Massage robot and control method thereof

Abstract

The massage robot comprises a first mechanical arm and a second mechanical arm which are fixed to an operation table and opposite in position, the first mechanical arm is electrically connected with a control chip, the tail end of the first mechanical arm is connected with three telescopic rods through a first flange, and the free ends of the three telescopic rods are connected with a massage ball, an acupoint hitting unit and a back pushing block respectively. The tail end of the second mechanical arm is connected with a cupping unit, a scraper and a ball device through a second flange, the cupping unit is connected with an air pump through an air pipe, the first mechanical arm is connected with a camera, and the camera, the second mechanical arm, the air pump and the telescopic rod are all electrically connected with the control chip. Massage logic is set in the logic module in advance, human body information is input into the programmable module, a massage mode is selected, and other modules are controlled to complete massage actions. The device has the advantages that massage and traditional Chinese medicine physiotherapy are combined, body fatigue is relieved in a targeted mode according to different individuals, qi and blood circulation is promoted, and deep relaxation is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of artificial intelligence, specifically relates to a massage robot, and the present invention also relates to a control method for the massage robot. Background Art

[0002] Massage therapy can help the human body relax and effectively improve common problems such as muscle fatigue, pain, and stiffness by soothing muscles and dredging meridians, etc., and is becoming one of the high-frequency demands of the public.

[0003] With the popularization of home medical devices, people are increasingly concerned about health management and rehabilitation training in the home environment. As a device that can provide massage services in the home, massage robots can meet this need and provide a convenient and comfortable health experience; First of all, home massage robots can provide massage services for people at any time and anywhere, without being restricted by time and place; they can adapt to various home environments and provide help when people need it, such as using them during holidays, at rest time on weekday evenings, or when entertaining guests at home; Secondly, home massage robots can provide massage services for people in a short time, which can save people's time and energy; In busy lives, people don't have enough time to go to the gym or massage therapy room for massage treatment, while home massage robots can provide them with a convenient solution. Home massage robots can help people relieve physical fatigue, relax the body and mind, improve sleep quality, etc. By massaging, it stimulates blood circulation in the body, relieves muscle tension and pain, and improves the health level of the body. Among the existing massage products, there are products that can achieve rolling extrusion for massage through gear adjustment, lacking targeted massage suitable for different individuals, and unable to combine massage with traditional Chinese medicine methods such as acupuncture, acupoint pressing, and cupping and achieve automated control. Summary of the Invention

[0004] The purpose of the present invention is to provide a massage robot, which has the characteristics of combining massage with traditional Chinese medicine physiotherapy, and relieving physical fatigue and promoting qi and blood circulation according to different individuals to achieve deep relaxation.

[0005] Another purpose of the present invention is to provide a control method for the massage robot.

[0006] The technical solution adopted by the present invention is that it includes a first robotic arm and a second robotic arm that are relatively positioned and fixed on an operating table. The first robotic arm is electrically connected to a control chip. The end of the first robotic arm is connected to three telescopic rods through a first flange. The free ends of the three telescopic rods are respectively connected to a massage ball, an acupoint pressing unit, and a back-pushing block. The end of the second robotic arm is respectively connected to a cupping unit, a scraping tool, and a rolling ball device through a second flange. The cupping unit is connected to an air pump through an air pipe. The first robotic arm is connected to a camera. The camera, the second robotic arm, the air pump, and the telescopic rods are all electrically connected to the control chip.

[0007] The features of the present invention also lie in that:

[0008] The first flange is in a "work" shape. The first flange includes a first circular plate. Four first through holes are evenly arranged on the first circular plate along the circumferential direction. The first circular plate is connected with a first connecting column. Three fixing columns are fixedly connected to the side wall of the first connecting column along the circumferential direction. Second through holes, third through holes and fourth through holes are respectively opened axially at the centers of the three fixing columns. First grooves in the shape of semi-cylinders are respectively opened axially on the sides of the three fixing columns away from the first connecting column.

[0009] The telescopic rod includes a long rod. One end of the long rod is connected with a short rod through a telescopic joint. The long rod is connected with a motor through a cross bar. A fifth through hole is opened at the free end of the short rod. The three motors are respectively in clearance fit with the second through hole, the third through hole and the fourth through hole. The three long rods are respectively fitted into the three first grooves.

[0010] The massage ball includes a first connecting block. A sphere is fixedly connected to the first connecting block. A second groove for cooperating with the short rod is opened in the first connecting block. A sixth through hole penetrating the second groove is opened in the first connecting block. The fifth through hole and the sixth through hole are connected by a pin; the back-pushing block includes a second connecting block. A square block is fixedly connected to the second connecting block. A protrusion is arranged on the side of the square block away from the second connecting block. A third groove for cooperating with the short rod is opened in the second connecting block. A seventh through hole penetrating the third groove is opened in the second connecting block. The fifth through hole and the seventh through hole are connected by a pin.

[0011] The acupoint pressing unit includes an L-shaped bracket. A fourth groove for cooperating with the short rod is vertically arranged on the bracket and an eighth through hole penetrating the fourth groove is opened. The fifth through hole and the eighth through hole are connected by a pin. A ninth through hole is horizontally opened on the bracket. A needle is in clearance fit with the ninth through hole.

[0012] The second flange includes a second circular plate. Four tenth through holes are evenly opened on the second circular plate along the circumferential direction. The second circular plate is connected with a bottom plate through a cross bar. A rectangular fifth groove is opened at the center of the bottom plate. A first round hole is opened on the bottom plate on one side close to the fifth groove. Two second round holes are opened on the bottom plate on the other side close to the fifth groove.

[0013] The cupping unit includes a hollow second connecting column. The second connecting column is in clearance fit with the second round hole. One end of the second connecting column is communicated with a trachea. The other end of the second connecting column is communicated with a cupping head in the shape of a hemisphere. The scraper is in an irregular rectangular shape. The scraper is in clearance fit with the fifth groove. The ball applicator is in clearance fit with the first round hole.

[0014] The control chip includes:

[0015] A programmable module, which is used for artificially selecting the massage items to be performed and inputting the body information of the person being served, and feeding it back to the logic module for planning.

[0016] Initialization module: When new human body information is input into the programmable module, the existing massage actions are stopped, and the control logic module and the control module are controlled to reset the first robotic arm and the second robotic arm, save the previous massage and human body data, and re-acquire the data of the visualization module and the programmable module and transmit it to the logic module.

[0017] Visualization module: The human body photo taken by the camera is transmitted to the control chip.

[0018] Logic module: Compare the information transmitted back by the camera and the programmable module with the parameters set in the system, plan the action routes of the massage balls, acupoint units, back-pushing blocks, cupping units, scraping tools and rolling balls, and set an emergency braking program. When the initialization module and the programmable module are triggered, the control module controls the first robotic arm and the second robotic arm to reset.

[0019] Control module: According to the route planned by the logic module, when the first robotic arm and the second robotic arm reach the specified positions, control the air pump to perform cupping, control the telescopic rod to expand and contract to complete the functions of back-pounding, back-pushing and acupuncture; control the camera to rotate to capture a complete human body image.

[0020] Another technical solution adopted by the present invention is a control method for a massage robot, which specifically includes the following steps:

[0021] Step 1: Pre-set the massage logic in the logic module, input the human body information and select the massage mode in the programmable module. The programmable module transmits the data to the initialization module for processing, and the processed data is transmitted to the logic module.

[0022] Step 2: According to the information received by the logic module in Step 1, control the camera through the visualization module to obtain the human body photo information and then transmit it to the logic module for comparison. After comparison and analysis, the information is transmitted to the control module to control the massage.

[0023] Step 3: When the massage ends, input the information to stop the massage in the programmable module.

[0024] The beneficial effects of the present invention are as follows: The massage robot can identify the acupoints on different individuals' bodies through the visual module, and through the combination of massage and traditional Chinese medicine physical therapy means, it can regulate the yin-yang balance in the body, promote the flow of qi and blood, enhance the body's own immunity, and improve the body's resistance to various diseases. Traditional Chinese medicine physical therapy is based on the specific physical characteristics of individuals for treatment, so it is more accurate and effective in treatment; the present invention specifically selects techniques and acupoints for treatment, which has the characteristics of specifically relieving physical fatigue, promoting the flow of qi and blood to achieve deep relaxation, and can also be controlled intelligently, with simple operation and suitable for different people to enjoy services in a timely manner. Description of the Drawings

[0025] Figure 1 Structural schematic diagram of the massage robot of the present invention;

[0026] Figure 2 Front view of the first flange in the massage robot of the present invention;

[0027] Figure 3 Top view of the first flange in the massage robot of the present invention;

[0028] Figure 4 Structural schematic diagram of the telescopic rod in the massage robot of the present invention;

[0029] Figure 5 Structural schematic diagram of the massage ball in the massage robot of the present invention;

[0030] Figure 6 Structural schematic diagram of the back-pushing block in the massage robot of the present invention;

[0031] Figure 7 Structural schematic diagram of the acupoint-pressing unit in the massage robot of the present invention;

[0032] Figure 8 Structural schematic diagram of the second flange in the massage robot of the present invention;

[0033] Figure 9 Structural schematic diagram of the cupping unit in the massage robot of the present invention.

[0034] Among them, 1. First robotic arm, 2. Second robotic arm, 3. Control chip, 4. Air pump, 5. First flange, 6. Second flange, 7. Back-pushing block, 8. Acupoint-pressing unit, 9. Massage ball, 10. Operating table, 11. Ball bearing, 12. Scraper, 13. Cupping unit, 14. Camera, 15. Telescopic rod, 16. Second through hole, 17. Third through hole, 18. Fourth through hole, 19. First through hole, 20. First circular plate, 21. First connecting column, 22. Fixed column, 23. First groove, 24. Long rod, 25. Short rod, 26. Motor, 27. Fifth through hole, 28. Sixth through hole, 29. First connecting block, 30. Sphere, 31. Second groove, 32. Seventh through hole, 33. Second connecting block, 34. Third groove, 35. Square block, 36. Bracket, 37. Eighth through hole, 38. Needle, 39. Ninth through hole, 40. Fourth groove, 41. First round hole, 42. Second circular plate, 43. Fifth groove, 44. Second round hole, 45. Tenth through hole, 46. Bottom plate, 47. Second connecting column, 48. Cupping head. Detailed implementation manners

[0035] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation manners.

[0036] The massage robot of the present invention, as Figure 1, including a first robotic arm 1 and a second robotic arm 2 that are fixedly positioned opposite each other on an operating table 10. The first robotic arm 1 is electrically connected to a control chip 3. The end of the first robotic arm 1 is respectively connected to three telescopic rods 15 through a first flange 5. The free ends of the three telescopic rods 15 are respectively connected to a massage ball 9, an acupoint unit 8, and a back-pushing block 7, which can realize the functions of acupuncture, back-pushing, and massage. The end of the second robotic arm 2 is respectively connected to a cupping unit 13, a scraping tool 12, and a rolling ball device 11 through a second flange 6. The cupping unit 13 is connected to an air pump 4 through an air pipe. The first robotic arm 1 is connected to a camera 14. The camera 14, the second robotic arm 2, the air pump 4, and the telescopic rods 15 are all electrically connected to the control chip 3. Both the first flange 5 and the second flange 6 are 3D printed.

[0037] As Figure 2 and Figure 3 shown, the first flange 5 is in an "I" shape. The first flange 5 includes a first circular plate 20. Four first through holes 19 are uniformly arranged along the circumferential direction of the first circular plate 20. The four first through holes 19 are threadedly connected to the end of the first robotic arm 1. The first circular plate 20 is connected to a first connecting column 21. Three fixing columns 22 are uniformly fixedly connected to the side wall of the first connecting column 21 along the circumferential direction. Second through holes 16, third through holes 17, and fourth through holes 18 are respectively opened axially at the centers of the three fixing columns 22. First grooves 23 in the shape of semi-cylinders are respectively opened axially on the sides of the three fixing columns 22 away from the first connecting column 21.

[0038] The telescopic rod 15 includes a long rod 24. One end of the long rod 24 is connected to a short rod 25 through a telescopic joint. The long rod 24 is connected to a motor 26 through a cross bar. The motor 26 is connected to the control chip 3 through a signal line to control the telescopic rod 15. A fifth through hole 27 is opened at the free end of the short rod 25. The fifth through hole 27 can be connected to other objects through a pin. The three motors 26 are respectively in clearance fit with the second through hole 16, the third through hole 17, and the fourth through hole 18. The three long rods 24 are respectively fitted into the three first grooves 23 to connect the telescopic rod 15 to the first flange 5. As Figure 4 shown, the massage ball 9 and the back-pushing block 7 connected to the end of the telescopic rod 15 are as Figure 5 and Figure 6 shown. The massage ball 9 includes a first connecting block 29. A sphere 30 is fixedly connected to the first connecting block 29. There are protrusions on the outer wall of the sphere 30. A second groove 31 that cooperates with the short rod 25 is opened in the first connecting block 29. A sixth through hole 28 that penetrates the second groove 31 is opened in the first connecting block 29. The fifth through hole 27 and the sixth through hole 28 are connected through a pin. The back-pushing block 7 includes a second connecting block 33. A square block 35 is fixedly connected to the second connecting block 33. There are protrusions on the side of the square block 35 away from the second connecting block 33. A third groove 34 that cooperates with the short rod 25 is opened inside the second connecting block 33. A seventh through hole 32 that penetrates the third groove 34 is opened in the second connecting block 33. The fifth through hole 27 and the seventh through hole 32 are connected through a pin.

[0039] As Figure 7 shown, the acupoint unit 8 includes an L-shaped bracket 36. The bracket 36 is vertically provided with a fourth groove 40 for cooperating with the short rod 25 and is provided with an eighth through hole 37 penetrating through the fourth groove 40. The fifth through hole 27 and the eighth through hole 37 are connected by a pin. The bracket 36 is horizontally provided with a ninth through hole 39, and a needle 38 is in clearance fit with the ninth through hole 39. The main body part of the needle 38 is a cylinder. After multiple experiments, the head of the needle 38 is frustum-shaped, which will be more comfortable while ensuring the effect.

[0040] The second flange 6 includes a second circular plate 42. The second circular plate 42 is evenly provided with four tenth through holes 45 along the circumferential direction. The tenth through holes 45 are threadedly connected to the end of the second robotic arm 2. The second circular plate 42 is fixedly connected with a bottom plate 46 through a cross bar. A rectangular fifth groove 43 is provided at the center of the bottom plate 46. A first circular hole 41 is provided on one side of the bottom plate 46 close to the fifth groove 43, and two second circular holes 44 are provided on the other side of the bottom plate 46 close to the fifth groove 43. As Figure 8 shown; the cupping unit 13 includes a hollow second connecting column 47. The second connecting column 47 is in clearance fit with the second circular holes 44. One end of the second connecting column 47 is communicated with an air pipe, and the air pump 4 controls the pressure of cupping through the air pipe. The other end of the second connecting column 47 is communicated with a hemispherical cupping head 48. As Figure 9 shown; the scraper 12 is in an irregular rectangle shape. The scraper 12 is in clearance fit with the fifth groove 43, and the ball device 11 is in clearance fit with the first circular hole 41.

[0041] The control chip 3 is provided with an initialization module, a visualization module, a logic module, a control module, and a programmable module. The functions of each module are as follows:

[0042] The programmable module is used for manually selecting the massage items to be performed and inputting the body information of the person being served, and feeding it back to the logic module for planning.

[0043] The initialization module, when new human body information is input in the programmable module, stops the existing massage and controls the logic module and the control module to reset the first robotic arm 1 and the second robotic arm 2, saves the previous massage and human body data, and re-obtains the data of the visualization module and the programmable module and transmits them to the logic module.

[0044] The visualization module transmits the human body photos taken by the camera 14 to the control chip 3.

[0045] The logic module compares the information transmitted back by the camera 14 and the programmable module with the parameters set in the system, plans the movement routes of the massage balls 9, acupoint units 8, back-pushing blocks 7, cupping units 13, scraping tools 12 and ball rollers 11, and is provided with an emergency braking program. When the initialization module and the programmable module are triggered, the control module controls the first robotic arm 1 and the second robotic arm 2 to reset.

[0046] The control module, according to the route planned by the logic module, when controlling the first robotic arm 1 and the second robotic arm 2 to reach the designated positions, controls the air pump 4 to perform cupping, controls the telescopic rod 15 to expand and contract to complete the functions of back-pounding, back-pushing and acupuncture; controls the power of the air pump 4 and controls the camera 14 to rotate to capture a complete human body image.

[0047] The control method of the massage robot specifically includes the following steps:

[0048] Step 1: Pre-set the massage logic in the logic module, input the human body information and select the massage mode in the programmable module. The programmable module transmits the data to the initialization module for processing, and the processed data is transmitted to the logic module.

[0049] Step 2: According to the information received by the logic module in Step 1, after controlling the camera 14 to obtain the human body photo information through the visualization module and transmitting it to the logic module for comparison, the comparison and analysis transmits the information to the control module for massage.

[0050] Step 3: When ending the massage, input the information to stop the massage in the programmable module.

[0051] Embodiment 1

[0052] The massage robot of the present invention includes a first robotic arm 1 and a second robotic arm 2 which are relatively positioned and fixed on the operation table 10. The first robotic arm 1 is electrically connected to a control chip 3. The end of the first robotic arm 1 is connected with three telescopic rods 15 through a first flange 5. The free ends of the three telescopic rods 15 are respectively connected with a massage ball 9, an acupoint unit 8 and a back-pushing block 7. The end of the second robotic arm 2 is respectively connected with a cupping unit 13, a scraping tool 12 and a ball roller 11 through a second flange 6. The cupping unit 13 is connected with an air pump 4 through an air pipe. The first robotic arm 1 is connected with a camera 14. The camera 14, the second robotic arm 2, the air pump 4 and the telescopic rod 15 are all electrically connected to the control chip 3. When performing the back-pounding function, first input the height and weight of the person being served in the programmable module, and take a photo of the person being served through the camera 14 and transmit it to the logic module for comparison. After comparison, generate the routes of all services. Select back-pounding in the programmable module. After selection, according to the modified human acupoint diagram, the control module controls the first robotic arm 1 and the telescopic rod 15 to move left and right and up and down to complete the back-pounding function.

[0053] Embodiment 2

[0054] The massage robot of the present invention includes a first robotic arm 1 and a second robotic arm 2 that are fixed on the operating table 10 and are opposite to each other in position. The first robotic arm 1 is electrically connected to a control chip 3. The end of the first robotic arm 1 is connected to three telescopic rods 15 through a first flange 5. The free ends of the three telescopic rods 15 are respectively connected to a massage ball 9, an acupoint unit 8, and a back-pushing block 7. The end of the second robotic arm 2 is respectively connected to a cupping unit 13, a scraping tool 12, and a ball device 11 through a second flange 6. The cupping unit 13 is connected to an air pump 4 through a trachea. The first robotic arm 1 is connected to a camera 14. The camera 14, the second robotic arm 2, the air pump 4, and the telescopic rods 15 are all electrically connected to the control chip 3; the first flange 5 is in an "I" shape. The first flange 5 includes a first circular plate 20. Four first through holes 19 are uniformly arranged on the first circular plate 20 along the circumferential direction. The first circular plate 20 is connected to a first connecting column 21. Three fixing columns 22 are fixedly connected to the side wall of the first connecting column 21 along the circumferential direction. Second through holes 16, third through holes 17, and fourth through holes 18 are respectively opened axially at the centers of the three fixing columns 22. First grooves 23 in the shape of semi-cylinders are axially opened on the sides of the three fixing columns 22 away from the first connecting column 21; to control the massage robot to apply essential oil, first input the height and weight of the person being served into the programmable module, and take a photo of the person being served through the camera 14 and transmit it to the logic module for comparison. After comparison, the routes of all services are generated. Select to apply essential oil in the programmable module. The route of applying essential oil in the logic module is transmitted to the second robotic arm 2 to control it to move to the corresponding position and move the ball device 11 back and forth to complete the application.

[0055] Example 3

[0056] The massage robot of the present invention includes a first robotic arm 1 and a second robotic arm 2 that are fixed on the operating table 10 and are opposite to each other in position. The first robotic arm 1 is electrically connected to a control chip 3. The end of the first robotic arm 1 is connected to three telescopic rods 15 through a first flange 5. The free ends of the three telescopic rods 15 are respectively connected to a massage ball 9, an acupoint unit 8, and a back-pushing block 7. The end of the second robotic arm 2 is respectively connected to a cupping unit 13, a scraping tool 12, and a ball device 11 through a second flange 6. The cupping unit 13 is connected to an air pump 4 through a trachea. The first robotic arm 1 is connected to a camera 14. The camera 14, the second robotic arm 2, the air pump 4, and the telescopic rods 15 are all electrically connected to the control chip 3; the control method of the massage robot specifically includes the following steps: Step 1: Pre-set the massage logic in the logic module, input human body information and select a massage mode in the programmable module. The programmable module transmits the data to the initialization module for processing, and the processed data is transmitted to the logic module; Step 2: According to the information received by the logic module in Step 1, control the camera 14 through the visualization module to obtain human body photo information and transmit it to the logic module for comparison. After comparative analysis, the information is transmitted to the control module to control the massage; Step 3: When the massage ends, input the information to stop the massage in the programmable module.

Claims

1. A massage robot, characterized in that, It includes a first robotic arm (1) and a second robotic arm (2) which are fixed at opposite positions on an operating table (10). The first robotic arm (1) is electrically connected to a control chip (3). The end of the first robotic arm (1) is connected to three telescopic rods (15) through a first flange (5). The free ends of the three telescopic rods (15) are respectively connected to a massage ball (9), an acupoint pressing unit (8), and a back-pushing block (7). The end of the second robotic arm (2) is respectively connected to a cupping unit (13), a scraping tool (12), and a ball roller (11) through a second flange (6). The cupping unit (13) is connected to an air pump (4) through an air pipe. The first robotic arm (1) is connected to a camera (14). The camera (14), the second robotic arm (2), the air pump (4), and the telescopic rods (15) are all electrically connected to the control chip (3).

2. The massage robot according to claim 1, characterized in that, The first flange (5) is in an "I" shape. The first flange (5) includes a first circular plate (20). Four first through-holes (19) are evenly arranged on the first circular plate (20) along the circumferential direction. The first circular plate (20) is connected to a first connecting column (21). Three fixing columns (22) are evenly and fixedly connected to the side wall of the first connecting column (21) along the circumferential direction. Second through-holes (16), third through-holes (17), and fourth through-holes (18) are respectively opened axially at the centers of the three fixing columns (22). First grooves (23) in the shape of semi-cylinders are axially opened on the sides of the three fixing columns (22) away from the first connecting column (21).

3. The massage robot according to claim 2, wherein, The telescopic rod (15) includes a long rod (24). One end of the long rod (24) is connected to a short rod (25) through a telescopic joint. The long rod (24) is connected to a motor (26) through a cross bar. A fifth through-hole (27) is opened at the free end of the short rod (25). The three motors (26) are in clearance fit with the second through-hole (16), the third through-hole (17), and the fourth through-hole (18) respectively. The three long rods (24) are respectively fitted into the three first grooves (23).

4. The massage robot according to claim 3, wherein The massage ball (9) includes a first connecting block (29). A sphere (30) is fixedly connected to the first connecting block (29). A second groove (31) matching with the short rod (25) is opened on the first connecting block (29). A sixth through-hole (28) penetrating through the second groove (31) is opened on the first connecting block (29). The fifth through-hole (27) and the sixth through-hole (28) are connected by a pin. The back-pushing block (7) includes a second connecting block (33). A square block (35) is fixedly connected to the second connecting block (33). A protrusion is arranged on the side of the square block (35) away from the second connecting block (33). A third groove (34) matching with the short rod (25) is opened in the second connecting block (33). A seventh through-hole (32) penetrating through the third groove (34) is opened on the second connecting block (33). The fifth through-hole (27) and the seventh through-hole (32) are connected by a pin.

5. The massage robot according to claim 4, wherein The acupoint pressing unit (8) includes an L-shaped bracket (36). The bracket (36) is vertically provided with a fourth groove (40) for cooperating with the short rod (25) and is provided with an eighth through hole (37) penetrating through the fourth groove (40). The fifth through hole (27) is connected to the eighth through hole (37) by a pin. The bracket (36) is horizontally provided with a ninth through hole (39), and the ninth through hole (39) is in clearance fit with a needle (38).

6. The massage robot according to claim 5, characterized in that, The second flange (6) includes a second circular plate (42). The second circular plate (42) is evenly provided with four tenth through holes (45) along the circumferential direction. The second circular plate (42) is connected to a bottom plate (46) by a cross bar. The center of the bottom plate (46) is provided with a rectangular fifth groove (43). A first circular hole (41) is provided on one side of the bottom plate (46) close to the fifth groove (43), and two second circular holes (44) are provided on the other side of the bottom plate (46) close to the fifth groove (43).

7. The massage robot according to claim 6, wherein, The cupping unit (13) includes a hollow second connecting column (47). The second connecting column (47) is in clearance fit with the second circular hole (44). One end of the second connecting column (47) is communicated with a trachea, and the other end of the second connecting column (47) is communicated with a hemispherical cupping head (48). The scraper (12) is in an irregular rectangle shape and is in clearance fit with the fifth groove (43). The ball device (11) is in clearance fit with the first circular hole (41).

8. The massage robot according to claim 7, wherein The control chip (3) includes: A programmable module for manually selecting the massage items to be performed and inputting the body information of the person being served, and feeding it back to the logic module for planning; An initialization module. When new human body information is input into the programmable module, it stops the existing massage actions and controls the logic module and the control module to reset the first robotic arm (1) and the second robotic arm (2), saves the previous massage and human body data, and re-obtains the data of the visualization module and the programmable module and transmits it to the logic module; A visualization module that transmits the human body photos taken by the camera (14) to the control chip (3); A logic module that compares the information transmitted back by the camera (14) and the programmable module with the parameters set in the system, plans the action routes of the massage ball (9), the acupoint pressing unit (8), the back-pushing block (7), the cupping unit (13), the scraper (12), and the ball device (11), and is provided with an emergency braking program. When the initialization module and the programmable module are triggered, the control module controls the first robotic arm (1) and the second robotic arm (2) to reset; A control module that, according to the route planned by the logic module, controls the first robotic arm (1) and the second robotic arm (2) to reach the specified positions, controls the air pump (4) to perform cupping, controls the telescopic rod (15) to expand and contract to complete the functions of back-pounding, back-pushing, and acupuncture; controls the camera (14) to rotate to take a complete human body image.

9. The control method of the massage robot according to claim 8 specifically includes the following steps: Step 1: Predetermine the massage logic in the logic module. Input human body information and select a massage mode in the programmable module. The programmable module transmits the data to the initialization module for processing, and the processed data is transmitted to the logic module. Step 2: According to the information received by the logic module in Step 1, control the camera (14) through the visualization module to obtain human body photo information and transmit it to the logic module for comparison. After comparative analysis, the information is transmitted to the control module to control the massage. Step 3: When ending the massage, input the information to stop the massage in the programmable module.

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