Abdomen full-covering massage robot device based on frame type three-degree-of-freedom adjustable device

Abstract

The invention discloses an abdomen full-covering massage robot device based on a frame type three-degree-of-freedom adjustable device, and the device comprises an external assembly three-degree-of-freedom adjustable device which is used for being installed on a nursing bed guardrail and achieving three-degree-of-freedom space adjustment; the outer adjusting assembly is movably installed on the three-freedom-degree adjustable device of the external assembly and used for adjusting the space posture of a massage executing mechanism of the abdomen full-covering massage robot. The inner adjusting assembly is installed on the outer adjusting assembly and used for driving a massage head of the abdomen full-covering massage robot to perform linear reciprocating motion. The external assembly three-degree-of-freedom adjustable device comprises a main adjusting assembly, an auxiliary adjusting assembly, a frame bed structure and an on-bed operation platform, and stepless adjustment in the height direction, the front-back direction and the left-right direction is achieved through cooperation of chain wheel-chain transmission and a bevel gear steering structure. Three-degree-of-freedom stepless adjustment and angle adjustment of the on-bed operation platform can be achieved, the size is reduced, the cost is reduced, and the control mode is simpler and more convenient.

Description

Technical Field

[0001] This invention relates to the field of nursing robot technology, and in particular to an abdominal full-coverage massage robot based on a frame-type three-degree-of-freedom adjustable device suitable for bedridden patients. Background Technology

[0002] Constipation is a common clinical symptom, characterized by difficulty in defecation and / or reduced frequency of bowel movements, and hard, dry stools. It severely impacts patients' daily lives and quality of life. Some patients frequently seek medical attention or abuse laxatives, leading to increased medical costs and potentially masking the true condition, causing even more adverse effects. The global prevalence of constipation is 12% to 19%, with a higher prevalence in women than men. In 2020, my country had over 42 million bedridden elderly people, accounting for 11.8% of the total elderly population. For elderly people who are bedridden for extended periods, in addition to their inherently slow intestinal motility and susceptibility to constipation, lack of exercise also contributes to slow intestinal motility and difficulty in defecation. Furthermore, the fast-paced modern lifestyle has led to changes in people's mindset, resulting in various sub-health symptoms such as constipation. Common diseases such as stroke, cerebral palsy, and spinal cord injury also easily cause constipation. In most of these patients, constipation occurs because stool remains in the intestines for too long, with most of the water being reabsorbed by the intestinal villi, resulting in dry, hard stools that are difficult to pass. Constipation reduces patients' quality of life and creates a significant economic and social burden.

[0003] Massage and manipulation therapy, as a non-invasive and effective treatment method, has gained widespread attention due to its advantages such as being painless, comfortable, easy to cooperate with, and safe. This has generated significant social demand. Clinically, massage and manipulation therapy is often performed manually, but the number of experienced TCM therapists is currently limited, failing to meet the social demand. Furthermore, massage and manipulation therapy is very time-consuming and labor-intensive, and the therapeutic effect varies depending on the practitioner's skill level, experience, and physical strength. Standardized massage techniques are also difficult to enforce. For example, to achieve beneficial results in treating constipation, abdominal massage for constipation needs to be performed at least once a day, each session lasting about 15 minutes. This obviously places a heavy burden on therapists and also creates an economic burden for patients and society.

[0004] To alleviate the aforementioned problems, the abdominal bionic massage robot has emerged. Utilizing robotics, sensing, and IoT technologies, this nursing robot can not only apply precise force and motion control to the patient's limbs but also record detailed operational data and graphics. It can provide clinical rehabilitation physicians with objective and accurate treatment and evaluation parameters, potentially improving rehabilitation outcomes and efficiency. Furthermore, it eliminates human error, remaining unaffected by the therapist's skill level, ensuring efficiency and intensity during the procedure. It also enables long-term, stable, and repetitive training, which is beneficial for improving the effectiveness of traditional Chinese medicine rehabilitation.

[0005] For constipation, abdominal massage robots can massage the soft tissues of the abdomen, providing full coverage to match different abdominal massage techniques. For bedridden elderly people, movement is difficult; therefore, the ideal way for an abdominal massage robot to function is based on a nursing bed, where the person is supine and receives massages using different techniques. However, the table attached to the nursing bed cannot be adjusted for height, forward / backward, or lateral distance relative to the patient. Introducing a table to the bed can easily lead to imbalance, affecting subsequent procedures. Therefore, a frame-like structure is needed that can be quickly installed on the nursing bed, is adjustable in three directions, and can also perform massage functions.

[0006] Furthermore, without the massage module, it can also be used for other tasks in bed, such as dining, studying, or working. These scenarios are also very common in daily life. Portable bed tables purchased on the market are unstable and easily affected by the movement of bedding and the person sleeping in bed. Although it is convenient to adjust the distance from the person sleeping in bed, the height cannot be adjusted. After prolonged use, it can easily cause discomfort in the cervical and lumbar spine.

[0007] Existing abdominal massage robots are mainly divided into two categories: wearable and non-wearable. The former, such as airbag structures, has limited points of action and limited techniques; the latter, such as robotic arms or large platforms, has complex structures, high costs, and can easily cause psychological pressure. For example, patent CN117338575A proposes an abdominal massage robot that uses a groove and push rod mechanism to adjust the massage head space, but its fixed frame is a rigid H-shaped structure, which cannot adapt to nursing beds of different heights or tilt angles, and it lacks overall three-degree-of-freedom adjustment capability. Although patent CN119632808B introduces a parallel multi-massage head structure, its support components rely on U-shaped grooves and racks to achieve translation, limiting the adjustment dimensions, and it does not solve the problems of quick installation and height adaptation with nursing beds, making it difficult to meet the core need of bedridden patients for "full coverage massage in supine position".

[0008] Therefore, there is an urgent need for a stable massage robot device that can achieve full abdominal projection coverage with adjustable angle, can be quickly installed on a nursing bed, and has three degrees of freedom spatial adjustment capabilities. Summary of the Invention To address the shortcomings of existing technologies, the present invention aims to provide an abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device. This device utilizes a series-parallel connection to achieve full coverage of the projection range and adjustable angles, minimizing size, reducing cost, and simplifying control. Furthermore, an external three-degree-of-freedom adjustable device assembly is provided, employing threaded engagement and a bevel gear-based steering structure to achieve stepless adjustment of the three degrees of freedom of the bed work platform.

[0009] To achieve the above objectives, the technical solution of the present invention is: an abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device, comprising: an external component three-degree-of-freedom adjustable device, an external adjustment component, and an internal adjustment component installed on the external adjustment component; the external component three-degree-of-freedom adjustable device is used to be installed on the nursing bed rail and realize three-degree-of-freedom spatial adjustment; the external adjustment component is movably installed on the external component three-degree-of-freedom adjustable device and is used to adjust the spatial posture of the massage actuator of the abdominal full-coverage massage robot; the internal adjustment component is installed on the external adjustment component and is used to drive the massage head of the abdominal full-coverage massage robot to perform linear reciprocating motion; wherein, the external component three-degree-of-freedom adjustable device includes a main adjustment component, an auxiliary adjustment component, a bed frame structure, and a bed working platform, and achieves stepless adjustment in three directions (height, front-back, and left-right) through sprocket-chain transmission and bevel gear steering structure. Furthermore, the main adjustment assembly includes: a sprocket and a chain; a first bed-mounted threaded rod and a second bed-mounted threaded rod, respectively fixedly connected to the sprocket; a front and rear adjusting screw and a left and right adjusting component, wherein the left and right adjusting component is threadedly engaged with the front and rear adjusting screw; a pair of meshing bevel gears are provided in the key steering connector, which are driven by a handwheel to realize torque reversal, and respectively control the rotation of the front and rear adjusting screw and the lifting and lowering of the second bed-mounted threaded rod. Furthermore, the auxiliary adjustment component includes front and rear adjustment rods and left and right adjustment rods. The auxiliary adjustment component is linked with the main adjustment component through a chain to achieve synchronous height adjustment on both sides, ensuring the horizontal stability of the work platform on the bed. Furthermore, the external adjustment component includes a base fixing frame, a pair of push rod motors, a disc motor, and a telescopic support guide rail composed of an inner rail and an outer rail; the disc motor drives the irregularly shaped transmission shaft through a transmission gear to rotate the inner rail around the axis, while the two push rod motors independently control the lifting and lowering of both ends of the guide rail, thereby realizing the composite adjustment of the massage head in the arc trajectory and tilt angle. Furthermore, the bottom of the base fixing frame is provided with a track, and the push rod motor fixing part slides with the track through ball bearings to reduce friction and ensure that the push rod motor can adapt to displacement when the disc motor drives the guide rail to rotate. Furthermore, the inner track is inserted into the outer track to form a telescopic structure. The inner track and the outer track achieve adaptive length adjustment through the axial sliding cooperation of the inner and outer transmission components and the spring limit, which prevents derailment and adapts to different abdominal curvatures. Furthermore, the internal adjustment component includes an end-effector, a short connecting rod, a long connecting rod, a connecting rod fixing component, and a servo motor; the servo motor drives the short connecting rod to deform the cross-arranged long connecting rod, thereby pushing the end-effector to move linearly along the composite guide rail composed of the inner and outer tracks, realizing precise positioning and reciprocating pushing and pressing of the massage head. Furthermore, the end-effector encloses the outer contours of the inner and outer tracks, and its range of motion is determined by the ratio and number of links in the linkage mechanism, which can extend the massage stroke without increasing the degree of freedom of the drive. Furthermore, the massage head is connected to the end moving part through a massage head connector. The massage head has a replaceable structure and includes three types: flat palm-shaped, semi-circular finger-shaped, and cylindrical finger-shaped, which are used to realize different massage techniques such as "pressing", "kneading" and "pinching". Furthermore, the bed work platform of the external component three-degree-of-freedom adjustable device can be used as a general bed table when the internal adjustment component is not installed, for dining, office work or study, realizing the integration and reuse of medical equipment and life assistance functions. Compared with the prior art, the beneficial effects of the present invention are as follows: This invention achieves stepless adjustment of the three degrees of freedom of the work platform by utilizing threaded engagement and a bevel gear-based steering structure; it realizes full coverage of the projection range and adjustable angle, reducing size and cost, and simplifying the control method. By using a series-parallel connection, full coverage of the projection range and adjustable angle are achieved, which can minimize size, reduce cost, and simplify the control method to the greatest extent. Attached Figure Description

[0010] Figure 1 This is a three-dimensional structural diagram of the abdominal massage robot of the present invention; Figure 2 This is a three-dimensional structural diagram of the external component three-degree-of-freedom adjustable device of the abdominal massage robot of the present invention. Figure 3 This is a three-dimensional structural diagram of the main adjustment component of the external component three-degree-of-freedom adjustable device of the present invention; Figure 4 This is a three-dimensional exploded view of the main adjustment component of the three-degree-of-freedom adjustable external component device of the present invention; Figure 5 This is a three-dimensional structural diagram of the auxiliary adjustment component of the external component three-degree-of-freedom adjustable device of the present invention; Figure 6This is a three-dimensional structural diagram of the bed work platform of the external component three-degree-of-freedom adjustable device of the present invention; Figure 7 This is a three-dimensional structural diagram of the operating bed structure of the external component three-degree-of-freedom adjustable device of the present invention; Figure 8 This is a three-dimensional structural diagram of the external adjustment component (including the basic fixing frame) of the abdominal massage robot of the present invention; Figure 9 This is a three-dimensional structural diagram of the external adjustment component (excluding the basic fixing frame) of the abdominal massage robot of the present invention; Figure 10 This is a three-dimensional structural diagram of the internal adjustment component of the abdominal massage robot of the present invention. Detailed Implementation

[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0012] like Figures 1 to 10 As shown, the present invention discloses an abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device, comprising: an external component three-degree-of-freedom adjustable device 1, an external adjustment component 2 movably mounted on the external component three-degree-of-freedom adjustable device 1, and an internal adjustment component 3 mounted on the external adjustment component 2. The external component three-degree-of-freedom adjustable device 1 includes a main adjustment component 1-1 and an auxiliary adjustment component 1-2 mounted on a bed frame structure 1-4 connected to a bed, and a bed work platform 1-3 jointly connected to the main and auxiliary adjustment components.

[0013] Preferably, the main adjustment assembly 1-1 includes a sprocket 1-100, a chain 1-101 cooperating with the sprocket 1-100, a first bed frame threaded rod 1-402 fixed to the sprocket 1-100, a second bed frame threaded rod 1-403, a first fixing member 1-102 passing through the first bed frame threaded rod 1-402 and a second fixing member 1-106 passing through the second bed frame threaded rod 1-403, a mounting member 1-103 cooperating with the first bed frame threaded rod 1-402, a front-to-back adjusting screw 1-104 with one end mounted on the mounting member 1-103, and a front-to-back adjusting rod 1- 104 Threaded left and right adjusting component 1-105, key steering connector 1-107 passing through fixed component two 1-106, front and rear adjusting steering connector 1-108 fixedly connected to key rod one 1-107a, key rod one 1-108a and key rod two 1-108b passing through key steering connector 1-108, a pair of meshing bevel gears 1-110 fixedly connected to key rod one 1-108a and key rod two 1-108b respectively, and handwheel 1-111 fixedly connected to the ends of key rod one 1-108a and key rod two 1-108b.

[0014] Rotating the handwheel 1-111 rotates the fixed key rod 1-108a, which in turn drives the bevel gear set to reverse direction, thereby rotating the front-rear adjusting rod 1-104. Because the left-right adjusting component 1-105 is mutually restrained by the fixed components 1-102 and 1-106, it can only move forward and backward along the front-rear adjusting rod 1-104. The rotation of the front-rear adjusting rod 1-104 drives the threaded left-right adjusting component 1-105 to achieve the forward and backward adjustment effect.

[0015] Rotating handwheel 1-111 rotates the fixed key rod 1-108b, which in turn drives the bevel gear set to reverse direction, thereby rotating the second threaded rod 1-403. The second threaded rod 1-403 drives the fixed sprocket 1-100, enabling chain 1-101 transmission, which in turn drives the first threaded rod 1-402 and the second threaded rod 1-403 to rotate synchronously. This causes the support member 1-401, which mates with these two threaded rods, to move up and down relative to the sprocket 1-100, achieving synchronous height adjustment on the same side. Rotating handwheel 1-111 also rotates the fixed sprocket 1-100, enabling chain 1-101 transmission. Chain 1-101 mates with the sprocket 1-100 of the auxiliary adjustment component, thus achieving synchronous height adjustment on the same side of the auxiliary adjustment component. Based on the coordination of these three sets of sprockets and chains, synchronous height adjustment on both sides of the main and auxiliary adjustment components can be achieved.

[0016] Preferably, the auxiliary adjustment assembly 1-2 is similar to the main adjustment assembly 1-1, but the key components are different. The key components include the front and rear adjustment rod 1-204 that replaces the front and rear adjustment rod 1-104, the left and right adjustment rod 1-205 that replaces the left and right adjustment component 1-105, and the protective plug 1-211 that replaces the handwheel 1-111.

[0017] Preferably, the bed work platform 1-3 includes multiple limiting heads 1-300, multiple ordinary long rods 1-301 and special long rods 1-302 that pass through left and right adjustment parts 1-105 and left and right adjustment light rod parts 1-205 on both sides and are fixedly connected to the limiting heads 1-300, a work platform 1-304 that is threadedly engaged with the special long rods 1-302, and a sleeve 1-303 that is fixedly connected to the work platform 1-304.

[0018] Preferably, the canopy structure 1-4 includes a bed body 1-400 with guardrails, a support member 1-401 installed on the bed body guardrails, and a canopy threaded rod 1-402 and a canopy threaded rod 2 1-403 that are threadedly engaged with the support member 1-401.

[0019] Rotating the handwheel 1-111 rotates the fixed special long rod 1-302. Because the working platform 1-304 is restricted by multiple ordinary long rods 1-301, it can only move axially. The working platform 1-304 and the special long rod 1-302 are connected by a threaded connection. When the special long rod 1-302 rotates, the working platform 1-304 is driven to move axially, thereby achieving the effect of left and right adjustment.

[0020] Preferably, in the external adjustment assembly 2, the push rod motor fixing part 1 202 is installed on the base fixing frame 201, one end of one of the pair of push rod motors 203 is fixedly connected to the push rod motor fixing part 1 202, one end of the other of the pair of push rod motors 203 is fixedly connected to the push rod motor fixing part 204, the disc motor fixing part 206 is embedded in the base fixing frame 201, the disc motor 205 cooperates with the disc motor fixing part 206, the disc motor 205 and the transmission gear 207 are keyed together, the plane bearing 208 is in planar contact with the transmission gear 207, the transmission shaft 209 is keyed together with the transmission gear 207, the irregularly shaped transmission shaft 210 is keyed together with the transmission shaft 209, and the push rod motor... The moving end fixing component 211 is keyed to the drive shaft 209 and fixed to the stroke end of one of the push rod motors 203. The inner connecting component 212 is fixedly connected to the irregular drive shaft 210. The inner drive component 213 and the inner connecting component 212 are connected by a shaft and can slide relative to each other. The inner track 214 is fixedly connected to the inner drive component 213. The outer track 215 is connected to the inner track 214. The outer drive component 216 and the outer track 215 are connected by a shaft. The outer connecting component 217 and the outer drive component 216 are connected by a shaft and can slide relative to each other. The other push rod motor 203 is fixedly connected to the outer connecting component 217. The auxiliary fixing component 218 is fixedly connected to the push rod motor fixing component 202. Multiple ball bearings are used between the base fixing frame 201 and the push rod motor fixing component 202 to reduce friction.

[0021] Preferably, in the inner adjustment assembly 3, the end moving part 301 can simultaneously wrap the outer shape of the track formed by the inner track 214 and the outer track 215. The servo motor 305 is fixed to the end moving part 301. One short connecting rod 302 is connected to the end moving part 301 through a shaft. Another short connecting rod 302 is fixed to the end of the servo motor 305. A pair of long connecting rods 303 are connected to each other through a shaft and connected to a pair of short connecting rods 302 through a shaft. A pair of short connecting rods 302 are then connected to a pair of long connecting rods 303 through a shaft. The connecting rod fixing part 304 connects the last pair of short connecting rods 302. The outer track 215 is fixed to the connecting rod fixing part 304. The massage head connector 306 is fixed to the end moving part 301. The end massage head 307 and the massage head connector 306 are coaxially engaged.

[0022] Preferably, the base frame 201 is set with a special track according to the massage range, and the track determines the maximum area that the robot can cover. As the disc motor 205 rotates, it drives the rotation of the transmission gear set 207, which in turn drives the keyed transmission shaft 209 and the irregular transmission shaft 210, as well as the inner connecting member 212 fixed to the irregular transmission shaft 210, to rotate. This causes the inner transmission member 213, which is slidably relative to the inner connecting member 212 using a shaft engagement, and the inner track 214 fixed to the inner transmission member 213, and the outer track 215 cooperating with the inner track 214, to rotate synchronously. During the rotation of the disc motor 205, the push rod motor fixing member 202 always moves on the track of the base frame 201 with the fixed push rod motor 203; and causes the track length formed by the inner track 214 and the outer track 215 to change adaptively.

[0023] Preferably, the inner connecting member 212 and the inner transmission member 213 are slidably connected by a shaft, characterized in that the sliding range depends on the track of the inner connecting member 212 and the compression range of the spring used for their connection.

[0024] Preferably, the outer transmission member 216 and the outer connecting member 217 are slidably relative to each other using a shaft fit, characterized in that the sliding range depends on the track of the outer connecting member 217 and the compression range of the spring used for the fit between the two.

[0025] Preferably, the movable range of the end effector 301 on the track formed by the inner track 214 and the outer track 215 depends on the ratio of the number of short links 302 and long links 303 and their lengths. As the end of the servo motor 305 rotates, the combination of short links 302 and long links 303 fixed to the servo motor 305 will deform, causing a change in the distance between the end effector 301 and the link fixing member 304.

[0026] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention, and applications, modifications and variations thereof will be apparent to those skilled in the art.

[0027] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A full-coverage abdominal massage robot device based on a frame-type three-degree-of-freedom adjustable device, characterized in that, include: The system includes an external three-degree-of-freedom adjustable device, an external adjustment component, and an internal adjustment component mounted on the external adjustment component. The external three-degree-of-freedom adjustable device is installed on the nursing bed rails to achieve three-degree-of-freedom spatial adjustment. The external adjustment component is movably mounted on the external three-degree-of-freedom adjustable device and is used to adjust the spatial posture of the massage actuator of the abdominal full-coverage massage robot. The internal adjustment component is mounted on the external adjustment component and is used to drive the massage head of the abdominal full-coverage massage robot to perform linear reciprocating motion. The external three-degree-of-freedom adjustable device includes a main adjustment component, an auxiliary adjustment component, a bed frame structure, and a bed work platform. It achieves stepless adjustment in height, forward / backward, and left / right directions through a sprocket-chain transmission and a bevel gear steering structure.

2. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 1, characterized in that, The main adjustment assembly includes: a sprocket and a chain; a first bed-mounted threaded rod and a second bed-mounted threaded rod, which are respectively fixedly connected to the sprocket; a front and rear adjusting screw and a left and right adjusting component, wherein the left and right adjusting component is threadedly engaged with the front and rear adjusting screw; a pair of meshing bevel gears are provided in the key steering connector, which are driven by a handwheel to realize torque reversal and control the rotation of the front and rear adjusting screw and the lifting and lowering of the second bed-mounted threaded rod, respectively.

3. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 2, characterized in that, The auxiliary adjustment component includes front and rear adjustment rods and left and right adjustment rods. The auxiliary adjustment component is linked with the main adjustment component through a chain to achieve synchronous height adjustment on both sides, ensuring the horizontal stability of the work platform on the bed.

4. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 1, characterized in that, The external adjustment assembly includes a base fixing frame, a pair of push rod motors, a disc motor, and a telescopic support guide rail composed of an inner rail and an outer rail. The disc motor drives the irregularly shaped transmission shaft through a transmission gear to rotate the inner rail around the axis. At the same time, the two push rod motors independently control the lifting and lowering of both ends of the guide rail, realizing the composite adjustment of the massage head in the arc trajectory and tilt angle.

5. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 4, characterized in that, The base mounting frame has a track at its bottom. The push rod motor mounting component slides with the track through ball bearings to reduce friction and ensure that the push rod motor can adapt to displacement when the disc motor drives the guide rail to rotate.

6. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 4, characterized in that, The inner track is inserted into the outer track to form a telescopic structure. The inner track and the outer track achieve adaptive length adjustment through the sliding fit of the inner and outer transmission components and the spring limit, which prevents derailment and adapts to different abdominal curvatures.

7. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 1, characterized in that, The internal adjustment assembly includes an end-effector, a short connecting rod, a long connecting rod, a connecting rod fixing component, and a servo motor. The servo motor drives the short connecting rod to deform the cross-arranged long connecting rod, thereby pushing the end-effector to move linearly along the composite guide rail composed of the inner and outer tracks, achieving precise positioning and reciprocating pushing and pressing of the massage head.

8. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 7, characterized in that, The end-effector encloses the outer contours of the inner and outer tracks, and its range of motion is determined by the ratio and number of links in the linkage mechanism, which can extend the massage stroke without increasing the degree of freedom of the drive.

9. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 1, characterized in that, The massage head is connected to the end moving part through the massage head connector. The massage head has a replaceable structure and includes three types: flat palm-shaped, semi-circular finger-shaped, and cylindrical finger-shaped, which are used to realize different massage techniques such as "pressing", "rubbing", and "pinching".

10. The abdominal full-coverage massage robot device based on a frame-type three-degree-of-freedom adjustable device according to claim 1, characterized in that, The bed work platform of the external component three-degree-of-freedom adjustable device can be used as a general bed table when the internal adjustment component is not installed, for dining, office work or study, realizing the integration and reuse of medical equipment and life assistance functions.

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