Intelligent control massage robot

Abstract

The utility model relates to massage robot technical field, concretely relates to a kind of intelligent control's massage robot, include: robot body, system power box and industrial computer are equipped in the inside of robot body, the top of robot body is provided with display support, display is installed on display support, one end of robot body is fixedly connected with six degrees of freedom mechanical arm, electric connection between six degrees of freedom mechanical arm and industrial computer, the end of six degrees of freedom mechanical arm is fixedly connected with quick connector, one side of robot body is fixedly connected with massage head rack, massage head rack is used to store massage head assembly, massage head assembly includes finger pressing massage head, palm massage head and gyro wheel relaxation massage head, by the setting of massage head assembly, and combine the quick connector structure of six degrees of freedom mechanical arm end, robot can be according to program instruction or user selection, different massage head is automatically, quickly replaced, the flexible switching of multiple massage techniques is realized.

Description

Technical Field

[0001] This utility model relates to the field of massage robot technology, specifically to a massage robot that can be intelligently controlled. Background Technology

[0002] With the increasing demand for health and wellness in society, massage robot technology is constantly developing. Existing massage robots are mainly divided into bionic, portable, and platform types.

[0003] Bionic robots move naturally but have limited applicability; portable robots are lightweight and convenient but have a small massage coverage area and limited techniques; platform robots have a large working range but are bulky, have poor mobility, and are not suitable for the fine massage required in commercial or home settings.

[0004] In addition, existing massage robots generally suffer from problems such as inconvenience in switching massage techniques, inability to provide personalized and precise massage based on the user's physical characteristics, and poor human-computer interaction experience. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the existing technology, the present invention provides an intelligently adjustable massage robot that can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: This utility model provides an intelligently adjustable massage robot, comprising: a robot body, an internal system power supply box and an industrial control computer, a display bracket at the top of the robot body with a display mounted on it, a six-degree-of-freedom robotic arm fixedly connected to one end of the robot body, the six-degree-of-freedom robotic arm being electrically connected to the industrial control computer, a quick connector fixedly connected to the end of the six-degree-of-freedom robotic arm, and a massage head holder fixedly connected to one side of the robot body. The massage head holder is used to store massage head assemblies, which include a finger pressing massage head, a palm massage massage head, and a roller relaxation massage head.

[0007] Furthermore, the robot body includes a chassis, with omnidirectional wheels fixedly connected to the four corners of the chassis bottom. The omnidirectional wheels have a braking function. A shell is fixedly connected to the top of the chassis, and an emergency stop button is fixedly connected to one side of the top of the shell. The emergency stop button is electrically connected to the industrial control computer. The internal frame of the robot body is a welded square steel structure, and the shell is made of ABS material.

[0008] Furthermore, the display bracket includes a support rod, which is fixedly connected to the top of the robot body. A sliding sleeve is slidably connected to the surface of the support rod, and an adjusting bolt is threadedly connected to one side of the sliding sleeve. The other end of the adjusting bolt abuts against the support rod.

[0009] Furthermore, a mounting plate is fixedly connected to the other side of the sliding sleeve. The mounting plate is fixedly connected to the display by bolts, and the display is electrically connected to the industrial computer.

[0010] Furthermore, the quick connector includes an electromagnet, a magnetic connector, and a spring ejection mechanism. The quick connector also includes a power interface for powering the massage head. The end of the six-degree-of-freedom robotic arm is also fixedly connected to a pressure sensor and a vision system, which includes a depth camera. Both the pressure sensor and the vision system are electrically connected to the industrial control computer.

[0011] Furthermore, the finger-pressing massage head, palm-massaging massage head, and roller-relaxing massage head are all fixedly connected to a magnetic male connector that matches the quick-connect fitting. The finger-pressing massage head, palm-massaging massage head, and roller-relaxing massage head are all detachably connected to the quick-connect fitting via the magnetic male connector.

[0012] The technical solution provided by this utility model has the following advantages compared with the known prior art: 1. By setting up a massage head assembly that includes multiple massage heads such as finger pressing, palm massage, and roller relaxation, and combining it with the quick-connect structure at the end of a six-degree-of-freedom robotic arm, the robot can automatically and quickly change different massage heads according to program instructions or user selection, realizing flexible switching of multiple massage techniques and overcoming the problems of existing massage robots having single techniques and inconvenient switching. 2. The six-degree-of-freedom robotic arm has high flexibility. Combined with the end vision system and pressure sensor, it can perceive the user's body position, body curve contour and the force during massage in real time. The industrial control computer can intelligently adjust the movement trajectory and pressure of the robotic arm based on this feedback information, and provide precise and personalized massage services according to the different body characteristics and needs of different users, effectively improving the massage effect and user experience. 3. The robot body is equipped with universal wheels with braking function at the bottom, which facilitates flexible movement and positioning in different scenarios. At the same time, the adjustable height display stand and interactive display allow users to easily view information and perform operations. Combined with the emergency stop button safety design, the convenience, safety and human-computer interaction experience of the device are significantly improved. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the robot body structure of this utility model; Figure 3 This is a schematic diagram of the display bracket structure of this utility model; Figure 4 This is a schematic diagram of the six-degree-of-freedom robotic arm structure of this utility model; Figure 5 This is a schematic diagram of the massage head assembly structure of this utility model.

[0015] The labels in the diagram represent: 1. Robot body; 101. Chassis; 102. Casters; 103. Shell; 104. Emergency stop button; 2. Monitor bracket; 201. Support rod; 202. Sliding sleeve; 203. Adjusting bolt; 204. Mounting plate; 3. Monitor; 4. Six-DOF robotic arm; 401. Quick connector; 5. Vision system; 6. Massage head holder; 7. Massage head assembly; 701. Finger pressing massage head; 702. Palm massage massage head; 703. Roller relaxation massage head; 704. Magnetic male seat. Detailed Implementation

[0016] 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, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0017] The present invention will be further described below with reference to the embodiments.

[0018] Example 1: Reference Figure 1-5 This is the first embodiment of the present invention, which discloses an intelligently adjustable massage robot, including: a robot body 1, the robot body 1 having a system power supply box and an industrial control computer inside, a display bracket 2 at the top of the robot body 1, a display 3 mounted on the display bracket 2, a six-degree-of-freedom robotic arm 4 fixedly connected to one end of the robot body 1, the six-degree-of-freedom robotic arm 4 being electrically connected to the industrial control computer, a quick connector 401 fixedly connected to the end of the six-degree-of-freedom robotic arm 4, and a massage head placement rack 6 fixedly connected to one side of the robot body 1, the massage head placement rack 6 being used to store massage head assemblies 7, the massage head assembly 7 including a finger pressing massage head 701, a palm massage massage head 702, and a roller relaxation massage head 703.

[0019] By setting up a massage head assembly 7 that includes multiple massage heads such as finger pressing, palm massage, and roller relaxation, and combining it with the quick connector 401 structure at the end of the six-degree-of-freedom robotic arm 4, the robot can automatically and quickly change different massage heads according to program instructions or user selection, realizing flexible switching of multiple massage techniques and overcoming the problems of existing massage robots having single techniques and inconvenient switching.

[0020] Example 2: Reference Figure 1-5 This is the second embodiment of the present invention, which differs from the first embodiment in that: The robot body 1 includes a chassis 101. Universal wheels 102 are fixedly connected to the four corners of the bottom of the chassis 101. The universal wheels 102 have a braking function. A housing 103 is fixedly connected to the top of the chassis 101. An emergency stop button 104 is fixedly connected to one side of the top of the housing 103. The emergency stop button 104 is electrically connected to the industrial control computer. The internal frame of the robot body 1 is a welded square steel structure, and the housing 103 is made of ABS material.

[0021] The display bracket 2 includes a support rod 201, which is fixedly connected to the top of the robot body 1. A sliding sleeve 202 is slidably connected to the surface of the support rod 201. An adjusting bolt 203 is threadedly connected to one side of the sliding sleeve 202. The other end of the adjusting bolt 203 abuts against the support rod 201. A mounting plate 204 is fixedly connected to the other side of the sliding sleeve 202. The mounting plate 204 is fixedly connected to the display 3 by bolts. The display 3 is electrically connected to the industrial control computer.

[0022] The robot body 1 is equipped with universal wheels 102 with braking function at the bottom, which facilitates flexible movement and positioning in different scenarios. At the same time, through the height-adjustable display bracket 2 and interactive display 3, users can easily view information and perform operations. Combined with the safety design of the emergency stop button 104, the convenience, safety and human-computer interaction experience of the device are significantly improved.

[0023] The quick connector 401 includes an electromagnet, a magnetic connector, and a spring ejection mechanism. The quick connector 401 also includes a power interface for powering the massage heads. The end of the six-degree-of-freedom robotic arm 4 is also fixedly connected to a pressure sensor and a vision system 5. The vision system 5 includes a depth camera. Both the pressure sensor and the vision system 5 are electrically connected to the industrial control computer. The tops of the finger-pressing massage head 701, the palm-massaging massage head 702, and the roller-relaxing massage head 703 are all fixedly connected to a magnetic male connector 704 that matches the quick connector 401. The finger-pressing massage head 701, the palm-massaging massage head 702, and the roller-relaxing massage head 703 are all detachably connected to the quick connector 401 through the magnetic male connector 704.

[0024] The six-degree-of-freedom robotic arm 4 possesses high flexibility. Combined with the end vision system 5 and pressure sensors, it can perceive the user's body position, body curve contour, and the force applied during massage in real time. The industrial control computer can intelligently adjust the robotic arm's movement trajectory and pressure based on this feedback information, providing precise and personalized massage services tailored to the different body characteristics and needs of users, effectively improving the massage effect and user experience.

[0025] The remaining structure is the same as that in Example 1.

[0026] The workflow of this utility model is as follows: First, the user selects the desired massage mode and technique via the display 3. The industrial control computer plans the massage program according to the user's instructions and controls the vision system 5 at the end of the six-degree-of-freedom robotic arm 4 to scan the user's body contour and locate the massage area. Secondly, the industrial control computer drives the six-degree-of-freedom robotic arm 4 to move to the massage head placement bracket 6. The industrial control computer controls the electromagnet to be energized, the iron core retracts, and the spring ejection mechanism ejects the current massage head. The six-degree-of-freedom robotic arm 4 moves to the massage head placement bracket 6, aligns with the target massage head, the electromagnet is de-energized, and the iron core extends under the action of the spring and locks the magnetic male seat 704 on the massage head. At the same time, the power supply of the massage head is turned on. Then, the six-degree-of-freedom robotic arm 4 performs a massage on the user according to the preset trajectory. During the process, the pressure sensor monitors the pressure in real time, the vision system 5 continuously tracks the changes in the user's body position, and the industrial control computer dynamically adjusts the robotic arm's movements and pressure to ensure that the massage is accurate and comfortable. Finally, after the massage ends, the robotic arm automatically returns to its original position and puts the massage head back into the holder. The user can interrupt the operation at any time using the emergency stop button 104 to ensure safety.

[0027] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this utility model.

Claims

1. A smartly adjustable massage robot, characterized in that, include: The robot body (1) has a system power supply box and an industrial control computer inside. The top of the robot body (1) is provided with a display bracket (2) and a display (3) is installed on the display bracket (2). A six-degree-of-freedom robotic arm (4) is fixedly connected to one end of the robot body (1). The six-degree-of-freedom robotic arm (4) is electrically connected to the industrial control computer. A quick connector (401) is fixedly connected to the end of the six-degree-of-freedom robotic arm (4). A massage head placement rack (6) is fixedly connected to one side of the robot body (1). The massage head placement rack (6) is used to store massage head components (7). The massage head components (7) include a finger pressing massage head (701), a palm massage massage head (702), and a roller relaxation massage head (703).

2. The intelligently adjustable massage robot according to claim 1, characterized in that, The robot body (1) includes a chassis (101), and universal wheels (102) are fixedly connected to the four corners of the bottom of the chassis (101). The universal wheels (102) have a braking function. A housing (103) is fixedly connected to the top of the chassis (101). An emergency stop button (104) is fixedly connected to one side of the top of the housing (103). The emergency stop button (104) is electrically connected to the industrial control computer. The internal frame of the robot body (1) is a square steel welded structure, and the housing (103) is made of ABS material.

3. The intelligently adjustable massage robot according to claim 1, characterized in that, The display bracket (2) includes a support rod (201), which is fixedly connected to the top of the robot body (1). A sliding sleeve (202) is slidably connected to the surface of the support rod (201). An adjusting bolt (203) is threadedly connected to one side of the sliding sleeve (202), and the other end of the adjusting bolt (203) abuts against the support rod (201).

4. The intelligently adjustable massage robot according to claim 3, characterized in that, A mounting plate (204) is fixedly connected to the other side of the sliding sleeve (202). The mounting plate (204) is fixedly connected to the display (3) by bolts. The display (3) is electrically connected to the industrial control computer.

5. The intelligently adjustable massage robot according to claim 1, characterized in that, The quick connector (401) includes an electromagnet, a magnetic connector and a spring ejection mechanism. The quick connector (401) also includes a power interface for powering the massage head. The end of the six-degree-of-freedom robotic arm (4) is also fixedly connected to a pressure sensor and a vision system (5). The vision system (5) includes a depth camera. Both the pressure sensor and the vision system (5) are electrically connected to the industrial control computer.

6. The intelligently adjustable massage robot according to claim 1, characterized in that, The top of each of the finger-pressing massage head (701), palm-massaging massage head (702), and roller-relaxing massage head (703) is fixedly connected to a magnetic male connector (704) that matches the quick connector (401). The finger-pressing massage head (701), palm-massaging massage head (702), and roller-relaxing massage head (703) are detachably connected to the quick connector (401) via the magnetic male connector (704).

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