Massage robot with adjustable trajectory and working method thereof

Abstract

The application provides a massage mechanical hand with adjustable track and a working method thereof. The scanning identifier is used to realize scanning operation of different massage positions of a human body. The scanning identifier scans massage position coordinates of the human body to form a massage position track of the human body and sends the massage position track to a control system. The control system controls movement of a driving mechanism to drive movement of a massage head according to the generated massage track. The multiple massage heads can meet massage requirements of different positions.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a massage robot with adjustable trajectory and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of massage equipment, the main automated massage equipment currently includes massage chairs, massage beds, massage mats, massage devices, and massage robots.

[0004] Existing massage robotic hands have limited functions. For example, Chinese patent CN209996730U proposes a massage robotic hand based on a six-degree-of-freedom robot. This type of robotic hand can move in a wide range, but it can only move along a specific massage trajectory, resulting in a limited range of applications. Furthermore, existing technologies also have the following drawbacks: during the massage process, the structure of the massage head required for different parts of the human body varies, but the massage robotic hand uses a single massage head structure and cannot change the massage head according to the corresponding massage position; existing massage robotic hands only use a single massage method with varying intensity, lacking massage methods with different massage intensities. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a massage robot with adjustable trajectory and its working method. The robot uses a scanning recognition device to scan different massage positions on the human body. The scanning recognition device scans the coordinates of the massage position on the human body to form a massage position trajectory, which is then sent to the control system. The control system controls the movement of the drive mechanism to drive the movement of the massage head according to the generated massage trajectory. By setting multiple massage heads, the massage needs of different positions can be met.

[0006] To achieve the above objectives, a first aspect of the present invention provides a trajectory-adjustable massage robot, comprising: a base, a drive mechanism, a massage mechanism, and a control system;

[0007] The massage mechanism is mounted on the drive mechanism;

[0008] The massage mechanism includes multiple massage heads for massaging different positions, and a scanning recognition device; the scanning recognition device is used to take real-time photos of the gestures on different positions of the human body to be massaged, recognize them, and generate a massage trajectory that is transmitted to the control system.

[0009] The drive mechanism is mounted on the base and is used to drive the massage mechanism to move up, down, left, and right.

[0010] The control system controls the drive mechanism to move the massage head according to the massage trajectory generated by the received scanner.

[0011] A second aspect of the present invention provides a method for operating a trajectory-adjustable massage manipulator, employing the trajectory-adjustable massage manipulator as described above, comprising:

[0012] Gestures for different massage points on the human back;

[0013] Gesture recognition is performed based on the acquired gestures at different massage points to determine the coordinate positions of the different massage points;

[0014] A massage trajectory is generated based on the coordinates of the massage points.

[0015] The movement of the corresponding massage head is controlled according to the generated massage trajectory.

[0016] The above one or more technical solutions have the following beneficial effects:

[0017] In this invention, a scanning recognition device is used to scan different massage positions on the human body. The scanning recognition device scans the coordinates of the massage positions on the human body to form a massage position trajectory, which is then sent to the control system. The control system controls the movement of the drive mechanism to drive the movement of the massage head according to the generated massage trajectory. By setting multiple massage heads, the massage needs of different positions can be met.

[0018] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] Figure 1 This is a schematic diagram of the overall structure of the massage robot in Embodiment 1 of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the first driving mechanism in Embodiment 1 of the present invention;

[0022] Figure 3 This is a schematic diagram of the massage mechanism in Embodiment 1 of the present invention;

[0023] Figure 4 This is a schematic diagram of the installation of the pressure detector in Embodiment 1 of the present invention;

[0024] Figure 5This is a schematic diagram of the installation of the shock absorber in Embodiment 1 of the present invention;

[0025] Figure 6 This is a schematic diagram of the installation of the oiling mechanism in Embodiment 1 of the present invention;

[0026] Figure 7 This is a schematic diagram of the installation of the coating roller in Embodiment 1 of the present invention;

[0027] The components include: 1. Base; 2. Controller; 3. First drive mechanism; 31. Mounting box; 32. Rotating roller; 33. Drive motor; 34. Main gear; 35. Driven gear; 36. Second drive mechanism; 37. First lever arm; 38. Third drive mechanism; 39. Second lever arm; 310. Fourth drive mechanism; 311. Shock absorber; 4. Massage mechanism; 41. Fixing box; 42. Vibration motor; 43. Mounting seat; 44. First massage head; 45. Second massage head; 46. Third massage head; 47. Rotating motor; 48. Rotating rod; 49. Thread curtain; 410. Ball bearing; 411. Pressure detector; 5. Scanner; 6. Oiling mechanism; 61. Fifth drive mechanism; 62. Telescopic cylinder; 63. Pressure sensor; 64. Oil reservoir; 65. Mounting box; 66. Application roller. Detailed Implementation

[0028] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0030] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0031] Example 1

[0032] This embodiment discloses a massage robot with adjustable trajectory, including: a base, a drive mechanism, a massage mechanism, and a control system;

[0033] The massage mechanism is mounted on the drive mechanism;

[0034] The massage mechanism includes multiple massage heads for massaging different positions, and a scanning recognition device; the scanning recognition device is used to take real-time photos of the gestures on different positions of the human body to be massaged, recognize them, and generate a massage trajectory that is transmitted to the control system.

[0035] The drive mechanism is mounted on the base and is used to drive the massage mechanism to move up, down, left, and right.

[0036] The control system controls the drive mechanism to move the massage head according to the massage trajectory generated by the received scanner.

[0037] like Figure 1 As shown, this embodiment of an adjustable massage robot includes a base 1, a controller 2 and a first drive mechanism 3 on the base 1, the first drive mechanism 3 being connected to a second drive mechanism 36, the first drive mechanism 3 being used to drive the second drive mechanism 36 to rotate horizontally, the second drive mechanism 36 being connected to a first lever arm 37, the second drive mechanism 36 being used to drive the first lever arm 37 to rotate vertically in the front-back direction, the first lever arm 37 being provided with a third drive mechanism 38, the third drive mechanism 38 being connected to a second lever arm 39, the third drive mechanism 38 being used to drive the second lever arm 39 to rotate vertically in the front-back direction, the second lever arm 39 being connected to a fourth drive mechanism 310, the fourth drive mechanism 310 being connected to a massage mechanism 4, the fourth drive mechanism being used to drive the massage mechanism 4 to rotate vertically in the left-right direction.

[0038] It is understandable that the rotation directions produced by the various rotating mechanisms are not consistent. The up and down direction is achieved by the second and third rotating mechanisms, the left and right direction by the first rotating mechanism, and the left, right, up and down direction by the fourth driving mechanism.

[0039] like Figure 2 As shown, the first drive mechanism 3, the second drive mechanism 36, the third drive mechanism 38, and the fourth drive mechanism 310 have the same structure, differing only in their installation position and rotation direction. Taking the first drive mechanism 3 as an example, the first drive mechanism 3 includes a mounting box 31, a rotating roller 32, a drive motor 33, a main gear 34, and a driven gear 35. The rotating roller 32 and the drive motor 33 are installed inside the mounting box 31. The end of the rotating roller 32 extends to the outside of the mounting box 31. The drive motor 33 is connected to the main gear 34. The main gear 34 meshes with the driven gear 35 installed on the rotating roller 32 to make the drive motor 33 operate and drive the rotating roller 32 to rotate.

[0040] like Figures 3-4As shown, the massage mechanism 4 includes a fixed box 41, a vibration motor 42, a mounting base 43, a first massage head 44, a second massage head 45, a third massage head 46, a rotary motor 47, a rotating rod 48, a curtain of threads 49, and ball bearings 410. The fixed box 41 is connected to the rotating roller of the fourth drive mechanism 310 and contains three vibration motors 42 and one rotary motor 47 arranged in a circumferential array. Each vibration motor 42 is connected to the first massage head 44, the second massage head 45, and the third massage head 46 located outside the fixed box 41 via a mounting base 43, respectively, for applying pressure to different human body massage positions. The output end of the rotary motor 47 is connected to a rotating rod 48, which is connected to the curtain of threads 49 located outside the fixed box 41 for gently stroking and relaxing the human body. Ball bearings 410 are provided at the end of the curtain of threads 49 to enhance the stroking effect on the human body.

[0041] Three scanning recognition devices 5 are also provided on the outside of the fixed box 41, which correspond one-to-one with the first massage head 44, the second massage head 45 and the third massage head 46. The three scanning recognition devices 5 are used to scan the human body massage position coordinates to form the human body massage position curve, and feed the human body massage position curve information back to the controller 2. The controller 2 controls the massage mechanism 4 to perform automatic massage according to the human body massage position curve, and after the massage, the curtain 49 will gently stroke and relax according to the human body massage position curve.

[0042] To enhance the massage effect on the body, specifically, such as Figure 4 As shown, pressure detectors 411 are respectively installed between the three mounting bases 43 and the first massage head 44, the second massage head 45 and the third massage head 46 to sense the massage intensity of the human body. The pressure detectors 411 monitor the massage intensity at all times to avoid excessive massage intensity causing discomfort to the human body, or insufficient intensity failing to achieve the massage effect.

[0043] To extend the lifespan of the device and prevent resonance in other structural components during the operation of the massage mechanism 4, such as... Figure 5 As shown, the fourth drive mechanism 310 is connected to the massage mechanism 4 via a shock absorber 311.

[0044] In this embodiment, as Figures 6-7As shown, the massage mechanism 4 is equipped with an oiling mechanism 6 for automatically applying essential oil to the human body according to the curve of the human body massage position. The oiling mechanism 6 includes a fifth drive mechanism 61, a telescopic cylinder 62, a pressure sensor 63, an oil storage box 64, a mounting box 65, and an application roller 66. The fifth drive mechanism 61 has the same structure as the first drive mechanism 3 and is connected to the telescopic cylinder 62 so that the telescopic cylinder 62 can rotate vertically in the left and right direction. The telescopic cylinder 62 is connected to the oil storage box 64 through the pressure sensor 63. The bottom of the oil storage box 64 is connected to a mounting box 65. An application roller 66 is rolled inside the mounting box 65. The bottom of the application roller 66 extends to the bottom of the mounting box 65 so that the application roller 66 contacts the essential oil in the oil storage box 64 and applies the essential oil to the curve of the human body massage position. Of course, in order to improve the use effect of the application roller 66, the outside of the application roller 66 is covered with a layer of sponge or rubber with a thickness of 1-2cm.

[0045] The scanning recognition device 5 includes a realsense camera and a MediaPipe Hands system. The realsense camera acquires an image of the human back, and the MediaPipe Hands system tracks and identifies the coordinates of the massage therapist's finger joints to form a curve of the human massage position. In use, the massage therapist aligns the corresponding massage head vertically according to the massage needs of the human body. Then, the scanning recognition device 5 at that position is activated, the realsense camera acquires an image of the human back, the massage therapist makes a gesture on the human back, and the MediaPipe Hands system performs massage therapist gesture recognition (acquiring finger joint coordinates) and simultaneously locates the massage points until all the coordinates of the human body to be massaged are scanned to form a curve of the human massage position.

[0046] The scanning recognition process is as follows:

[0047] (1) Open the RealSense camera to obtain an image of the human back;

[0048] (2) The massage therapist makes hand gestures at the corresponding acupoints on the back of the body;

[0049] (3) The MediaPipe Hands system tracks and recognizes gestures. The gesture recognition can be performed at three points: the first point is the massage starting point, the second gesture is the outermost point of the massage trajectory, and the third point is the massage ending point.

[0050] (4) The MediaPipe Hands system performs trajectory planning to form the human body massage position curve.

[0051] The first massage head 44 is T-shaped to suit the large muscle groups in the back and waist, the second massage head 45 is U-shaped to suit the cervical spine or spine, and the third massage head 46 is spherical to suit the arms, shoulders, waist, or hips.

[0052] Example 2

[0053] The purpose of this embodiment is to provide a working method for a trajectory-adjustable massage robotic hand, employing the trajectory-adjustable massage robotic hand described in Embodiment 1, characterized by comprising:

[0054] Gestures for different massage points on the human back;

[0055] Gesture recognition is performed based on the acquired gestures at different massage points to determine the coordinate positions of the different massage points;

[0056] A massage trajectory is generated based on the coordinates of the massage points.

[0057] The movement of the corresponding massage head is controlled according to the generated massage trajectory.

[0058] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0059] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A massage robotic hand with adjustable trajectory, characterized in that, include: Base, drive mechanism, massage mechanism, and control system; The massage mechanism is mounted on the drive mechanism; The massage mechanism includes multiple massage heads for massaging different positions, and a scanning recognition device; the scanning recognition device is used to take real-time photos of the massage therapist's gestures at different positions on the body to be massaged and generate a massage trajectory, which is then transmitted to the control system. The massage mechanism also includes a fixed box and multiple vibration motors, each vibration motor corresponding to a massage head, with the output end of the vibration motor connected to the massage head, and the vibration motors arranged circumferentially inside the fixed box; Each vibration motor is connected to the first, second, and third massage heads located outside the fixed box via a mounting base, and is used to apply different human body massage position curves. Three scanning recognition devices are also provided on the outside of the fixed box, each corresponding to the first massage head, the second massage head and the third massage head. The three scanning recognition devices are used to scan the human body massage position coordinates to form the human body massage position curve. The drive mechanism is mounted on the base and is used to drive the massage mechanism to move up, down, left, and right. The control system controls the drive mechanism to move the massage head according to the massage trajectory generated by the received scanner.

2. The massage robotic hand with adjustable trajectory as described in claim 1, characterized in that, The massage mechanism also includes a rotating motor, a cord curtain, and ball bearings disposed within the fixed housing. The ball bearings are disposed at the end of the cord curtain, and the cord curtain is disposed at the output end of the rotating motor.

3. The massage robotic hand with adjustable trajectory as described in claim 1, characterized in that, The driving mechanism includes a drive motor and a rotating roller. A main gear is provided at the output end of the drive motor, and a driven gear is provided on the rotating roller. The main gear and the driven gear are meshed together.

4. The massage robotic hand with adjustable trajectory as described in claim 1, characterized in that, A speed reducer connects the drive mechanism and the massage mechanism.

5. The massage robotic hand with adjustable trajectory as described in claim 1, characterized in that, The massage mechanism also includes an oiling mechanism, which includes a telescopic cylinder, an oil storage box, and an application roller. The telescopic cylinder is connected to the oil storage box via its output end, and the application roller is connected to the oil storage box via a mounting box.

6. The massage robotic hand with adjustable trajectory as described in claim 1, characterized in that, The scanning recognition device includes a realsense camera and a MediaPipe Hands system. The realsense camera is used to acquire images of the human back. The MediaPipe Hands system recognizes the massage therapist's gestures at different massage locations on the human body, obtains the corresponding coordinates, locates the massage points, and generates massage trajectories based on the massage points.

7. The massage robotic hand with adjustable trajectory as described in claim 5, characterized in that, A pressure sensor is installed between the telescopic cylinder and the oil reservoir.

8. A method for operating a trajectory-adjustable massage robotic hand, comprising the trajectory-adjustable massage robotic hand as described in any one of claims 1-7, characterized in that, include: Gestures for different massage points on the human back; Gesture recognition is performed based on the acquired gestures at different massage points to determine the coordinate positions of the different massage points; A massage trajectory is generated based on the coordinates of the massage points. The movement of the corresponding massage head is controlled according to the generated massage trajectory.

9. The working method of a trajectory-adjustable massage robotic arm as described in claim 8, characterized in that, Also includes: Make hand gestures at different acupoints on different people's backs, and determine the massage trajectory based on the hand gestures at different acupoints.

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