Flow guide massage robot

Abstract

A flow guide massage robot comprises a robot body and a mechanical arm, the mechanical arm is arranged on the robot body, one end of the mechanical arm is connected with the robot body, the other end of the mechanical arm controls the mechanical arm to do double-infinite-track movement through the robot body, and a flow guide massage device is arranged at the other end of the mechanical arm downwards. The device has the advantages that the tail ends of the balls make contact with the human skin, the six-dimensional force sensor obtains the contact force of the tail ends of the balls and the human body, and contact force protection is conducted; the tail end of the ball moves on the back of the human body according to double infinite tracks through the mechanical arm; the emulsion carrier is installed on the carrier support and enters the surface of the ball through the hose and the channel, in the process that the ball makes contact with the surface of the human body and rolls, the emulsion is smeared on the surface of the skin of the human body, and the human body is massaged through triple effects of contact force, tracks and the emulsion.

Description

Technical Field

[0001] The present invention relates to a diversion massage robot. Background Art

[0002] Nowadays, due to the accelerating pace of life and the increasing work pressure, people's bodies are in a state of long-term high pressure, sub-health, and poor physical functions, manifested as lack of sleep, physical and mental fatigue, listlessness, irritability, etc., but it does not constitute pathological and drug treatment indicators. At the same time, traditional Chinese medicine conditioning has been increasingly valued by people. The combination of traditional Chinese medicine and intelligent equipment has given birth to physical therapy massage robots, which not only solve the shortage of manpower but also better standardize traditional Chinese medicine conditioning and promote excellent traditional Chinese medicine solutions.

[0003] At present, massage and physical therapy robots are emerging in an endless stream on the market, but their functions are single. As the combination of traditional Chinese medicine and intelligent equipment, how to achieve the comprehensive effects of traditional Chinese medicine vision, touch, pushing, and conditioning requires multi-faceted assistance from vision, force sense, trajectory, external application, etc. Summary of the Invention

[0004] The purpose of the present invention is to solve the existing technical problems and propose a diversion massage robot.

[0005] To achieve the above purpose, the present invention adopts the following technical solution: A diversion massage robot, including a body and a robotic arm. The robotic arm is arranged on the body. One end of the robotic arm is connected to the body, and the other end of the robotic arm controls the robotic arm to perform a double infinite trajectory movement through the body. A diversion massage device is provided downward at the other end of the robotic arm.

[0006] Further, the diversion massage device includes a housing, a ball, a lotion carrier, a lotion pump, a heating device, a vision camera, and a six-axis force sensor. The upper end of the housing is installed at the other end of the robotic arm. A vision camera for shooting and collecting information downward is provided on one side of the housing. A lotion pump is also provided on one side of the housing. A carrier bracket is provided outside the housing, and a lotion carrier with an opening facing downward is provided on the carrier bracket. The opening of the lotion carrier is connected to the inlet of the lotion pump through a hose and is discharged by the drive of the lotion pump. The housing is connected to the six-axis force sensor. A first connector is provided at the lower end of the six-axis force sensor. A channel is provided inside the first connector, and the channel is connected to the outlet of the lotion pump. The lower end of the first connector is circularly concave. A heating device is provided outside the first connector. External threads are provided on the outer wall of the lower end of the first connector, and a second connector is connected through the threads. The upper end of the ball is fitted into the circular concave and abuts against the lower end of the channel. The upper end of the ball passes through a through hole in the middle of the second connector, and the inner diameter of the through hole is smaller than the diameter of the ball.

[0007] Further, the outer sides of the first connector and the second connector are covered by a housing, and the lower end of the second connector is exposed outside the housing. A long strip-shaped hole can be provided at the heating device, and the heating device passes through it.

[0008] Furthermore, an operation screen is provided on the body. A control center is provided inside the operation screen, and the operation screen is connected to the body, the robotic arm, and the diversion massage device.

[0009] Furthermore, the upper end of the channel is connected to the outlet of the emulsion pump through a hose, and an exposure adjustment device is provided on one side of the vision camera.

[0010] Furthermore, a plurality of rotating joints are provided on the robotic arm for moving in the horizontal, vertical, and longitudinal directions.

[0011] Furthermore, the heating device contacts the channel to heat the channel wall and the back of the ball, and a temperature sensor is provided to monitor the temperature of the channel wall.

[0012] Furthermore, the carrier bracket includes a mounting plate, a bottle fixing member, and a bottle mouth fixing member. The mounting plate is detachably mounted on the outside of the housing, and one end of the emulsion pump passes through the lower end of the mounting plate. On the front surface of the upper end of the mounting plate, the bottle fixing member and the bottle mouth fixing member are arranged vertically. The bottle fixing member is above, and the bottle mouth fixing member is below.

[0013] Furthermore, the bottle fixing member includes two first clamping force arms. The two first clamping force arms are symmetrically arranged and the ends are fixed on the front surface of the upper end of the mounting plate. A first gap is provided at the front end. First grooves are provided on the opposite surfaces of the two first clamping force arms. The two first grooves form a bottle clamping cavity, and the first gap is smaller than the bottle clamping cavity.

[0014] Furthermore, the bottle mouth fixing member includes two second clamping force arms. The two second clamping force arms are symmetrically arranged and the ends are fixed on the front surface of the upper end of the mounting plate below the bottle fixing member. A second gap is provided at the front end. Second grooves are provided on the opposite surfaces of the two second clamping force arms. The two second grooves form a bottle mouth clamping cavity, and the second gap is smaller than the bottle mouth clamping cavity. The center of the bottle mouth clamping cavity is aligned with the center of the bottle clamping cavity.

[0015] The beneficial effects of the present invention are as follows: The end of the ball contacts the human skin. The six-axis force sensor acquires the contact force between the end of the ball and the human body and performs contact force protection; the end of the ball moves on the human back along a double infinite trajectory through the robotic arm; the emulsion carrier is installed on the carrier bracket and enters the surface of the ball through the hose and the channel. During the process of the ball rolling in contact with the human surface, the emulsion is smeared on the human skin surface, and the human body is massaged through the triple action of contact force, trajectory, and emulsion.

[0016] The contact force is uniform. The emulsion is evenly smeared on the human skin through the movement of the ball. Through the triple action of force-controlled contact, double infinite character trajectory, and emulsion, massage physiotherapy of the human back is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the present invention.

[0018] Figure 2 Schematic diagram of the robotic arm structure Figure 1 .

[0019] Figure 3 Schematic diagram of the robotic arm structure Figure 2 .

[0020] Figure 4 Schematic diagram of the structure of the diversion massage device Figure 1 .

[0021] Figure 5 Schematic diagram of the structure of the diversion massage device Figure 2 .

[0022] Figure 6 Schematic diagram of the structure of the diversion massage device Figure 3 . Specific implementation manners

[0023] Next, in combination with the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0024] Embodiment 1 In combination with the attached Figures 1-6 , a diversion massage robot includes a body 1 and a robotic arm 2. The robotic arm is arranged on the body. One end of the robotic arm is connected to the body, and the other end of the robotic arm controls the robotic arm to perform a double infinite trajectory movement through the body. A diversion massage device 3 is provided downward at the other end of the robotic arm.

[0025] A diversion massage robot, the diversion massage device includes a housing 4, a ball 5, a lotion carrier 6, a lotion pump 7, a heating device 8, a vision camera 9 and a six-axis force sensor 10. The upper end of the housing is installed at the other end of the robotic arm. A vision camera for shooting and collecting information downward is provided on one side of the housing. A lotion pump is also provided on one side of the housing. A carrier bracket 11 is provided outside the housing. A lotion carrier with an opening facing downward is provided on the carrier bracket. The opening of the lotion carrier is connected to the inlet of the lotion pump through a hose and is discharged by the drive of the lotion pump; the housing is connected to the six-axis force sensor. A first connector 12 is provided at the lower end of the six-axis force sensor. A channel 13 is provided inside the first connector. The channel is connected to the outlet of the lotion pump. The lower end of the first connector is a circular concave 14. A heating device is provided outside the first connector. A thread is provided on the outer wall of the lower end of the first connector and is connected to a second connector 15 through the thread. The upper end of the ball is fitted in the circular concave and abuts against the lower end of the channel. The upper end of the ball passes through the through hole in the middle of the second connector, and the inner diameter of the through hole is smaller than the diameter of the ball.

[0026] The upper end of the housing is provided with a six-axis force sensor and is installed on the robotic arm through the six-axis force sensor.

[0027] A diversion massage robot, the outer sides of the first connecting piece and the second connecting piece are covered by a housing, and the lower end of the second connecting piece is exposed outside the housing 17. A long strip-shaped hole 16 can be provided at the heating device and passed through by the heating device.

[0028] A diversion massage robot, an operation screen 18 is provided on the body, a control center is provided inside the operation screen, and the operation screen is connected to the body, the robotic arm and the diversion massage device.

[0029] A diversion massage robot, the upper end of the channel is connected to the outlet of the lotion pump through a hose, and an exposure adjustment device is provided on one side of the vision camera.

[0030] A diversion massage robot, the robotic arm is provided with a plurality of rotating joints for moving in the horizontal, vertical and vertical directions. The number of rotating joints is 6.

[0031] A diversion massage robot, the heating device contacts the channel to heat the channel wall and the back surface of the ball, and is provided with a temperature sensor to monitor the temperature of the channel wall.

[0032] A diversion massage robot, the carrier bracket includes a mounting plate 111, a bottle fixing piece and a bottle mouth fixing piece. The mounting plate is detachably installed on the outside of the housing and one end of the lotion pump passes through the lower end of the mounting plate. On the front surface of the upper end of the mounting plate, there are a bottle fixing piece and a bottle mouth fixing piece distributed up and down. The bottle fixing piece is above and the bottle mouth fixing piece is below.

[0033] A diversion massage robot, the bottle fixing piece includes two first clamping force arms 114. The two first clamping force arms are symmetrically arranged and the ends are fixed on the front surface of the upper end of the mounting plate. There is a first gap 115 at the front end. On the opposite surfaces of the two first clamping force arms, there are first grooves 116. The two first grooves form a bottle clamping cavity, and the first gap is smaller than the bottle clamping cavity.

[0034] A diversion massage robot, the bottle mouth fixing piece includes two second clamping force arms 118. The two second clamping force arms are symmetrically arranged and the ends are fixed on the front surface of the upper end of the mounting plate below the bottle fixing piece. There is a second gap 119 at the front end. On the opposite surfaces of the two second clamping force arms, there are second grooves 117. The two second grooves form a bottle mouth clamping cavity, and the second gap is smaller than the bottle mouth clamping cavity. The center of the bottle mouth clamping cavity is aligned with the center of the bottle clamping cavity.

[0035] A diversion massage robot, the end of the ball contacts the human skin. The six-axis force sensor obtains the contact force between the end of the ball and the human body and performs contact force protection; the end of the ball moves on the human back according to a double infinite trajectory through the robotic arm; the lotion carrier is installed on the carrier bracket and enters the surface of the ball through a hose and a channel. During the process of the ball rolling in contact with the human surface, the lotion is applied to the human skin surface, and the human body is massaged through the triple effects of contact force, trajectory and lotion.

[0036] A diversion massage robot has uniform contact force. It evenly applies lotion on the human skin by the movement of balls. Through the triple effects of force-controlled contact, double infinite trajectories, and lotion, it realizes the massage and physical therapy of the human back.

[0037] A diversion massage robot is also provided with a lotion adsorption layer between the upper end of the ball and the circular concave.

[0038] Example 2: A diversion massage robot. The heating device heats the back of the ball in the contact channel and is provided with a temperature sensor to monitor the temperature of the ball. The outlet of the lotion pump is connected by a hose, and one end of the hose enters the channel and is placed above the ball. The contact surface of the lotion in the channel is reduced, which is convenient for cleaning.

[0039] A diversion massage robot. A first connector is provided inside the housing. A channel is provided inside the first connector, and the channel is connected to the outlet of the lotion pump. The lower end of the first connector is a circular concave. A heating device is provided outside the first connector. Threads are provided on the outer wall of the lower end of the first connector, and a second connector is connected through the threads. The upper end of the ball is fitted in the circular concave and abuts against the lower end of the channel. The upper end of the ball passes through the through hole in the middle of the second connector, and the inner diameter of the through hole is smaller than the diameter of the ball.

[0040] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A flow-guiding massage robot, comprising a body and a mechanical arm, characterized in that: The mechanical arm is arranged on the machine body, one end of the mechanical arm is connected to the machine body, and the other end of the mechanical arm controls the mechanical arm to perform dual infinite track motion through the machine body, and the other end of the mechanical arm is provided with a diversion massage device facing downward; The diversion massage device includes a shell, a ball, a lotion carrier, a lotion pump, a heating device, a visual camera and a six-dimensional force sensor. The upper end of the shell is installed on the other end of the mechanical arm. A visual camera for collecting information facing downward is provided on one side of the shell. A lotion pump is also provided on one side of the shell. A carrier bracket is provided on the outer side of the shell. A lotion carrier with an opening facing downward is provided on the carrier bracket. The opening of the lotion carrier is connected to the inlet of the lotion pump through a hose and is driven to be discharged by the lotion pump; the shell is connected to the six-dimensional force sensor, and a first connecting piece is provided at the lower end of the six-dimensional force sensor. A channel is provided in the first connecting piece, and the channel is connected to the outlet of the lotion pump. The lower end of the first connecting piece is a circular concave, and a heating device is provided on the outer side of the first connecting piece. The outer wall of the lower end of the first connecting piece is provided with a thread, which is connected to the second connecting piece through the thread. The upper end of the ball is embedded in the circular concave and abuts against the lower end of the channel. The upper end of the ball passes through the through hole in the middle of the second connecting piece, and the inner diameter of the through hole is smaller than the diameter of the ball.

2. A flow-guiding massage robot according to claim 1, characterized in that: The first connecting member and the second connecting member are covered by the shell on the outside, and the lower end of the second connecting member is exposed outside the shell. A long strip hole can be provided at the heating device, through which the heating device passes.

3. A flow-guiding massage robot according to claim 2, characterized in that: An operation screen is arranged on the machine body, a control center is arranged inside the operation screen, and the operation screen is connected with the machine body, the mechanical arm and the diversion massage device.

4. The flow-guiding massage robot according to claim 3, characterized in that: The upper end of the channel is connected to the outlet of the lotion pump through a hose, and an exposure adjustment device is provided on one side of the visual camera.

5. The flow-guiding massage robot according to claim 1, characterized in that: The robotic arm is provided with multiple rotation joints for moving in lateral, longitudinal and vertical directions.

6. The flow-guiding massage robot according to claim 3, characterized in that: The heating device contacts the channel to heat the channel wall and the back of the ball, and is provided with a temperature sensor to monitor the temperature of the channel wall.

7. The flow-guiding massage robot according to claim 1, characterized in that: The carrier bracket includes a mounting plate, a bottle body fixing part and a bottle mouth fixing part. The mounting plate is detachably mounted on the outside of the shell and one end of the lotion pump passes through the lower end of the mounting plate. The front side of the upper end of the mounting plate is provided with a bottle body fixing part and a bottle mouth fixing part distributed up and down, with the bottle body fixing part at the top and the bottle mouth fixing part at the bottom.

8. The flow-guiding massage robot according to claim 7, characterized in that: The bottle fixing member includes two first clamping force arms, which are symmetrically arranged and have their ends fixed on the front side of the upper end of the mounting plate, a first gap is provided at the front end, and first grooves are provided on the opposite surfaces of the two first clamping force arms. The two first grooves form a bottle clamping cavity, and the first gap is smaller than the bottle clamping cavity.

9. The flow-guiding massage robot according to claim 8, characterized in that: The bottle mouth fixing member includes two second clamping force arms, which are symmetrically arranged and the ends are fixed on the front side of the upper end of the mounting plate and are located below the bottle body fixing member. A second gap is provided at the front end, and second grooves are provided on the opposite surfaces of the two second clamping force arms. The two second grooves form a bottle mouth clamping cavity. The second gap is smaller than the bottle mouth clamping cavity, and the center of the bottle mouth clamping cavity is aligned with the center of the bottle body clamping cavity.

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