Massage robot

Abstract

The massage robot comprises a trolley, the trolley comprising a trolley body and a mounting plate, the mounting plate being located on the top of the trolley body and being rotatably connected to the trolley body on one side; a first driving device, the first driving device being arranged in the interior of the trolley body and being connected to the other side of the mounting plate; the first driving device can rotate the mounting plate by a set angle relative to the plane on which the top of the trolley body is located; a mechanical arm, one end of the mechanical arm being mounted on the mounting plate; and a massage structure, the massage structure comprising a massage head, the massage head being connected to the other end of the mechanical arm. The mounting plate in the trolley is rotatably connected to the trolley body, and the first driving device can rotate the mounting plate by a set angle relative to the plane on which the top of the trolley body is located, and the set angle matches a target angle preset for different use scenarios, so that the massage robot can quickly adapt to various use scenarios, meet the massage requirements in different postures, and significantly improve the applicability and use convenience of the equipment.

Description

Technical Field

[0001] This utility model relates to the field of medical auxiliary device technology, and more specifically, to a massage robot. Background Technology

[0002] With economic development and social progress, the application of assistive robots has become increasingly widespread, developing in various fields, including medical rehabilitation. To address the rehabilitation and physiotherapy needs of the aging population, those in sub-health conditions, and those with specific needs, companies are iterating and upgrading their products to achieve excellence. Currently, the massage robot market is beginning to take shape. With increasing demand for health and continuous advancements in robotics technology, the application scenarios and methods of massage robots are expanding, leading to a growing market.

[0003] Currently, during the massage process, patients or users need to lie face down or on the bed, exposing the massage area or wearing special clothing, which imposes certain restrictions on the location and clothing. Utility Model Content

[0004] The purpose of this invention is to provide a massage robot that can quickly adapt to various usage scenarios and meet massage needs in different postures.

[0005] The embodiments of this utility model are implemented as follows:

[0006] A massage robot according to an embodiment of this application includes:

[0007] A trolley, comprising a trolley body and a mounting plate, wherein the mounting plate is located on top of the trolley body and is rotatably connected to the trolley body on one side;

[0008] A first driving device is disposed inside the trolley body and connected to the other side of the mounting plate; the first driving device can rotate the mounting plate relative to the plane where the top of the trolley body is located by a set angle; wherein the set angle is respectively matched to the target angle preset for different usage scenarios.

[0009] A robotic arm, one end of which is mounted on the mounting plate;

[0010] A massage structure, the massage structure including a massage head, the massage head being connected to the other end of the robotic arm.

[0011] In a possible implementation, the first driving device includes:

[0012] The cylinder body is disposed on an inner plate that extends horizontally inside the trolley body;

[0013] The telescopic rod has its bottom end connected to the cylinder and its top end rotatably connected to the inner side of the mounting plate; wherein the cylinder drives the telescopic rod to extend or retract to match different set angles.

[0014] In a possible implementation, the massage structure further includes a reciprocating motion mechanism; the massage structure also includes a connecting portion through which the massage head is connected to the robotic arm; the reciprocating motion mechanism is connected to the massage head.

[0015] In a possible implementation, the reciprocating motion mechanism includes:

[0016] Drive motor;

[0017] An eccentric wheel is sleeved on the output shaft of the drive motor;

[0018] A connecting rod, one end of which is rotatably connected to the eccentric wheel, and the other end of which is connected to the massage head.

[0019] In a possible implementation, the robot further includes a quick-change flange; the quick-change flange has an internal mounting cavity, the bottom of the robotic arm passes through the top of the quick-change flange to extend into the mounting cavity, and the top of the connector passes through the bottom of the quick-change flange to extend into the mounting cavity.

[0020] In a possible implementation, the robotic arm includes a first axis, a second axis, a third axis, a fourth axis, a fifth axis, and a sixth axis connected in sequence;

[0021] The first shaft is connected to the mounting plate, the sixth shaft is connected to the quick-change flange, the axis of the first shaft and the axis of the third shaft are parallel and perpendicular to the plane where the mounting plate is located, and the axis of the second shaft is parallel to the axis of the fourth shaft.

[0022] In a possible implementation, the robot further includes:

[0023] A sensor is disposed at the end of the sixth axis that extends into the mounting cavity, for collecting force information of the robotic arm;

[0024] The controller is communicatively connected to the sensor and is used to adjust the magnitude of the force applied by the robotic arm based on the applied force information and a preset target applied force.

[0025] In a possible implementation, the robot further includes a camera disposed on the outside of the quick-change flange for collecting data on the target to be treated; the controller is communicatively connected to the camera for selecting a matching massage method based on the data.

[0026] In a possible implementation, the massage head is one of a shockwave therapy head, a radiofrequency therapy head, or an ultrasound therapy head; the cylinder is one of an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0027] In a possible implementation, at least four mounting brackets are provided on the bottom of the outer periphery of the trolley body, each mounting bracket extending perpendicular to the outer side wall of the trolley body, and each mounting bracket having a caster wheel at its bottom.

[0028] The beneficial effects of this utility model embodiment are:

[0029] The mounting plate in the trolley is rotatably connected to the trolley body. In conjunction with the first drive device, the mounting plate can rotate at a set angle relative to the top plane of the trolley body, and this set angle matches preset target angles for different usage scenarios. For example, when the user is seated, the mounting plate can be adjusted to a suitable angle for massage; if the user is lying down, the mounting plate can be adjusted to the corresponding angle. This design allows the massage robot to quickly adapt to various usage scenarios, meeting massage needs in different postures, significantly improving the applicability and ease of use of the device. One end of the robotic arm is mounted on the mounting plate, and the other end is connected to the massage structure, allowing the massage heads to reach various parts of the body under the drive of the robotic arm. The presence of the robotic arm expands the massage coverage area, allowing massage operations on both regular areas such as the shoulders, waist, and legs, as well as some hard-to-reach special areas. Combined with the massage heads in the massage structure, various types of massage can be achieved, meeting the diverse massage needs of users and improving the massage effect. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is an overall structural diagram of the massage robot according to an embodiment of the present utility model;

[0032] Figure 2 This is a side view of the massage robot according to an embodiment of the present invention;

[0033] Figure 3 This is a structural diagram of the massage head of the massage robot according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram showing the connection relationship between the mounting plate and the trolley body in an embodiment of the present utility model;

[0035] Figure 5 This is a schematic diagram of the reciprocating motion mechanism according to an embodiment of the present invention.

[0036] Icons: 1. Trolley; 11. Trolley body; 12. Mounting plate; 13. Inner plate; 21. Cylinder; 22. Telescopic rod; 3. Robotic arm; 31. First axis; 32. Second axis; 33. Third axis; 34. Fourth axis; 35. Fifth axis; 36. Sixth axis; 4. Massage head; 5. Reciprocating motion mechanism; 51. Drive motor; 52. Eccentric wheel; 53. Connecting rod; 6. Quick-change flange; 7. Sensor; 8. Camera; 9. Mounting bracket; 10. Casters. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] refer to Figures 1 to 5 This embodiment provides a massage robot, comprising: a trolley 1, a first drive device, a robotic arm 3, and a massage structure. The trolley 1 includes a trolley body 11 and a mounting plate 12. The mounting plate 12 is located on top of the trolley body 11 and is rotatably connected to the trolley body 11 on one side. The first drive device is disposed inside the trolley body 11 and connected to the other side of the mounting plate 12. The first drive device can rotate the mounting plate 12 relative to the plane containing the top of the trolley body 11 by a set angle; wherein the set angle is respectively matched to a target angle preset for different usage scenarios. One end of the robotic arm 3 is mounted on the mounting plate 12, and the massage structure includes a massage head 4, which is connected to the other end of the robotic arm 3.

[0044] The trolley 1 consists of a trolley body 11 and a mounting plate 12. The mounting plate 12 is located on top of the trolley body 11 and is rotatably connected to the trolley body 11 on one side. At least four mounting brackets 9 are provided on the bottom outer periphery of the trolley body 11. Each mounting bracket 9 extends perpendicular to the outer side wall of the trolley body 11, and casters 10 are installed at the bottom. The rotatable connection between the mounting plate 12 and the trolley body 11 makes the mounting plate 12 adjustable. The casters 10 give the trolley 1 flexible movement capabilities, facilitating the adjustment of the robot's position in different treatment areas or for different users.

[0045] The first drive device is installed inside the trolley body 11 and connected to the other side of the mounting plate 12. It allows the mounting plate 12 to rotate at a set angle relative to the top plane of the trolley body 11, and this set angle matches preset target angles for different usage scenarios. The first drive device includes a cylinder 21 and a telescopic rod 22. The cylinder 21 is mounted on the horizontally extending mounting plate 12 inside the trolley body 22. The bottom end of the telescopic rod 22 is connected to the cylinder 21, and its top end is rotatably connected to the inner side of the mounting plate 12. The cylinder 21 drives the telescopic rod 22 to extend and retract to match different set angles. Through this drive device, the angle of the mounting plate 12 can be precisely adjusted according to different user postures such as sitting, lying, and standing, ensuring that the robotic arm 3 and massage head 4 are in the optimal massage position, improving the massage effect and user comfort.

[0046] The robotic arm 3 is mounted on the mounting plate 12 at one end and includes a first axis 31, a second axis 32, a third axis 33, a fourth axis 34, a fifth axis 35, and a sixth axis 36 connected in sequence. The first axis 31 is connected to the mounting plate 12, and the sixth axis 36 is connected to the quick-change flange 6. The axes of the first axis 31 and the third axis 33 are parallel and perpendicular to the plane of the mounting plate 12, and the axis of the second axis 32 is parallel to the axis of the fourth axis 34. The robotic arm 3 is a six-axis robotic arm, which increases the range of motion and movement capability of the robotic arm 3. It can precisely control the massage head 4 to reach various parts of the human body and realize complex massage movements, thereby simulating various massage techniques of human hands, such as kneading, plucking, pushing, and pressing.

[0047] The massage structure includes a massage head 4, which is connected to the other end of the robotic arm 3 via a connecting part. The massage structure also includes a reciprocating motion mechanism 5, comprising a drive motor 51, an eccentric wheel 52, and a connecting rod 53. The eccentric wheel 52 is mounted on the output shaft of the drive motor 51. One end of the connecting rod 53 is rotatably connected to the eccentric wheel 52, and the other end is rotatably connected to the massage head 4. Furthermore, the robot is equipped with a quick-change flange 6, which forms an internal mounting cavity. The bottom of the robotic arm 3 and the top of the connecting part extend into the mounting cavity through the top and bottom of the quick-change flange 6, respectively. The massage head 4 can be of different types, such as a shockwave therapy head, a radiofrequency therapy head, or an ultrasonic therapy head, to meet diverse treatment needs. The reciprocating motion mechanism 5 drives the eccentric wheel 52 to rotate via the drive motor 1, and the connecting rod 53 converts the circular motion into the reciprocating linear motion of the massage head 4, enabling various massage techniques such as kneading, tapping, and vibration. The quick-change flange 6 facilitates quick replacement of different types of massage heads, improving equipment efficiency and flexibility.

[0048] Sensor 7 is located at the end of the sixth axis 36 that extends into the mounting cavity. It is used to collect the force information of the robotic arm 3, so that the pressure at the end of the robotic arm 3 can be sensed in real time by sensor 7, ensuring that the pressure applied by the end massage head to the patient is balanced. At the same time, the pressure applied at the end can also be used as a controllable parameter to adjust the intensity. During the massage, when the patient gets up and causes impact to the end of the robotic arm 3, the robotic arm 3 can also avoid the patient in the opposite direction.

[0049] A depth camera 8 is mounted on the side of the force control unit, housing a casing that collects a large amount of human body data models. These models are then trained using algorithms to automatically acquire body parts or acupoints. Below the force control unit is a quick-change flange 6, which connects to a replaceable massage head 4. This head is adaptable to various massage heads (saddle-shaped for a body fit or other conventional types) or other treatment methods, such as shockwave therapy heads, radiofrequency therapy heads, and ultrasound therapy heads. The controller communicates with sensors 7 and the camera 8, adjusting the force applied by the robotic arm 3 based on preset target information and selecting the appropriate massage method. The sensors 7 and controller enable the massage robot to intelligently sense and adjust, allowing it to adjust massage intensity and method in real time based on the user's physical condition and feedback, achieving personalized massage treatment and improving safety and effectiveness.

[0050] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A massage robot, characterized in that, include: A trolley, comprising a trolley body and a mounting plate, wherein the mounting plate is located on top of the trolley body and is rotatably connected to the trolley body on one side; A first driving device is disposed inside the trolley body and connected to the other side of the mounting plate; the first driving device can rotate the mounting plate relative to the plane where the top of the trolley body is located by a set angle; wherein the set angle is respectively matched to the target angle preset for different usage scenarios. A robotic arm, one end of which is mounted on the mounting plate; A massage structure, the massage structure including a massage head, the massage head being connected to the other end of the robotic arm.

2. The massage robot according to claim 1, characterized in that, The first driving device includes: The cylinder body is disposed on an inner plate that extends horizontally inside the trolley body; The telescopic rod has its bottom end connected to the cylinder and its top end rotatably connected to the inner side of the mounting plate; wherein the cylinder drives the telescopic rod to extend or retract to match different set angles.

3. The massage robot according to claim 1, characterized in that, The massage structure further includes a reciprocating motion mechanism; the massage structure also includes a connecting part, through which the massage head is connected to the robotic arm; the reciprocating motion mechanism is connected to the massage head.

4. The massage robot according to claim 3, characterized in that, The reciprocating motion mechanism includes: Drive motor; An eccentric wheel is sleeved on the output shaft of the drive motor; A connecting rod, one end of which is rotatably connected to the eccentric wheel, and the other end of which is connected to the massage head.

5. The massage robot according to claim 3, characterized in that, The robot also includes a quick-change flange; the quick-change flange has an internal mounting cavity, the bottom of the robotic arm passes through the top of the quick-change flange to extend into the mounting cavity, and the top of the connecting part passes through the bottom of the quick-change flange to extend into the mounting cavity.

6. The massage robot according to claim 5, characterized in that, The robotic arm includes a first axis, a second axis, a third axis, a fourth axis, a fifth axis, and a sixth axis connected in sequence; The first shaft is connected to the mounting plate, the sixth shaft is connected to the quick-change flange, the axis of the first shaft and the axis of the third shaft are parallel and perpendicular to the plane where the mounting plate is located, and the axis of the second shaft is parallel to the axis of the fourth shaft.

7. The massage robot according to claim 6, characterized in that, The robot also includes: A sensor is disposed at the end of the sixth axis that extends into the mounting cavity, for collecting force information of the robotic arm; The controller is communicatively connected to the sensor and is used to adjust the magnitude of the force applied by the robotic arm based on the applied force information and a preset target applied force.

8. The massage robot according to claim 7, characterized in that, The robot also includes a camera, which is located on the outside of the quick-change flange and is used to collect data information of the target to be treated; the controller is communicatively connected to the camera and is used to select a matching massage method based on the data information.

9. The massage robot according to claim 2, characterized in that, The massage head is one of the following: shockwave therapy head, radiofrequency therapy head, and ultrasound therapy head; the cylinder is one of the following: electric cylinder, pneumatic cylinder, and hydraulic cylinder.

10. The massage robot according to claim 1, characterized in that, At least four mounting brackets are provided on the bottom of the outer periphery of the trolley body. The extension direction of each mounting bracket is perpendicular to the outer side wall of the trolley body, and each mounting bracket is provided with a caster wheel at its bottom.

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