An intelligent massage robot and a digital twin monitoring system thereof

Abstract

The application relates to an intelligent massage robot and a digital twin monitoring system thereof, and the intelligent massage robot comprises a parallel mechanism, a gantry mechanism and a transverse sliding bed, the parallel mechanism comprises a fixed platform, three pairs of driving branches, a flange plate and a massage head, the gantry mechanism comprises a vertical sliding mechanism and a transverse sliding mechanism, the sensor comprises a pressure sensor, a temperature sensor, a position sensor and an acceleration sensor, the digital twin model fuses sensor data by using a machine learning algorithm, the monitoring system realizes real-time monitoring on the working state of the massage robot based on the digital twin model, and the control system adaptively adjusts a massage strategy according to the digital twin model and feedback data. The application combines six-degree-of-freedom accurate control, digital twin monitoring, intelligent tactile feedback adjustment and big data analysis driving, and endows the intelligent massage robot with excellent intelligentization and high-precision massage capability.

Description

Technical Field

[0001] This invention relates to the field of health and medical devices, and more particularly to robotics and intelligent control technologies, specifically to an intelligent massage robot and its digital twin monitoring system. Background Technology

[0002] With the continuous improvement of people's living standards and the gradual enhancement of health awareness, massage, as a traditional method of physical health care, is widely used to relieve muscle fatigue, promote blood circulation, and relax the mind and body. However, traditional manual massage requires a high level of skill from the massage therapist and is also quite time-consuming and physically demanding. Furthermore, manual massage is difficult to precisely adjust to individual differences, often failing to achieve the optimal relaxation and health benefits.

[0003] With the continuous advancement of robotics technology, robots have gradually expanded from the industrial sector to industries such as healthcare, rehabilitation, construction, and cleaning, giving rise to massage robots. While existing massage robots can replace manual massage to some extent, they generally lack intelligent control, personalized service, and real-time feedback capabilities. Most massage robots rely on preset massage programs to perform operations and cannot accurately match the user's condition in real time, thus failing to provide a personalized experience. Furthermore, current massage robots generally do not widely utilize 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 devices may cause discomfort or even have negative effects on users when providing massage services.

[0004] Therefore, to address the aforementioned issues, there is an urgent need for a massage robot that combines intelligent control, real-time feedback, and digital twin technology. This robot employs an inverted structure design with a six-degree-of-freedom parallel robot mechanism to ensure precise contact between the massage head and the user's back, preventing deviation from the designated massage area. Digital twin technology is used to create a virtual human body model, which interacts with the robot control system to achieve precise motion control, meeting the needs of personalized health management. Through precise adjustments based on physiological data and long-term health management functions, this technology will significantly improve the massage effect, providing users with a more comfortable and scientific health care experience. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention aims to provide an intelligent massage robot and its digital twin monitoring system. By combining data mining, machine learning, and a digital twin-based control system, it achieves a virtual-real synchronous mapping of the robot's working status and user health feedback. Based on user data collected by sensors, it analyzes the patterns of human health needs, generates personalized massage modes, and predicts massage effects. Through a digital twin model, it simulates the human hand massage techniques of a parallel mechanism, and uses a control unit to provide real-time feedback and adjustment of the user's health status to dynamically optimize the massage strategy. This improves the intelligence, personalization, and safety of the embodied intelligent massage process, thereby meeting the diverse needs of medical rehabilitation, health management, and home smart devices.

[0006] To achieve the above objectives, the present invention provides the following technical solution: 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 massage heads; the drive branches include three rotating pairs (R1, R4, R5), a fixed support, two drive chains, and a T-shaped connecting block; the fixed support is fastened to the fixed platform by bolts and connected to the rotating pair R1 by a bearing; the rotating pair R1 is connected to the rotating pair R2 by a bearing; the rotating pair R2 is connected to the drive chain; the drive chain is connected to the rotating pair R4 by 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 by a bearing; the rotating pair R5 is connected to a slot on one side of the moving platform by 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 massage heads, and massage heads are distributed on the other side of the flange;

[0007] The gantry mechanism consists of a vertical sliding mechanism and a horizontal sliding mechanism. The vertical sliding mechanism includes a support frame, a motor connecting plate, a drive 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 internally connected to the vertical lead screw and externally connected to the horizontal sliding mechanism via fastening screws. The horizontal sliding mechanism has the same structure as the vertical sliding mechanism, including a motor box, a drive motor, a horizontal lead screw, a horizontal 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 bolted into the motor box, and the motor shaft is connected to the horizontal lead screw. The horizontal connecting plate is internally connected to the horizontal lead screw and externally connected to the parallel mechanism via bolts.

[0008] The sliding bed includes a bed board and a sliding mechanism. The sliding mechanism includes a drive motor, a coupling, a slider, a lead screw, a U-shaped connecting plate, and a slide rail. The drive motor is connected to the lead screw shaft, which is fixed between the two slide rails. The lead screw shaft is connected to the coupling and the slider in sequence. The bed board is fixed to the slider with bolts, and the U-shaped connecting plate is fastened to the bed board.

[0009] Preferably, the drive chain includes two revolute joints (R2, R3), a motor support, a motor, and an electric push rod. The revolute joint R2 is connected to the motor support, the motor is connected to the motor support by bolts, the motor output shaft is connected to the electric push rod, and the electric push rod is connected to the revolute joint R3 by a bearing, forming a pair of drive branches. The three fixed supports are evenly distributed on the surface of the fixed platform, and the three pairs of drive branches are evenly installed on the fixed supports. The fixed supports are connected to the revolute joint R1, the revolute joint R1 is connected to two revolute joints R2 with the same structure, the revolute joint R2 is connected to the revolute joint R3 with the same structure through the drive chain, the two revolute joints R3 share a revolute joint R4, the revolute joint R4 is connected to the revolute joint R5, and the revolute joint R5 is connected to the massage head.

[0010] Preferably, the vertical support plate is provided with a triangular bracket on its side, 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 the bearing, and is fastened to the horizontal connecting plate by bolts, and the horizontal connecting plate is connected to the fixed platform by bolts.

[0011] A digital twin monitoring system for an intelligent massage robot 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 accelerometers. The digital twin model utilizes a neural network machine learning algorithm to deeply fuse sensor data, achieving a virtual-real synchronous mapping between the massage robot's working state and human health feedback. The monitoring system monitors the massage robot's operating status in real time based on the digital twin model and generates feedback data in real time. The control system adaptively adjusts the massage robot's massage strategy, including massage intensity, massage time, and massage area, based on the digital twin model and feedback data. It also dynamically switches massage modes, including a soothing mode, a deep relaxation exploration mode, and a rapid recovery mode, based on real-time monitoring data to ensure personalized and optimized massage effects.

[0012] Preferably, the pressure sensor and temperature sensor are located on the massage head of the massage robot, and the position sensor and acceleration sensor are located on the joints of the massage robot. The digital twin model interacts with the health monitoring system through a cloud platform, dynamically adjusting the massage intensity, duration, and mode based on the user's real-time health data and virtual simulation results to achieve a precise and personalized massage experience. This invention not only improves the intelligence level of massage robots but also provides an innovative solution for health management and rehabilitation.

[0013] 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, which can simulate the multi-degree-of-freedom movements of the human hand. Through precise force control, it ensures the massage intensity and the gentleness of the movements, and can meet the high-precision massage requirements; (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 failure risks that may be caused by common single drive systems; (3) By applying digital twin technology, the robot can monitor and analyze its own operating status in real time, realize precise control, and improve the efficiency of the robot. The robot's intelligence level enhances its autonomous control capabilities, enabling the robot to automatically adjust its operation; (4) Utilizing tactile feedback mechanism and closed-loop control, pressure feedback data is collected through real-time detection of the tactile feedback mechanism and sensors, and the robot's actions are automatically adjusted using a closed-loop control algorithm to avoid excessive pressure and uncomfortable contact, ensuring that the massage process does not cause damage to the human body; (5) Analyzing a large amount of user data collected by sensors, we can deeply explore the regular changes in the user's health status and the correlation between the massage effect and user feedback. Through data analysis, we can provide personalized massage services to meet the needs of different users at different stages, thereby improving the user's overall health management experience. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of an intelligent massage robot and its digital twin monitoring system according to the present invention;

[0015] Figure 2 This is a schematic diagram of the parallel mechanism of an intelligent massage robot and its digital twin monitoring system according to the present invention;

[0016] Figure 3 This is a schematic diagram of a single branch of a parallel mechanism of an intelligent massage robot and its digital twin monitoring system according to the present invention;

[0017] Figure 4 This is a schematic diagram of the gantry mechanism of an intelligent massage robot and its digital twin monitoring system according to the present invention;

[0018] Figure 5 This is a schematic diagram of the sliding mechanism of an intelligent massage robot and its digital twin monitoring system according to the present invention;

[0019] Figure 6 This is a simplified diagram of the parallel mechanism kinematic pair of an intelligent massage robot and its digital twin monitoring system according to the present invention.

[0020] in:

[0021] Figure 1 In China: 1. Parallel mechanism; 2. Gantry mechanism; 3. Transverse sliding bed;

[0022] Figure 2 In the middle: 101. Fixed platform; 102. Fixed support; 103. Motor support; 104. Motor; 105. Electric push rod; 106. T-shaped connecting block; 107. Flange; 108. Massage head;

[0023] Figure 3 In the middle: 210. Revolute joint R1, 211. Revolute joint R2, 212. Revolute joint R3, 213. Revolute joint R4, 214. Revolute joint R5,

[0024] Figure 4 In the middle section: 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;

[0025] Figure 5 In the middle: 401. Drive motor; 402. Coupling; 403. Slider; 404. Lead screw; 405. U-shaped connecting plate; 406. Slide rail. Detailed Implementation

[0026] This invention aims to address the shortcomings of existing intelligent massage robots in terms of personalized massage effects, identification of user health needs, and real-time adjustment. Traditional massage robots struggle to dynamically optimize massage strategies based on users' physical conditions and health feedback, resulting in massage effects that are difficult to accurately adapt to each user's needs. By combining machine learning technology with a smart digital twin model, this invention can collect users' health data in real time and generate personalized massage modes based on the analysis results, predicting and optimizing massage effects. The digital twin model provides more precise massage control by simulating human hand massage techniques, enabling the intelligent massage robot to adjust massage intensity, time, and area in real time, thereby achieving a more intelligent, personalized, and safe massage experience. The specific embodiments of this invention are merely examples, intended to help those skilled in the art understand the technical solutions of this invention. It should be emphasized that the scope of protection of this invention is not limited to these embodiments. Any other modifications and implementations that are within the spirit and scope of this invention and can be achieved by those skilled in the art without creative effort are all within the scope of protection of this invention.

[0027] The technical solution adopted in this invention includes:

[0028] 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 includes a fixed platform 101, three pairs of drive branches, a flange 107, and a massage head 108. The drive branches include three revolute joints (R1, R4, R5), a fixed support 102, two drive chains, and a T-shaped connecting block 106. The fixed support 102 is fastened to the fixed platform 101 by bolts and connected to the revolute joints R1 by bearings. The revolute joints R1 are connected by a shaft. The bearing is connected to the rotating joint R2, which is connected to the drive chain. The drive chain is connected to the rotating joint R4 via the bearing. The rotating joint 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 joint R5 via the bearing. The rotating joint R5 is connected to the slot on one side of the moving platform via the bearing. The three threaded holes of the central disk of the fixed platform 101 are connected to the gantry mechanism 2. The moving platform includes a flange 107 and a massage head 108. The massage head 108 is distributed on the other side of the flange 107.

[0029] like Figure 4As shown, the gantry mechanism 2 consists 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. The vertical connecting plate 306 is internally connected to the vertical lead screw 307. The external part 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 internally connected to the horizontal lead screw 310, and externally connected to the parallel mechanism 1 by bolts.

[0030] like Figure 5 As shown, the sliding bed includes a bed board and a sliding mechanism 3. The sliding mechanism 3 includes a drive motor 401, a coupling 402, a slider 403, a lead screw 404, a U-shaped connecting plate 405, and a slide rail 406. The drive motor 401 is connected to the lead screw 404 shaft. 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. The bed board is fixed to the slider 403 by bolts. The U-shaped connecting plate 405 is fastened to the bed board.

[0031] like Figure 2 and Figure 3 As shown, according to claim 1, an intelligent massage robot is characterized in that: the drive chain includes two revolute joints (R2, R3), a motor support 103, a motor 104, and an electric push rod 105. The revolute joint 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 revolute joint R3 by a bearing, forming a pair of drive branches; the three fixed supports 102 are evenly distributed on the surface of the fixed platform 101, the three pairs of drive branches are evenly installed on the fixed supports 102, the fixed supports 102 are connected to the revolute joint R1, the revolute joint R1 is connected to two revolute joints R2 with the same structure, the revolute joint R2 is connected to the revolute joint R3 with the same structure through the drive chain, the two revolute joints R3 share a revolute joint R4, the revolute joint R4 is connected to the revolute joint R5, and the revolute joint R5 is connected to the massage head 107.

[0032] like Figure 4As shown, according to claim 1, an intelligent massage robot is characterized in that: a triangular bracket 301 is provided on the side of the vertical support 304; the motor 309 in the horizontal sliding mechanism is installed in the motor box 308; the lead screw 310 is connected to the shaft of the motor 308; the motor 308 is installed between the horizontal support plate 311 and the horizontal slide rail 312 through bearings; and is fastened to the horizontal connecting plate 313 by bolts; the horizontal connecting plate 313 is connected to the fixed platform 101 by bolts.

[0033] A digital twin monitoring system for an intelligent massage robot 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 accelerometers. The digital twin model utilizes a neural network machine learning algorithm to deeply fuse sensor data, achieving a virtual-real synchronous mapping between the massage robot's working state and human health feedback. The monitoring system monitors the massage robot's operating status in real time based on the digital twin model and generates feedback data in real time. The control system adaptively adjusts the massage robot's massage strategy, including massage intensity, massage time, and massage area, based on the digital twin model and feedback data. It also dynamically switches massage modes, including a soothing mode, a deep relaxation exploration mode, and a rapid recovery mode, based on real-time monitoring data to ensure personalized and optimized massage effects.

[0034] The pressure sensor and temperature sensor are installed on the massage head of the massage robot, and the position sensor and acceleration sensor are installed on the joints of the massage robot. The digital twin model interacts with the health monitoring system through a cloud platform, and dynamically adjusts the massage intensity, duration and mode based on the real-time health data received from the user and the results of virtual simulation, so as to achieve a precise and personalized massage experience.

[0035] The implementation methods of intelligent control robots based on digital twin technology described above are not limited to the specific embodiments described above. Based on the disclosure of this invention, those skilled in the art can make modifications, equivalent substitutions, or improvements in other specific ways within the framework of this invention. Therefore, the embodiments should not be considered as the only feasible implementation methods of this invention.

Claims

1. An intelligent massage robot, characterized in that: The system 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 massage heads. Each drive branch includes three rotating pairs (R1, R4, R5), a fixed support, two drive chains, and a T-shaped connecting block. The fixed support is bolted to the fixed platform and connected to rotating pair R1 via a bearing. Rotating pair R1 is connected to rotating pair R2 via a bearing. Rotating pair R2 is connected to the drive chain. The drive chain is connected to rotating pair R4 via a bearing. Rotating pair R4 is connected to the T-shaped connecting block. The upper end of the T-shaped connecting block is connected to rotating pair R5 via a bearing. Rotating pair R5 is connected to a slot on one side of the moving platform via 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 massage heads, with massage heads distributed on the other side of the flange. The drive chain includes two revolute joints (R2, R3), a motor support, a motor, and an electric push rod. The revolute joint R2 is connected to the motor support, the motor is connected to the motor support by bolts, the motor output shaft is connected to the electric push rod, and the electric push rod is connected to the revolute joint R3 by a bearing, forming a pair of drive branches. The three fixed supports are evenly distributed on the surface of the fixed platform, and the three pairs of drive branches are evenly installed on the fixed supports. The fixed supports are connected to the revolute joint R1, the revolute joint R1 is connected to two revolute joints R2 with the same structure, the revolute joint R2 is connected to the revolute joint R3 with the same structure through the drive chain, the two revolute joints R3 share a revolute joint R4, the revolute joint R4 is connected to the revolute joint R5, and the revolute joint R5 is connected to the massage head. The gantry mechanism consists of a vertical sliding mechanism and a horizontal sliding mechanism. The vertical sliding mechanism includes a support frame, a motor connecting plate, a drive 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 internally connected to the vertical lead screw and externally connected to the horizontal sliding mechanism via fastening screws. The horizontal sliding mechanism has the same structure as the vertical sliding mechanism, including a motor box, a drive motor, a horizontal lead screw, a horizontal 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 bolted into the motor box, and the motor shaft is connected to the horizontal lead screw. The horizontal connecting plate is internally connected to the horizontal lead screw and externally connected to the parallel mechanism via bolts. The vertical support plate is provided with a triangular bracket on its side. 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 the bearing. It is fastened to the horizontal connecting plate by bolts. The horizontal connecting plate is connected to the fixed platform by bolts. The sliding bed includes a bed board and a sliding mechanism. The sliding mechanism includes a drive motor, a coupling, a slider, a lead screw, a U-shaped connecting plate, and a slide rail. The drive motor is connected to the lead screw shaft, which is fixed between the two slide rails. The lead screw shaft is connected to the coupling and the slider in sequence. The bed board is fixed to the slider with bolts, and the U-shaped connecting plate is fastened to the bed board.

2. A digital twin monitoring system for an intelligent massage robot, used in the intelligent massage robot of claim 1, characterized in that: The system 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 utilizes neural network machine learning algorithms to deeply fuse sensor data, achieving a virtual-real synchronous mapping between the massage robot's working state and human health feedback. The monitoring system monitors the massage robot's operating status in real time based on the digital twin model and generates feedback data in real time. The control system adaptively adjusts the massage robot's massage strategy based on the digital twin model and feedback data, including massage intensity, massage time, and massage area, and dynamically switches massage modes based on real-time monitoring data, including a soothing mode, a deep relaxation exploration mode, and a rapid recovery mode. The pressure sensor and temperature sensor are installed on the massage head of the massage robot, and the position sensor and acceleration sensor are installed on the joints of the massage robot. The digital twin model interacts with the health monitoring system through a cloud platform, and dynamically adjusts the massage intensity, duration and mode based on the real-time health data received from the user and the results of virtual simulation.

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