Intelligent massage robot and digital twinborn monitoring system thereof

Abstract

The invention relates to an intelligent massage robot and a digital twinning monitoring system thereof.The intelligent massage robot comprises the intelligent massage robot, a sensor, a digital twinning model, a monitoring system and a control system, the massage robot comprises a parallel mechanism, a gantry mechanism and a transverse sliding bed, and the parallel mechanism comprises a fixed platform, three pairs of driving branches, a flange plate and a massage head; the gantry mechanism is composed of a vertical sliding mechanism and a transverse sliding mechanism, the sensors comprise a pressure sensor, a temperature sensor, a position sensor and an acceleration sensor, the digital twin model fuses sensor data through a machine learning algorithm, and the monitoring system monitors the working state of the massage robot in real time based on the digital twin model. And the control system adaptively adjusts the massage strategy according to the digital twinborn model and the feedback data. According to the intelligent massage robot, six-degree-of-freedom accurate control, digital twinborn monitoring, intelligent tactile feedback adjustment and big data analysis driving are combined, and the intelligent massage robot is endowed with excellent intelligence and high-precision massage capacity.

Description

Technical Field

[0001] The present invention relates to the field of health and medical equipment, in particular to robotics technology and intelligent control technology, and specifically to an intelligent massage robot and a digital twin monitoring system thereof. Background Art

[0002] As people's living standards continue to improve and their health awareness gradually increases, massage, as a traditional way of physical health care, is widely used to relieve muscle fatigue, promote blood circulation, and relax the body and mind. However, traditional manual massage methods require high skills from masseurs and consume a lot of time and physical energy. In addition, manual massage is difficult to accurately adjust according to individual differences, and it is often difficult to achieve the best relaxation and health care effects.

[0003] With the continuous advancement of robotics technology, robots have gradually expanded from the industrial field to the medical, rehabilitation, construction, cleaning and other industries, and massage robots have emerged. Although existing massage robots can replace manual massage to a certain extent, they generally lack intelligent control, personalized services and real-time feedback functions. Most massage robots rely on preset massage programs to perform operations and cannot accurately match the user's status in real time, so they cannot provide a personalized experience. In addition, current massage robots generally fail to widely use digital twin technology, which limits their real-time monitoring and guidance capabilities in the health field. Due to the lack of precise adjustment functions based on physiological data, existing equipment may cause discomfort when providing massage services, and even have a negative impact on users.

[0004] Therefore, in response to the above problems, there is an urgent need for a massage robot that can combine intelligent control, real-time feedback and digital twin technology. A six-degree-of-freedom parallel robot mechanism is designed with an inverted structure to ensure the accuracy of the contact between the massage head and the user's back and prevent the massage area from deviating from the human back. Digital twin technology is used to create a virtual human model, and the virtual model interacts with the robot control system to achieve precise motion control to meet the needs of personalized health management. Through precise adjustment based on physiological data and long-term health management functions, this technology will significantly improve the massage effect and provide users with a more comfortable and scientific health care experience. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an intelligent massage robot and a digital twin monitoring system thereof. By combining data mining, machine learning and a control system based on digital twins, the virtual and real synchronous mapping of the robot's working state and the user's health feedback is realized. Based on the user data collected by sensors, the human health demand patterns are analyzed, personalized massage modes are generated and the massage effects are predicted. The manual massage techniques of the parallel mechanism are simulated through the digital twin model, and the control unit is used to perform real-time feedback and adjustment on the user's health status to dynamically optimize the massage strategy, thereby improving the intelligence, personalization and safety of the embodied intelligent massage process, thereby meeting the diverse needs in the fields of medical rehabilitation, health management and home smart devices.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent massage robot, characterized in that it includes a parallel mechanism, a gantry mechanism, and a transverse sliding bed; the parallel mechanism includes a fixed platform, three pairs of drive branches, a flange and a massage head, the drive branch includes three rotating pairs (R1, R4, R5), a fixed support, two drive branch chains and a T-shaped connecting block, the fixed support is fastened to the fixed platform by bolts, and is connected to the rotating pair R1 through a bearing, the rotating pair R1 is connected to the rotating pair R2 through a bearing, the rotating pair R2 is connected to the drive branch chain, the drive branch chain is connected to the rotating pair R4 through a bearing, the rotating pair R4 is connected to the T-shaped connecting block, the upper end of the T-shaped connecting block is connected to the rotating pair R5 through a bearing, the rotating pair R5 is connected to the hole groove on one side of the moving platform through a bearing, the three threaded holes of the central disk of the fixed platform are connected to the gantry mechanism, the moving platform includes a flange and a massage head, and the massage head is distributed on the other side of the flange; The gantry mechanism is composed of a vertical sliding mechanism and a transverse sliding mechanism, the vertical sliding mechanism comprises a support frame, a motor connecting plate, a driving motor, a vertical support plate, a vertical slide rail, a vertical connecting plate and a vertical lead screw, the motor is fixed on the motor connecting plate, the support frame is located at the lower end of the vertical support plate, the vertical lead screw is located between the vertical support plate and the vertical slide rail, the vertical connecting plate is connected to the vertical lead screw inside, and is connected to the horizontal sliding mechanism outside by a fastening screw; the structure of the horizontal sliding mechanism is the same as that of the vertical sliding mechanism, comprising a motor box, a driving motor, a horizontal lead screw, a transverse support plate, a horizontal slide rail and a horizontal connecting plate, the motor box is fixed to one side of the horizontal sliding mechanism, the motor is fixed in the motor box by bolts, the motor shaft is connected to the horizontal lead screw, the horizontal connecting plate is connected to the horizontal lead screw inside, and is connected to the parallel mechanism outside by bolts; The sliding bed includes a bed plate and a sliding mechanism, and the sliding mechanism includes a driving motor, a coupling, a slider, a lead screw, a U-shaped connecting plate and a slide rail. The driving motor is connected to the lead screw shaft, and the lead screw shaft is fixed between two slide rails. The lead screw shaft is connected to the coupling and the slider in turn, and the bed plate is fixed to the slider by bolts, and the U-shaped connecting plate is tightly connected to the bed plate.

[0007] Preferably, the driving branch chain includes two rotating pairs (R2, R3), a motor support, a motor, and an electric push rod. The rotating pair R2 is connected to the motor support, the motor is connected to the motor support through bolts, the motor output shaft is connected to the electric push rod, and the electric push rod is connected to the rotating pair R3 through a bearing to form a pair of driving branches; the three fixed supports are evenly distributed on the surface of the fixed platform, and the three pairs of driving branches are evenly installed on the fixed supports. The fixed support is connected to the rotating pair R1, the rotating pair R1 is connected to two rotating pairs R2 with the same structure, the rotating pair R2 is connected to the rotating pair R3 with the same structure through the driving branch chain, the two rotating pairs R3 share one rotating pair R4, the rotating pair R4 is connected to the rotating pair R5, and the rotating pair R5 is connected to the massage head.

[0008] Preferably, a triangular bracket is provided on the side of the vertical support plate, the motor in the horizontal sliding mechanism is installed in the motor box, the screw is connected to the motor shaft, the motor is installed between the horizontal support plate and the horizontal slide rail through a bearing, and is fastened to the horizontal connecting plate through bolts, and the horizontal connecting plate is connected to the fixed platform through bolts.

[0009] A digital twin monitoring system for an intelligent massage robot comprises an intelligent massage robot, a sensor, a digital twin model, a monitoring system and a control system, wherein the sensor comprises a pressure sensor, a temperature sensor, a position sensor and an acceleration sensor, and the digital twin model uses a neural network machine learning algorithm to perform deep fusion of sensor data to achieve virtual-real synchronous mapping of the massage robot's working state and human health feedback, the monitoring system monitors the massage robot's operating state in real time based on the digital twin model, and generates feedback data in real time, the control system adaptively adjusts the massage strategy of the massage robot according to the digital twin model and the feedback data, including massage intensity, massage time and massage area, and dynamically switches massage modes according to real-time monitoring data, including soothing mode, deep relaxation exploration and fast recovery mode, to ensure personalization and optimization of massage effects.

[0010] Preferably, the pressure sensor and temperature sensor are arranged on the massage head of the massage robot, and the position sensor and acceleration sensor are arranged on the joints of the massage robot; the digital twin model interacts with the health monitoring system through the cloud platform, and dynamically adjusts the massage intensity, duration and mode based on the real-time health data and virtual simulation results received from the user, so as to achieve an accurate and personalized massage experience. The present invention not only improves the intelligence level of the massage robot, but also provides an innovative solution for health management and rehabilitation treatment.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) High-precision massage and force control. The massage robot has 6 degrees of freedom and can simulate the multi-degree-of-freedom movements of human hands. Through precise force control, it ensures the massage strength and the softness of the movements, and can meet the needs of high-precision massage; (2) The present invention adopts a multi-drive branch design, which enhances the redundancy and flexibility of the drive system, improves the reliability and durability of the massage robot, and can maintain stable operation during long-term use, avoiding the possible failure risks of the common single drive system; (3) By applying digital twin technology, the robot can monitor and analyze its own operating status in real time, achieve precise control, and improve the machine The robot's intelligence level enhances its autonomous control capabilities, allowing the robot to automatically adjust its operations; (4) Utilize tactile feedback mechanism and closed-loop control, collect pressure feedback data through real-time detection of tactile feedback mechanism and sensors, and use closed-loop control algorithm to automatically adjust the robot's movements to avoid excessive pressure and uncomfortable contact, ensuring that no damage is caused to the human body during massage; (5) Analyze a large amount of user data collected by sensors, deeply explore the regular changes in the user's health status and the correlation between massage effect and user feedback, and provide personalized massage services through data analysis to meet the needs of different users at different stages, thereby improving the user's overall health management experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of an intelligent massage robot and its digital twin monitoring system of the present invention; Figure 2 It is a schematic diagram of a parallel mechanism of an intelligent massage robot and a digital twin monitoring system thereof of the present invention; Figure 3 It is a schematic diagram of a single branch chain of a parallel mechanism of an intelligent massage robot and a digital twin monitoring system thereof of the present invention; Figure 4 It is a schematic diagram of a gantry mechanism of an intelligent massage robot and a digital twin monitoring system thereof of the present invention; Figure 5 It is a schematic diagram of a sliding mechanism of an intelligent massage robot and a digital twin monitoring system thereof of the present invention; Figure 6 This is a schematic diagram of the kinematic pair components of a parallel mechanism of an intelligent massage robot and a digital twin monitoring system thereof of the present invention.

[0013] in: Figure 1 Middle: 1. Parallel mechanism; 2. Gantry mechanism; 3. Horizontal sliding bed; Figure 2 Middle: 101. Fixed platform; 102. Fixed support; 103. Motor support; 104. Motor; 105. Electric push rod; 106. T-type connecting block; 107. Flange; 108. Massage head; Figure 3 Middle: 210. Rotation pair R1, 211. Rotation pair R2, 212. Rotation pair R3, 213. Rotation pair R4, 214. Rotation pair R5, Figure 4 Middle: 301. Support frame; 302. Motor connecting plate; 303. Motor; 304. Vertical support plate; 305. Vertical slide rail; 306. Vertical connecting plate; 307. Vertical lead screw; 308. Motor box; 309. Motor; 310. Horizontal lead screw; 311. Horizontal support plate; 312. Horizontal slide rail; 313. Horizontal connecting plate; Figure 5 Middle: 401. driving motor; 402. coupling; 403. slider; 404. lead screw; 405. U-shaped connecting plate; 406. slide rail. DETAILED DESCRIPTION

[0014] The present invention aims to solve the deficiencies of existing intelligent massage robots in terms of personalized massage effects, identification of user health needs and real-time adjustment. It is difficult for traditional massage robots to dynamically optimize massage strategies according to the user's physical condition and health feedback, which makes it difficult for the massage effect to accurately adapt to the needs of each user. By combining machine learning technology with the intelligent digital twin model, it is possible to collect the user's health data in real time, and generate personalized massage modes based on the analysis results, predict and optimize the massage effect. The digital twin model provides more accurate massage control by simulating human hand massage techniques, so that the intelligent massage robot can adjust the massage intensity, time and area in real time, thereby achieving a more intelligent, personalized and safe massage experience. The specific embodiments of the present invention are only examples, and are intended to help those skilled in the art understand the technical solutions of the present invention. It should be emphasized that the protection scope of the present invention is not limited to these embodiments. Any other deformations and implementations that can be realized by ordinary technicians without creative labor within the spirit and scope of the present invention belong to the protection scope of the present invention.

[0015] The technical solution adopted by the present invention includes: like Figure 1 , Figure 2 and Figure 3 As shown, an intelligent massage robot is characterized by comprising a parallel mechanism 1, a gantry mechanism 2, and a transverse sliding bed 3; the parallel mechanism 1 comprises a fixed platform 101, three pairs of drive branches, a flange 107, and a massage head 108; the drive branch comprises three rotation pairs (R1, R4, R5), a fixed support 102, two drive branches, and a T-shaped connecting block 106; the fixed support 102 is fastened to the fixed platform 101 by bolts, and is connected to the rotation pair R1 by a bearing; the rotation pair R1 is connected to the fixed platform 101 by a shaft The bearing is connected to the rotating pair R2, the rotating pair R2 is connected to the driving branch chain, the driving branch chain is connected to the rotating pair R4 through the bearing, the rotating pair R4 is connected to the T-shaped connecting block 106, the upper end of the T-shaped connecting block 106 is connected to the rotating pair R5 through the bearing, the rotating pair R5 is connected to the hole groove on one side of the moving platform through the bearing, the three threaded holes of the central disc of the fixed platform 101 are connected to the gantry mechanism 2, the moving platform includes a flange 107 and a massage head 108, and the massage head 108 is distributed on the other side of the flange 107; like Figure 4 As shown, the gantry mechanism 2 is composed of a vertical sliding mechanism and a horizontal sliding mechanism, the vertical sliding mechanism includes a support frame 301, a motor connecting plate 302, a drive motor 303, a vertical support plate 304, a vertical slide rail 305, a vertical connecting plate 306 and a vertical lead screw 307, the motor 303 is fixed on the motor connecting plate 305, the support frame 301 is located at the lower end of the vertical support plate 304, the vertical lead screw 307 is located between the vertical support plate 304 and the vertical slide rail 305, and the vertical connecting plate 306 is internally connected to the vertical lead screw 307 , the outside is connected to the horizontal sliding mechanism by fastening screws; the structure of the horizontal sliding mechanism is the same as that of the vertical sliding mechanism, including a motor box 308, a drive motor 309, a horizontal lead screw 310, a transverse support plate 311, a horizontal slide rail 312 and a horizontal connecting plate 313, the motor box 308 is fixed to one side of the horizontal sliding mechanism, the motor 309 is fixed in the motor box 308 by bolts, the motor shaft is connected to the horizontal lead screw 310, the horizontal connecting plate 313 is connected to the horizontal lead screw 310 internally, and is connected to the parallel mechanism 1 externally by bolts; like Figure 5 As shown, the sliding bed includes a bed plate and a sliding mechanism 3, and the sliding mechanism 3 includes a driving motor 401, a coupling 402, a slider 403, a lead screw 404, a U-shaped connecting plate 405 and a slide rail 406. The driving motor 401 is connected to the lead screw 404 shaft, and the lead screw 404 shaft is fixed between the two slide rails 406. The lead screw 404 shaft is connected to the coupling 402 and the slider 403 in sequence, and the bed plate is fixed to the slider 403 by bolts, and the U-shaped connecting plate 405 is tightly connected to the bed plate.

[0016] like Figure 2 and Figure 3 As shown, an intelligent massage robot according to claim 1 is characterized in that: the driving branch chain includes two rotating pairs (R2, R3), a motor support 103, a motor 104, and an electric push rod 105, the rotating pair R2 is connected to the motor support 103, the motor 104 is connected to the motor support 103 by bolts, the output shaft of the motor 104 is connected to the electric push rod 105, and the electric push rod 105 is connected to the rotating pair R3 through a bearing to form a pair of driving branches; the three fixed supports 102 are evenly distributed on the surface of the fixed platform 101, and the three pairs of driving branches are evenly installed on the fixed supports 102, the fixed support 102 is connected to the rotating pair R1, the rotating pair R1 is connected to two rotating pairs R2 with the same structure, the rotating pair R2 is connected to the rotating pair R3 with the same structure through the driving branch chain, the two rotating pairs R3 share a rotating pair R4, the rotating pair R4 is connected to the rotating pair R5, and the rotating pair R5 is connected to the massage head 107.

[0017] like Figure 4 As shown, an intelligent massage robot according to claim 1 is characterized in that: a triangular bracket 301 is provided on the side of the vertical support 304, a motor 309 in the horizontal sliding mechanism is installed in a motor box 308, a lead screw 310 is connected to the shaft of the motor 308, the motor 308 is installed between a horizontal support plate 311 and a horizontal slide rail 312 through a bearing, and is fastened to a horizontal connecting plate 313 through bolts, and the horizontal connecting plate 313 is connected to the fixed platform 101 through bolts.

[0018] A digital twin monitoring system for an intelligent massage robot comprises an intelligent massage robot, a sensor, a digital twin model, a monitoring system and a control system, wherein the sensor comprises a pressure sensor, a temperature sensor, a position sensor and an acceleration sensor, and the digital twin model uses a neural network machine learning algorithm to perform deep fusion of sensor data to achieve virtual-real synchronous mapping of the massage robot's working state and human health feedback, the monitoring system monitors the massage robot's operating state in real time based on the digital twin model, and generates feedback data in real time, the control system adaptively adjusts the massage strategy of the massage robot according to the digital twin model and the feedback data, including massage intensity, massage time and massage area, and dynamically switches massage modes according to real-time monitoring data, including soothing mode, deep relaxation exploration and fast recovery mode, to ensure personalization and optimization of massage effects.

[0019] The pressure sensor and temperature sensor are arranged on the massage head of the massage robot, and the position sensor and acceleration sensor are arranged on the joints of the massage robot; the digital twin model interacts with the health monitoring system through the cloud platform, and dynamically adjusts the massage intensity, duration and mode based on the user's real-time health data and virtual simulation results, so as to achieve a precise personalized massage experience.

[0020] The above-mentioned intelligent control robot implementation method based on digital twin technology is not limited to the specific embodiments described above. According to the disclosure of the present invention, those skilled in the art can adopt other specific methods to modify, replace or improve the present invention within the framework of the present invention. Therefore, the embodiment should not be regarded as the only feasible implementation method of the present invention.

Claims

1. An intelligent massage robot, characterized in that: It includes a parallel mechanism, a gantry mechanism, and a transverse sliding bed; the parallel mechanism includes a fixed platform, three pairs of drive branches, a flange and a massage head; the drive branch includes three rotating pairs (R1, R4, R5), a fixed support, two drive branch chains and a T-shaped connecting block; the fixed support is fastened to the fixed platform by bolts and is connected to the rotating pair R1 through a bearing; the rotating pair R1 is connected to the rotating pair R2 through a bearing; the rotating pair R2 is connected to the drive branch chain; the drive branch chain is connected to the rotating pair R4 through a bearing; the rotating pair R4 is connected to the T-shaped connecting block; the upper end of the T-shaped connecting block is connected to the rotating pair R5 through a bearing; the rotating pair R5 is connected to the hole groove on one side of the moving platform through a bearing; the three threaded holes of the central disc of the fixed platform are connected to the gantry mechanism; the moving platform includes a flange and a massage head; and the massage head is distributed on the other side of the flange; The gantry mechanism is composed of a vertical sliding mechanism and a transverse sliding mechanism, the vertical sliding mechanism comprises a support frame, a motor connecting plate, a driving motor, a vertical support plate, a vertical slide rail, a vertical connecting plate and a vertical lead screw, the motor is fixed on the motor connecting plate, the support frame is located at the lower end of the vertical support plate, the vertical lead screw is located between the vertical support plate and the vertical slide rail, the vertical connecting plate is connected to the vertical lead screw inside, and is connected to the horizontal sliding mechanism outside by a fastening screw; the structure of the horizontal sliding mechanism is the same as that of the vertical sliding mechanism, comprising a motor box, a driving motor, a horizontal lead screw, a transverse support plate, a horizontal slide rail and a horizontal connecting plate, the motor box is fixed to one side of the horizontal sliding mechanism, the motor is fixed in the motor box by bolts, the motor shaft is connected to the horizontal lead screw, the horizontal connecting plate is connected to the horizontal lead screw inside, and is connected to the parallel mechanism outside by bolts; The sliding bed includes a bed plate and a sliding mechanism, and the sliding mechanism includes a driving motor, a coupling, a slider, a lead screw, a U-shaped connecting plate and a slide rail. The driving motor is connected to the lead screw shaft, and the lead screw shaft is fixed between two slide rails. The lead screw shaft is connected to the coupling and the slider in turn, and the bed plate is fixed to the slider by bolts, and the U-shaped connecting plate is tightly connected to the bed plate.

2. The intelligent massage robot according to claim 1, characterized in that: The driving branch chain includes two rotating pairs (R2, R3), a motor support, a motor, and an electric push rod. The rotating pair R2 is connected to the motor support, the motor is connected to the motor support through bolts, the motor output shaft is connected to the electric push rod, and the electric push rod is connected to the rotating pair R3 through a bearing to form a pair of driving branches; the three fixed supports are evenly distributed on the surface of the fixed platform, and the three pairs of driving branches are evenly installed on the fixed supports. The fixed support is connected to the rotating pair R1, the rotating pair R1 is connected to two rotating pairs R2 with the same structure, the rotating pair R2 is connected to the rotating pair R3 with the same structure through the driving branch chain, the two rotating pairs R3 share a rotating pair R4, the rotating pair R4 is connected to the rotating pair R5, and the rotating pair R5 is connected to the massage head.

3. The intelligent massage robot according to claim 1, characterized in that: A triangular bracket is provided on the side of the vertical support plate, the motor in the horizontal sliding mechanism is installed in the motor box, the lead screw is connected to the motor shaft, the motor is installed between the horizontal support plate and the horizontal slide rail through a bearing, and is fastened to the horizontal connecting plate through bolts, and the horizontal connecting plate is connected to the fixed platform through bolts.

4. A digital twin monitoring system for an intelligent massage robot, characterized in that: It includes an intelligent massage robot, sensors, a digital twin model, a monitoring system and a control system. The sensors include pressure sensors, temperature sensors, position sensors and acceleration sensors. The digital twin model uses a neural network machine learning algorithm to deeply fuse sensor data to achieve virtual and real synchronous mapping of the massage robot's working state and human health feedback. The monitoring system monitors the operating state of the massage robot in real time based on the digital twin model and generates feedback data in real time. The control system adaptively adjusts the massage strategy of the massage robot according to the digital twin model and feedback data, including massage intensity, massage time and massage area, and dynamically switches massage modes according to real-time monitoring data, including soothing mode, deep relaxation exploration and quick recovery mode.

5. The digital twin monitoring system of the intelligent massage robot according to claim 4 is characterized in that: The pressure sensor and temperature sensor are arranged on the massage head of the massage robot, and the position sensor and acceleration sensor are arranged on the joints of the massage robot; the digital twin model interacts with the health monitoring system through the cloud platform, and dynamically adjusts the massage intensity, duration and mode based on the real-time health data and virtual simulation results received from the user.

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