Full-automatic modularized massage complete equipment and combined layout structure

Abstract

The utility model discloses full-automatic modularized massage complete equipment which is of a combined layout structure. The mobile massage system comprises a mobile massage system control platform deck, a mobile mechanical arm control platform deck and a cable, and the mobile massage system control platform deck comprises a massage control cabinet, a massage operation control system, a wireless navigation system and a self-walking device arranged at the bottom of the massage control cabinet. Each movable mechanical arm control carrying platform comprises a mechanical arm control cabinet and a movable walking device controlled by a wireless navigation system, and each movable mechanical arm control carrying platform and each movable massage system control carrying platform are respectively provided with a data transmission interface matched with a cable. The device has the advantages that the complete equipment can be automatically moved to different massage beds for free combination according to requirements, one set of complete equipment can correspond to different massage beds, massage robots do not need to be arranged on all the massage beds, and therefore occupied space is reduced, and the acquisition cost is reduced.

Description

Technical Field

[0001] This utility model relates to a massage robot, specifically a fully automatic modular massage equipment and its combined layout structure, belonging to the field of massage equipment technology. Background Technology

[0002] Massage equipment typically includes a massage bed and a robotic massage arm (collectively referred to as a massage robot) with massage components (massage hands) mounted beside the massage bed. During a massage, the customer lies on the massage bed, and the robotic arm drives the massage hands to massage various parts of the customer's body. In existing technology, each massage bed is equipped with one or more independently controlled massage robots, for example, in the case of patent announcement number CN 114712129. B, a utility model patent entitled "A type of reclining massage robot", publication number: 108143597A, and a utility model patent application entitled "A type of mobile massage robot", both disclose massage devices with different functions. According to these published documents, although they can indeed achieve the purpose of massage, they generally have the following defects: (1) Each massage bed is equipped with a corresponding non-movable massage robot to form a complete set of massage equipment. On the one hand, the complete set of massage equipment occupies a large massage space. On the other hand, each set of massage equipment has a massage robot with an independent massage control system, resulting in high product cost and high purchase cost; (2) Each massage bed is equipped with a massage robot with a specific function to achieve massage of different parts. When different parts of the body need to be massaged, the massage robot or massage component needs to be changed constantly. The process is complicated, the replacement efficiency is low, and the user experience is poor; (3) The end effector of the massage robot of each set of massage equipment can only be equipped with a single massage component. The function is single, the flexibility is poor, and the function cannot be expanded. It cannot meet the diverse massage needs of users and further reduces the customer's experience. Summary of the Invention

[0003] This utility model specifically addresses the problems of existing massage equipment having limited functionality, lack of flexibility, and lack of scalability. It provides a fully automatic modular massage equipment with a combined layout structure that enables free combination and multiple massage functions, thereby improving equipment flexibility and user experience.

[0004] To solve the above technical problems, the full-automatic modular massage robot of the present utility model includes a mobile massage system control platform, at least one mobile robotic arm control platform supporting the mobile massage system control platform, and cables disposed on different massage beds for enabling communication and power supply connections between the mobile massage system control platform and each mobile robotic arm control platform. The mobile massage system control platform includes a massage control cabinet, a massage operation control system disposed within the massage control cabinet, a wireless navigation system for performing navigation control on the mobile robotic arm control platform, and a self-propelled device disposed at the bottom of the massage control cabinet. The mobile robotic arm control platform includes a robotic arm control cabinet carrying a robotic arm and a mobile traveling device disposed at the bottom of the robotic arm control cabinet and controlled by the wireless navigation system. Data transmission interfaces matching the cables are respectively disposed on each mobile robotic arm control platform and the mobile massage system control platform. Each mobile robotic arm control platform can follow the mobile massage system control platform and synchronously move to the corresponding massage bed required under the navigation of the mobile massage system control platform and be connected to the cable on the massage bed through the data transmission interface.

[0005] An end effector with a 3D depth camera is carried at the end of the robotic arm, and a massage component is hung on the end effector through a hanging plate.

[0006] The cable has multiple interface sockets, and each mobile robotic arm control platform and the mobile massage system control platform can be plugged into different interface sockets through their respective data transmission interfaces to achieve the transmission of information between each other.

[0007] The massage component includes a finger kneading massage module installed on the hanging plate as the main mount and a massage suction cup for adsorbing the sub-load component.

[0008] An end automatic mounting device capable of rotating is disposed on the robotic arm control cabinet, different sub-load components are mounted on the end automatic mounting device, and the sub-load components mounted on the end automatic mounting device can be selectively adsorbed onto the massage magnetic suction cup through the movement of the robotic arm.

[0009] The sub-load components include a shock wave device, an moxibustion device, a palm massager, a heat therapy device, and a light therapy device.

[0010] The robotic arm control cabinet is a nested lifting structure.

[0011] A display / control component is disposed on the top surface of the mobile massage system control platform.

[0012] A combined layout structure based on the above-mentioned fully automatic modular massage equipment includes at least one massage room, at least one massage bed placed in each massage room, and at least one fully automatic modular massage equipment placed in each massage room. The mobile massage system control platform in each fully automatic modular massage equipment can issue navigation commands to move its matching mobile robotic arm control platform to the massage bed in the massage room to be controlled, and communicate with it via cable.

[0013] The advantages of this utility model are:

[0014] (1) A complete set of equipment consisting of a mobile massage system control platform and at least one mobile robotic arm control platform that is matched with the mobile massage system control platform is set up. Each mobile robotic arm control platform can follow the mobile massage system control platform and move synchronously to the corresponding massage bed under the navigation of the mobile massage system control platform and connect to the cable of the massage bed through the data transmission interface. Thus, the complete set of equipment can automatically move to different massage beds for free combination according to the needs. One set of equipment can correspond to different massage beds, and it is no longer necessary to equip all massage beds with massage robots, thereby reducing space occupation and reducing purchase cost.

[0015] (2) By controlling multiple mobile robotic arm control platforms through a mobile massage system control platform, different massage components can be mounted on the robotic arms on different mobile massage system control platforms. In addition to using a massage control system to control multiple mobile robotic arm control platforms to reduce costs, different mobile robotic arm control platforms can also be used to mount different massage components, thereby achieving massage of different parts without the need to replace the massage robot or the massage components (main mounting).

[0016] (3) By setting a mounting plate with a main mounting station and a secondary mounting station on the end effector, in addition to the main mounting finger massage module, different secondary mounting components can be attached by using the massage magnetic suction cup. Thus, in addition to the main mounting finger massage module performing regular massage operations, completely different secondary mounting components (such as shock wave devices, moxibustion devices, palm massagers, thermotherapy devices, and phototherapy devices) can be mounted through just one end effector, greatly expanding the range of different functions, meeting the rich and diverse massage needs of users, greatly improving the user experience, and providing excellent flexibility.

[0017] (4) By using the rotatable end-mounted automatic mounting device on the robotic arm control cabinet in conjunction with the massage magnetic suction plate, the auxiliary components mounted on the end-mounted automatic mounting device can be directly attracted to the massage magnetic suction plate by the movement of the robotic arm. Thus, even when replacing the auxiliary components, the replacement efficiency is very high, further improving the user experience.

[0018] (5) By combining and arranging fully automatic modular massage equipment into different massage room configurations, fully automatic modular massage equipment that can be used alternately is achieved, realizing free and flexible application. Its ingenious application method is very flexible, greatly reducing product cost and usage cost. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the fully automatic modular massage equipment of this utility model in use.

[0020] Figure 2 This is a three-dimensional structural diagram of the control platform of the mobile massage system in this utility model;

[0021] Figure 3 This is an exploded structural diagram of the control platform of the mobile massage system of this utility model;

[0022] Figure 4 This is a three-dimensional structural diagram of the control platform for the mobile robotic arm in this utility model.

[0023] Figure 5 for Figure 4 A magnified structural diagram at point A;

[0024] Figure 6 for Figure 4 A magnified structural diagram at point B;

[0025] Figure 7 This is a schematic diagram of the massage bed in this utility model;

[0026] Figure 8 This is a three-dimensional structural diagram of the combined layout structure of the fully automatic modular massage equipment of this utility model.

[0027] Figure 9 This is a top view of the combined layout structure of the fully automatic modular massage equipment of this utility model. Detailed Implementation

[0028] The fully automatic modular massage equipment and its combined layout structure of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Example 1

[0029] As shown in the figure, the full-automatic modular massage complete equipment of this embodiment includes a mobile massage system control platform 2, two mobile robotic arm control platforms 1 that are matched with the mobile massage system control platform 2, and cables 3 that are arranged on different massage beds and are used to enable the mobile massage system control platform and each mobile robotic arm control platform to conduct communication connections. In this embodiment, the cables 3 on each massage bed all have three interface sockets 13. Data transmission interfaces that are matched with the cables 3 are also respectively arranged on the two mobile robotic arm control platforms 1 and the mobile massage system control platform 2. Preferably, the interface socket 13 and the data transmission interface of the mobile massage system control platform adopt a conventional magnetic adsorption structure to improve the docking efficiency. When the mobile massage system control platform 2 and the two mobile robotic arm control platforms 1 move to a certain massage bed, each mobile robotic arm control platform 1 and the mobile massage system control platform 2 can respectively be plugged into one of the interface sockets through their respective data transmission interfaces to achieve the transmission of information between each other; The mobile massage system control platform 2 includes a massage control cabinet 4, a massage operation control system 5 arranged in the massage control cabinet, a wireless navigation system for navigating and controlling the mobile robotic arm control platform, and a self-propelled device 6 arranged at the bottom of the massage control cabinet. A display / control component 19 is also arranged on the top surface of the mobile massage system control platform 2. The said display / control component 19 can be a display / control panel fixedly installed on the top of the massage control cabinet 4, or it can be a tablet computer placed on the massage control cabinet. The tablet computer conducts communication connection with the massage operation control system in a wireless manner; The mobile robotic arm control platform 1 includes a robotic arm control cabinet 8 carrying a robotic arm 7 and a mobile walking device 9 arranged at the bottom of the robotic arm control cabinet 8 and controlled by the wireless navigation system. The self-propelled device 6 and the mobile walking device 9 are both conventional walking mechanisms and respectively have their own walking control systems. The walking control system of the mobile walking device 9 is controlled by the wireless navigation system of the mobile massage system control platform 2. Of course, both the mobile robotic arm control platform 1 and the mobile massage system control platform 2 are equipped with battery systems and can move without being plugged in. In addition, a socket can also be arranged beside the massage bed. At this time, a plug is connected to the cable 3, and power is supplied to the mobile robotic arm control platform 1 and the mobile massage system control platform or the battery system by connecting the plug to the socket; A end effector 10 with a 3D depth camera is carried at the end of the robotic arm 6. The end effector 10 is hung with a massage component 12 through a hanging plate 11. The said massage component 12 includes a finger kneading massage module 23 installed on the hanging plate 11 as the main mounted component and a massage magnetic suction cup 14 for adsorbing the sub-mounted component. Among them, the said sub-mounted component includes but is not limited to a shock wave device 16, an moxibustion device 17, a palm massager 18, a heat therapy device, a light therapy device, etc.;In use, each mobile robotic arm control platform 1, guided by the mobile massage system control platform 2, moves synchronously to the corresponding massage bed and connects to the massage bed's cable 3 via a data transmission interface.

[0030] Furthermore, the robotic arm control cabinet 8 is equipped with a rotatable end-effector automatic mounting device 15. Specifically, the end-effector automatic mounting device 15 includes a turntable 28 driven to rotate by a drive device, a turntable 24 fixedly mounted on the turntable, and multiple snap-fit ​​slots 25 arranged around the perimeter of the turntable. The end-effector automatic mounting device 15 mounts different auxiliary components through different snap-fit ​​slots. The drive device is a conventional drive motor and matching drive components, which are installed inside the robotic arm control cabinet 8. Through the movement of the robotic arm, the auxiliary components mounted on the end-effector automatic mounting device 15 can be adsorbed onto the massage suction cup 14 (preferably a massage magnetic suction cup).

[0031] Furthermore, the robotic arm control cabinet 8 can also be designed as a nested lifting structure. The nested lifting structure is also a conventional structure, as long as it can make the robotic arm control cabinet 8 rise and fall. This embodiment does not limit it. For example, the robotic arm control cabinet 8 can be set as a fixed shell 26 and a lifting shell 27 placed in the fixed shell. The lifting shell is driven to rise and fall by a cylinder. Through the design of the lifting structure, the height of the robotic arm can be adjusted, further improving the operability.

[0032] In addition, for the movement of the mobile robotic arm control platform 1 and the mobile massage system control platform 2, in order to improve positioning accuracy, the self-propelled device 6 and the mobile walking device 9 can adopt the walking mechanism of an AGV (Automated Guided Vehicle). Therefore, during equipment installation, the entire environment is scanned and modeled to generate a map, which is stored in the control system of the AGV's walking mechanism. Movement commands are issued via a tablet computer. When the AGV's walking mechanism receives the command, the control system calculates, plans, and analyzes based on the stored operating map and the AGV's current position and direction of travel, selecting the optimal route and automatically controlling movement and steering. When the AGV reaches the designated position and stops accurately, the interface sockets of the mobile robotic arm control platform 1 and the mobile massage system control platform and the massage bed automatically connect to achieve charging, power supply, and signal transmission. After the massage is completed, the AGV's walking mechanism can be started and driven to the waiting area. Example 2

[0033] This embodiment is a combined layout structure based on the fully automatic modular massage equipment in Embodiment 1. It includes at least one massage room 20, at least one massage bed 21 placed in each massage room, and at least one fully automatic modular massage equipment 22 placed in each massage room. The mobile massage system control platform 2 in each fully automatic modular massage equipment 22 issues navigation commands, which enables it to move with its matching mobile robotic arm control platform 1 to the massage bed in the required massage room. Communication and power supply are connected via cables. As shown in the figure, this embodiment includes two massage rooms 20, one massage room containing one massage bed and the other massage room containing two massage beds. At the same time, a set of fully automatic modular massage equipment is placed in each of the two massage rooms. Example 3

[0034] This embodiment is a control method based on the combined layout structure of the fully automatic modular massage equipment in Embodiment 2. It includes the following steps:

[0035] A. Establish a wireless communication signal connection between the mobile massage system control platform 2 and the mobile robotic arm control platform 1 by operating the display / operation panel of the fully automatic modular massage equipment 22 to be controlled.

[0036] B. The mobile massage system control platform 2 uses a wireless navigation system to control the mobile robotic arm control platform 1 to move to the desired massage bed via wireless signals. At the same time, the mobile massage system control platform 2 itself also moves to the desired massage bed under the drive of its own self-propelled device 6.

[0037] C. Connect the mobile massage system control platform 2 and the mobile robotic arm control platform 1 to different interface sockets on the massage bed through their respective data transmission interfaces to achieve information transmission between them.

[0038] D. Operate the control panel again to execute massage control commands for massage. During the massage, image information is collected through a 3D depth-sensing camera. The operator can then operate the device via a tablet, and the customer can also view the massage status in real time via the tablet.

[0039] Furthermore, an infrared component is installed at the end of the extended robotic arm 7 for positioning point movement. The generated massage points are projected onto the back, allowing the operator to directly adjust the position on the back. The operator can also wear AR glasses to achieve a combination of virtual and real operation.

[0040] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A fully automatic modular massaging complete set, characterized in that: It includes a mobile massage system control platform (2), at least one mobile robotic arm control platform (1) supporting the mobile massage system control platform, and a connecting cable (3) disposed on different massage beds for enabling communication and power supply connection between the mobile massage system control platform and each of the mobile robotic arm control platforms. The mobile massage system control platform (2) includes a massage control cabinet (4), a massage operation control system (5) disposed within the massage control cabinet, a wireless navigation system for performing navigation control on the mobile robotic arm control platform, and a self-propelled device (6) disposed at the bottom of the massage control cabinet. The mobile robotic arm control platform (1) includes a robotic arm control cabinet (8) carrying a robotic arm (7) and a mobile traveling device (9) disposed at the bottom of the robotic arm control cabinet (8) and controlled by the wireless navigation system. Data transmission interfaces matching the cable (3) are respectively disposed on each of the mobile robotic arm control platforms (1) and the mobile massage system control platform (2). Each of the mobile robotic arm control platforms (1) can, under the navigation of the mobile massage system control platform (2), synchronously move with the mobile massage system control platform to the corresponding massage bed as required and be connected to the cable (3) of this massage bed through the data transmission interface.

2. The fully automatic modular massaging complete equipment according to claim 1, characterized in that: An end effector (10) with a 3D depth camera is carried at the end of the robotic arm (7), and a massage component (12) is hung on the end effector (10) through a hanging plate (11).

3. The full-automatic modular massaging complete equipment according to claim 1 or 2, characterized in that: The cable (3) has a plurality of interface sockets (13), and each of the mobile robotic arm control platforms (1) and the mobile massage system control platform (2) can be plugged into different interface sockets through their respective data transmission interfaces to achieve the transmission of information between each other.

4. The fully automatic modular massaging equipment complete set according to claim 2, characterized in that: The massage component (12) includes a finger kneading massage module (23) installed on the hanging plate (11) as the main mount and a massage magnetic suction cup (14) for adsorbing sub-load components.

5. The fully automatic modular massaging complete equipment according to claim 4, characterized in that: An end automatic mounting device (15) capable of rotating is disposed on the robotic arm control cabinet (8), different sub-load components are mounted on the end automatic mounting device (15), and the sub-load components mounted on the end automatic mounting device (15) can be selectively adsorbed onto the massage magnetic suction cup (14) through the movement of the robotic arm.

6. The fully automatic modular massaging complete equipment according to claim 5, characterized in that: The sub-load components include a shock wave device (16), an moxibustion device (17), a palm massager (18), a heat therapy device, and a light therapy device.

7. The full-automatic modular massaging complete equipment according to claim 1, 2, 4, 5 or 6, characterized in that: The robotic arm control cabinet (8) is of a nested lifting structure.

8. The fully automatic modular massaging equipment set according to claim 1, characterized in that: A display / control component (19) is disposed on the top surface of the mobile massage system control platform (2).

9. A combined layout structure based on the full-automatic modular massage complete equipment according to any one of claims 1-8, characterized in that: The invention relates to a massage room system, which comprises at least one massage room (20) and at least one massage bed (21) placed in each massage room and at least one full-automatic modular massage complete equipment (22) placed in each massage room, and the full-automatic modular massage complete equipment (22) can be connected with the movable mechanical arm control platform (1) through the movable massage system control platform (2) to send navigation instructions to the movable mechanical arm control platform (1) to move to the massage bed in the required massage room and to be connected through a cable.

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