module 3 controls the operation of the ZA slide table 81 and the ZB electric cylinder 101 to realize the massage function.

[0083] The operating principle and method of this robot are as follows:

[0084] In standby mode, the Y-cylinder 7 is positioned above the functional frame 113, with the pressing component 84 and the rolling component 103 both placed in the storage positions 1137 on the shelf 1136. When the power is turned on, the first electric push rod 1135 operates, positioning the shelf 1136 in the loading / unloading position. The imaging module 2 acquires the position information of the visual alignment mark 115, using it as the origin of the imaging system. The robot self-checks the functions of each part to ensure they are functioning correctly. The tester sets the operating parameters and selects a preset plan or develops a massage / massage plan.

[0085] After being guided by the tester to familiarize themselves with the use of the instrument and the testing method, the subject lies supine, prone, on their side, or sitting on the bed surface 1146. The tester applies, imprints, or projects the surface markers 116 onto the subject's body surface. The imaging module 2 acquires the position information of the surface markers 116 and transmits it to the PC 1, which then transmits control signals to the robotic arm control module 3.

[0086] Then, the subject holds the control panel 4 and, under the guidance of the tester, starts the robot. Alternatively, the tester starts the robot using the control panel 4 or PC 1.

[0087] When performing acupressure on a single acupoint, the robot's connector a 83 is energized and attached to the pressing component 84. The tester operates the control panel 4, which, via the robotic arm control module 3, moves the ZA slide 81 directly above the acupoint, with the pressing component 84 aligned with the center of the acupoint. The voice prompt device receives the signal from the robotic arm control module 3 and emits a pre-set prompt tone, indicating that the acupoint has been located. Under the tester's supervision, the subject presses the "Acupressure" button on the control panel 4. The robotic arm control module 3 receives the signal and controls the ZA slide 81 to move. After the pressing component 84 contacts the subject's skin, the subject records their sensations, such as the degree of tenderness, through the control panel 4. Press the "Collection 1" button for "slight pain", the "Collection 2" button for "significant pain", the "Collection 3" button for "very painful", the "Collection 4" button or the "Stop and Return" button for "unbearable pain". If there is no obvious pain, do not press the collection button. The pressing component 84 will automatically return when the pressing pressure reaches the preset maximum value, completing the palpation examination. The voice prompt device receives the signal transmitted by the robotic arm control module 3 and emits a preset prompt sound to indicate that the palpation examination is over.

[0088] For acupressure examinations of multiple acupoints, the tester can apply, imprint, or project surface markers 116 onto multiple acupoints and select the examination sequence plan via control panel 4 or PC 1, depending on clinical needs. Imaging module 2 acquires the position information of all surface markers 116 and transmits it to robotic arm control module 3. Robotic arm control module 3 guides the robotic arm to move and locate the first acupoint, at which point a voice prompt indicates that the acupoint location is complete. Under the tester's supervision, the subject clicks the "Acupressure" button on control panel 4. After the pressing element 84 contacts the subject's skin, the subject records their pressing sensation response via control panel 4. Then, robotic arm control module 3 controls the robotic arm to move and locate the next acupoint, which is then operated by the subject to continue the acupressure examination until all acupoints in the plan are completed, at which point a voice prompt indicates the acupressure is finished.

[0089] When performing acupressure massage on a single acupoint, the robot connector a83 is equipped with a pressing component 84. The ZA slide 81 moves to a position directly above the acupoint, with the pressing component 84 aligned with the center of the acupoint. A voice prompt indicates that the acupoint has been located. Under the supervision of a tester, the subject presses the "press" button on the control panel 4. The robotic arm control module 3 receives the signal and controls the ZA slide 81 to move, driving the pressing component 84 up and down via the pressing device 82 to perform the acupressure massage. The frequency and total number of presses can be preset or controlled by the subject. When performing acupressure massage on multiple acupoints, the robot can automatically locate the next acupoint.

[0090] When performing acupressure massage on a single acupoint, the robot's ZB electric cylinder 101, connected to the pressing component 84 via connector b 102, moves to directly above the acupoint, with the pressing component 84 aligned with the center of the acupoint. A voice prompt indicates that the acupoint has been located. Under the supervision of a tester, the subject presses the "Acupressure" button on the control panel 4. The robotic arm control module 3 receives the signal and controls the X-slide 5, Y-cylinder 7, and ZB electric cylinder 101 to move the pressing component 84, thus achieving the acupressure massage. The frequency and total number of acupressure massages can be preset and controlled in real time by the subject. When performing acupressure massage on multiple acupoints, the robot can automatically locate the next acupoint.

[0091] When performing rolling massage on a specific meridian in a certain area, the tester applies, imprints, or projects surface markers 116 at the two endpoints of the meridian. The robot ZB electric cylinder 101, equipped with a rolling element 103, moves to directly above the endpoint of the meridian, and a voice prompt indicates that positioning is complete. The tester starts the meridian-following rolling massage via the control panel 4 or PC 1, and controls the massage process and the movement direction of the X-slide 5, Y-cylinder 7, and ZB electric cylinder 101 based on the subject's sensations.

[0092] During a circular rolling massage of a specific area, the tester applies, imprints, or projects surface markers 116 onto the center and edges of that area. A rolling element 103 is added to the robot's ZB electric cylinder 101, and the X-slide 5, Y-cylinder 7, and ZB electric cylinder 101 work together to achieve the circular rolling massage. The tester initiates the circular rolling massage via the control panel 4 or PC 1 and controls the massage process based on the subject's sensations.

Claims

1. Acupoint massage robot, comprising a robotic arm control module, a control panel, an X-axis slide, a multi-dimensional force sensor, a Y-axis electric cylinder, a pressing module, a rolling module, and a main support; characterized in that, The X-slide is fixed on the main support, the multi-dimensional force sensor is fixed on the slide block of the X-slide, the Y-cylinder is fixed on the force-bearing surface of the multi-dimensional force sensor, and the Y-cylinder is horizontal and vertical to the X-slide. The top of the push rod of the Y-cylinder is provided with a connecting plate, and the pressing module and the rolling module are respectively vertically arranged on both sides of the connecting plate. The pressing module includes a ZA slide, a pressing device, a connector a, and a pressing component. The ZA slide is connected to one side of the connecting plate. The pressing device is fixed on the slide base of the ZA slide. The connector a is fixed to the bottom of the pressing device. The pressing component is located at the bottom of the connector a and is movably connected to the connector a. The rolling module includes a ZB electric cylinder, a connector b, and a rolling element. The ZB electric cylinder is connected to the other side of the connecting plate. The connector b is fixed on the push rod of the ZB electric cylinder. The rolling element is located at the bottom of the connector b and is movably connected to the connector b. The robotic arm control module uses a microcontroller or PLC as the control component, and the control panel includes at least one handheld touch screen, remote control, or wired controller; the X slide, Y electric cylinder, multi-dimensional force sensor, ZA slide, pressing device, ZB electric cylinder, and control panel are all electrically connected to the robotic arm control module. An auxiliary device is also provided, which includes a functional shelf, and the functional shelf includes a storage shelf; several U-shaped storage positions are arranged side by side on the storage shelf, and the openings of the storage positions face outwards; Both connector a and connector b include a cup holder and an electromagnetic chuck C. The cup holder has a downward-opening groove, and the electromagnetic chuck C is disposed in the groove of the cup holder. The pressing component and the rolling component can be embedded in the groove of the cup holder and can be adsorbed on the bottom of the electromagnetic chuck C. The electromagnetic chuck C is electrically connected to the robotic arm control module. The pressing component includes an end a, a neck a, and a pressing end arranged sequentially from top to bottom; the rolling component includes an end b, a neck b, and a omnidirectional ball arranged sequentially from top to bottom; the diameter of end a is larger than the diameter of neck a, and the diameter of end b is larger than the diameter of neck b; end a and end b can be embedded in and adhered to the groove of the cup holder; neck a and neck b are both matched with the size of the placement position and are used to dynamically connect the shelf of the functional frame; the pressing end is used to apply pressure to the subject, and the omnidirectional ball is used for rolling massage.

2. The acupoint massage robot according to claim 1, characterized in that, The pressing device includes a base, a pressing rod, a guide tube, a compression spring, a compression spring limiting component, an electromagnetic chuck, an armature, and an armature limiting component. The base is connected to the slide of the ZA slide table. The upper and lower ends of the base are respectively provided with an upper limiting component and a lower limiting component, both of which have through holes. The guide tube passes through the through holes and is fixedly connected to the upper and lower limiting components, with the bottom end of the guide tube extending out of the lower limiting component. Linear bearings A and B, with their axes aligned on the same straight line, are respectively installed at the upper and lower ends of the guide tube. The pressing rod is mounted on linear bearing A. The linear bearing B is installed inside the press rod, and the length of the press rod is greater than the length of the guide tube. Connector A is fixed to the bottom end of the press rod. The compression spring is sleeved on the press rod and located above the upper limit positioner. The compression spring limiter is located on the upper part of the press rod and between the compression spring and the upper limit positioner. The electromagnetic chuck is located on the side of the press rod and the compression spring and located above the upper limit positioner. The armature limiter is located at the top of the press rod. The armature is sleeved on the press rod and located between the armature limiter and the compression spring. The electromagnetic chuck is electrically connected to the robotic arm control module.

3. The acupoint massage robot according to claim 2, characterized in that, A force sensor is installed between the pressing rod and the connecting piece a. The signal output end of the force sensor is electrically connected to the robotic arm control module to monitor the pressing force of the pressing device.

4. The acupoint massage robot according to claim 1, characterized in that, The functional frame also includes a fixed frame, a horizontal support, two linear bearings C, two guide rods, and a first electric push rod. The top of the fixed frame is connected to the main support, and the horizontal support is connected to the fixed frame. The horizontal support has three holes on the same horizontal line. The first electric push rod is set in the middle hole, and the support of the first electric push rod is connected to the horizontal support. The push rod end of the first electric push rod is connected to the shelf. Linear bearings C are embedded in the holes on the left and right sides. The two guide rods are respectively set in the two linear bearings C and one end is connected to the shelf. The first electric push rod is electrically connected to the robotic arm control module.

5. The acupoint massage robot according to claim 4, characterized in that, It also includes a PC and an imaging module. The PC is electrically connected to the robotic arm control module for motion control and information storage. The imaging module includes a camera, which is fixed below the Y-cylinder by a camera mount. The imaging module is electrically connected to the PC.

6. The acupoint massage robot according to claim 5, characterized in that, The shelf is equipped with a visual alignment mark, which is a six-pointed star in shape. The visual alignment mark serves as the visual positioning origin of the imaging module and the mechanical movement origin of the robotic arm control module for alignment.

7. The acupoint massage robot according to claim 4, characterized in that, The auxiliary device also includes a lifting and translating bed, which is located beside the main support and is used for subjects to lie down or sit. The lifting and translating bed includes a bed frame, longitudinal guide rails, longitudinal electric push rods, transverse rails, transverse electric push rods, a bed surface, and a lifting and translating bed controller. The longitudinal guide rails are located on the two inner side walls of the bed frame. The longitudinal electric push rods are located at the bottom of the bed frame, and the push rod ends of the longitudinal electric push rods are connected to the crossbeams of the bed frame. The transverse rails are located on the crossbeams of the bed frame, and the bed surface is located above the transverse rails. The transverse electric push rods are movably connected to the side walls of the bed frame, and the push rod ends of the transverse electric push rods are connected to the bed surface. Both the longitudinal and transverse electric push rods are electrically connected to the lifting and translating bed controller. The lifting and translating bed controller is equipped with switches and function keys to control the start, stop, and pushing direction of the longitudinal and transverse electric push rods.

8. The acupoint massage robot according to claim 5, characterized in that, The auxiliary device also includes surface markers, a voice prompter, and a battery. The surface markers are circular in shape and are applied, printed, or projected onto the subject's body surface to mark acupoints and meridian locations. The voice prompter includes a voice chip and a speaker. The voice chip's button interface is connected to the robotic arm control module and the PC to indicate the robot's operating status, operation, and issue warnings. The battery is a rechargeable battery. The X-slide, Y-cylinder, ZA-slide, ZB-cylinder, robotic arm control module, PC, imaging module, electromagnetic chuck, electromagnetic chuck C, and voice prompter are all electrically connected to the battery. The battery serves as a backup power source to supply power to the robot's components when the external power supply fails.

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