CN109758345A - A massage manipulator based on a six-degree-of-freedom robot - Google Patents
A massage manipulator based on a six-degree-of-freedom robot Download PDFInfo
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- CN109758345A CN109758345A CN201910172718.1A CN201910172718A CN109758345A CN 109758345 A CN109758345 A CN 109758345A CN 201910172718 A CN201910172718 A CN 201910172718A CN 109758345 A CN109758345 A CN 109758345A
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- pressing head
- head
- finger
- palm
- mounting plate
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- 238000005485 electric heating Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 5
- 210000003811 finger Anatomy 0.000 claims 8
- 229920001296 polysiloxane Polymers 0.000 claims 2
- 210000003813 thumb Anatomy 0.000 claims 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 13
- 239000000741 silica gel Substances 0.000 description 13
- 229910002027 silica gel Inorganic materials 0.000 description 13
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000002078 massotherapy Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
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- 238000001467 acupuncture Methods 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 230000009054 pathological process Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
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- 229910052710 silicon Inorganic materials 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000017423 tissue regeneration Effects 0.000 description 1
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- Massaging Devices (AREA)
Abstract
A kind of massaging manipulator based on six-DOF robot, including six degree of freedom cooperation robot and massaging manipulator, massaging manipulator are mounted in six degree of freedom cooperation robot；Massaging manipulator includes servo electric cylinders, manipulator mounting framework, refers to head, palm head and binocular vision camera；The two sides of manipulator mounting framework are fixedly installed servo electric cylinders respectively, and the lower end of a servo electric cylinders is connected with finger head, and the lower end of another servo electric cylinders is connected with palm head, and servo electric cylinders are used to adjust the height for referring to head and slapping head；Binocular vision camera is arranged on manipulator mounting framework.The present invention program is reasonable, and structure is simple, instead of artificial, really meet client and massages demand.
Description
Technical field
The invention belongs to massage appliance technical field, in particular to a kind of massage machine based on six-DOF robot
Hand.
Background technique
Upgrading with the development of economy with the level of consumption, people increasingly pay close attention to the solution of body sub-health state problem,
Massage therapy demand is more and more.Physical therapy is to directly act on human body by artificial or nature physical factor, by human body
The direct effect of part and the indirectly-acting of nerve, body fluid cause human response, and adjustment blood circulation improves Nutrition and Metabolism, mentions
High immunity adjusts nervous function, promotes tissue repair, thus eliminates pathogenic factor, improves pathologic process, reaches and releive
Purpose.Massage therapy, by massaging point and channels and collaterals, reaches above-mentioned based on the identification of Chinese medicine human acupoint and massage manipulation
Effect releases human-body sub-health problem.But it is traditional artificial massage it is time-consuming and laborious, due to masseur's human factor, the power of massage
Degree and the consistency such as position are poor, massage effect it is difficult to ensure that.With the disappearance of demographic dividend and the rising of recruitment cost, at present this
Kind manual massage's mode is not able to satisfy demand of the people to massage therapy, is badly in need of a kind of intelligent massaging robot, instead of manually managing
Treat massage.
Machine massage at present mainly acts on human body with bionic mechanical hand, and this kind of robot manipulator structure and control are complicated, reliably
Property is low, and bulky, manipulator holding power to weight ratio (weight of manipulator vertical grip object and the ratio of manipulator own wt) is small,
There is no dynamics closed-loop control, manipulator flexible control is bad, and massaging to experience poor, current machine and massage to client does not have human body cave
Position identification function, massaging action cannot act on human acupoint very well.
Summary of the invention
The purpose of the present invention is to provide a kind of massaging manipulators based on six-DOF robot, to solve above-mentioned ask
Topic.
To achieve the above object, the invention adopts the following technical scheme:
A kind of massaging manipulator based on six-DOF robot, including six degree of freedom cooperation robot and massage machine
Hand, massaging manipulator are mounted in six degree of freedom cooperation robot；Massaging manipulator includes servo electric cylinders, manipulator installation bone
Frame refers to head, palm head and binocular vision camera；The two sides of manipulator mounting framework are fixedly installed servo electric cylinders respectively, and one
The lower end of a servo electric cylinders is connected with finger head, and the lower end of another servo electric cylinders is connected with palm head, and servo electric cylinders are for adjusting
Section refers to head and slaps the height of head；Binocular vision camera is arranged on manipulator mounting framework.
Further, refer to that head includes referring to head skeleton, referring to by head bearing support, deep groove ball bearing, first driven shaft, second
Driven shaft, stepper motor refer to head mounting plate and driving shaft；First driven shaft, second driven shaft and driving shaft are crankshaft；Step
It is fixed on and is referred to above head mounting plate by motor mounting plate into motor, the output end of one end connection stepper motor of driving shaft,
Refer to be provided with below head mounting plate and refer to head skeleton, refers to that head skeleton upper surface is fixedly installed finger by head bearing support, refer to
By the setting of head bearing support upper surface, there are three deep groove ball bearings；The other end of driving shaft, which passes through, refers to that head mounting plate is connected to one
On deep groove ball bearing, other two deep groove ball bearing and referring to be respectively arranged between head mounting plate lower surface first driven shaft and
Second driven shaft.
Further, refer to that head mounting plate and the lower end of servo electric cylinders are fixedly connected；Finger head skeleton is inverted-cone shape, cone
Shape surface is provided with gully, and the first electric heating wire is provided in gully, refers to that head skeleton outer sheath is equipped with and refers to by silica gel head.
Further, palm head includes palm head mounting bracket, palm head mounting plate and palm head skeleton；Slap head installation
One end of bracket is connect with servo electric cylinders lower end, and the other end is fixedly connected with palm head mounting plate, slaps the following table of head mounting plate
Face is fixedly connected with palm head skeleton.
Further, palm head skeleton surface is provided with gully, and the second electric heating wire is provided in gully；Slap head skeleton
Outer sheath is equipped with the palm and presses silica gel head.
Further, manipulator mounting framework upper surface is provided with multi-dimension force sensor, multi-dimension force sensor upper surface with
The connection of six degree of freedom cooperation robot.
Compared with prior art, the present invention has following technical effect:
A kind of massaging manipulator based on six-DOF robot of the present invention, the structure side combined using finger and palm
Formula, realize the taking, pinch of client's physical feeling, by etc. massaging actions.Dynamics closed-loop control is added in massage processes, improves massage
Experience and safety.In addition binocular machine vision system accurately identifies human acupoint, keeps massage specific aim stronger, more effectively.
The present invention cooperates robot by six degree of freedom to position and control its posture, massage machine in space any position
Hand refers to head by multi-dimension force sensor, servo electric cylinders, slaps head, and binocular machine vision system composition is realized massage manipulation and pressed
Dynamics of rubbing consistency is good, and massage effect is easy comparison, while massage manipulation can be customized, to specific region according to customer requirement
Targetedly massage；
The acupuncture point of binocular camera identification human body of the invention, position is accurate, and heating function is had in massage processes of the present invention,
Promotion is that client massages experience.
The present invention program is reasonable, and structure is simple, instead of artificial, really meet client and massages demand.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is massaging manipulator structural schematic diagram of the invention.
Fig. 3 is finger head structural schematic diagram of the invention.
Fig. 4 is finger head bottom view of the invention.
Fig. 5 is palm head structural schematic diagram of the invention
Wherein: 1- six degree of freedom cooperation robot, 2- massaging manipulator, 3- multi-dimension force sensor, 4- servo electric cylinders, 5- machine
Tool hand mounting framework, 6- refer to that head, 7- slap head, 8- binocular camera, and 61- refers to that head skeleton, the first electric heating wire of 62-, 63- refer to
By silica gel head, 64- refers to head mounting plate, 65- driving shaft, 66- stepper motor, 67- first driven shaft, and 68- refers to by head bearing support,
69- second driven shaft, 71- slap head mounting bracket, and 72- slaps head mounting plate, and 73- slaps head skeleton, the 74-the second electric heating
Silk, the 75- palm press silica gel head.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
Please refer to Fig. 1 to Fig. 5, a kind of massaging manipulator based on six-DOF robot, including six degree of freedom cooperation machine
Device people 1 and massaging manipulator 2, massaging manipulator 2 are mounted in six degree of freedom cooperation robot 1；Massaging manipulator 2 includes servo
Electric cylinders 4, manipulator mounting framework 5 refer to head 6, palm head 7 and binocular vision camera 8；The two sides of manipulator mounting framework 5 point
It is not fixedly installed servo electric cylinders 4, the lower end of a servo electric cylinders 4, which is connected with, refers to head 6, the lower end of another servo electric cylinders 4
It is connected with palm head 7, servo electric cylinders 4 are used to adjust the height for referring to head 6 and slapping head 7；Binocular vision camera 8 is arranged in machinery
On hand mounting framework 5.Massaging manipulator 2 includes the servo electric cylinders 4 of multi-dimension force sensor 3, two opposite arrangements, manipulator installation
Skeleton 5 refers to head 6, the palm head 7, binocular machine vision system 8.3 side of multi-dimension force sensor connects six degree of freedom cooperation machine
The 6th axis mounting flange of people 1, the other side connect massaging manipulator 2 mounting framework, effect be will refer to head 6 or slap by
First 7 act on the reaction force on human body, are transmitted on multi-dimension force sensor 3, by algorithm to the component of the multiple directions such as XYZ
Vector summation, obtains the resultant force of reaction force, forms the control of closed loop dynamics.By reaction force compared with the force value of setting, pass through
Host computer adjusts the size of massage force in real time.If reaction force is more than the threshold value of default simultaneously, to guarantee body massaging peace
Entirely, decorum power-off is shut down.Servo electric cylinders 4 are by servo motor, linear guide, the composition such as ball screw, it is by the rotation of servo motor
Transhipment turn turns to linear motion.Arrangement is separately installed with refers to head and the palm thereon there are two servo electric cylinders on massaging manipulator 2
Head, two servo electric cylinders 4 will refer to that head and palm head are staggered in short transverse, and the two is independent of each other when working.In addition in people
When body is massaged, six axis cooperation robot 1 first navigates to massage head above body massaging position, Z axis position coarse localization, then leads to
Crossing servo electric cylinders 4 and stretching makes massage head and human contact.Servo electric cylinders use torque control pattern, flexible true by the dynamics that sets
Determine massage head position, and the force value fed back with multi-dimension force sensor 3 compares, PC control push rod is flexible, adjusts massage head
Locate strength size.And during body massaging, according to the fluctuating of human body contour outline, magnanimous size is massaged in adjustment in real time.
Refer to head 6 include refer to head skeleton 61, refer to by head bearing support 68, deep groove ball bearing, first driven shaft 67, second from
Moving axis 69, refers to head mounting plate 64 and driving shaft 65 at stepper motor 66；First driven shaft 67, second driven shaft 69 and driving shaft
65 be crankshaft；Stepper motor 66 is fixed on by motor mounting plate refers to that 64 top of head mounting plate, one end of driving shaft 65 connect
The output end for connecing stepper motor 66 refers to that the lower section of head mounting plate 64 is provided with and refers to head skeleton 61, refers to table on head skeleton 61
Face is fixedly installed finger by head bearing support, refers to that there are three deep groove ball bearings by the setting of head bearing support upper surface；Driving shaft 65 it is another
One end, which passes through, refers to that head mounting plate 64 is connected on a deep groove ball bearing, other two deep groove ball bearing and finger head mounting plate
First driven shaft 67 and second driven shaft 69 are respectively arranged between 64 lower surfaces.Refer to that head 6 includes to refer to that head skeleton 61, electricity add
Heated filament 62 refers to by silica gel head 63, refers to that head mounting plate 64, driving shaft 65, stepper motor 66, first driven shaft 67 and second are driven
Axis.Driving shaft 65 and driven shaft 67 are crankshaft structure, and the power intake and output end of axis have an eccentric distance, refer to head
Bearing block 68 is connected thereto by deep groove ball bearing, is referred to and is fixed together by head bearing support 68 is connected with head skeleton 61 is referred to.Step
Axis into motor 66 is tightened with driving shaft 65 using holding screw, and torque is transmitted.Stepper motor 66 drives spindle rotation, drives
Refer to and press 68 swing rotary of head bearing support, indirectly, drive refers to 61 swing rotary of head skeleton, and realization, which refers to, rubs massaging action.Due to
Parallel four-bar linkage driving crank motion profile has uncertainty, so increasing a driven shaft 69 to mechanism, solves
The above problem, uniquely determines mechanism kinematic track.Refer to that the groove lining on head skeleton 61 is equipped with electric heating wire 62, to refer to
It is heated by silica gel head 63, suitable massage temperature is reached when massage head is with human contact, promoted client and massage experience.Refer to and presses silica gel
First 63, using soft silica gel production, buffer-massaging head and impact force when human contact, promote massage level of comfort.In addition,
Near electric heating wire 62, it is disposed with temperature sensor, temperature is formed into closed-loop control.
Refer to that head mounting plate 64 is fixedly connected with the lower end of servo electric cylinders 4；Finger head skeleton 61 is inverted-cone shape, taper table
Face is provided with gully, and the first electric heating wire 62 is provided in gully, refers to that 61 outer sheath of head skeleton is equipped with and refers to by silica gel head.
Slapping head 7 includes palm head mounting bracket 71, palm head mounting plate 72 and palm head skeleton 73；Slap head installation branch
One end of frame 71 is connect with 4 lower end of servo electric cylinders, and the other end is fixedly connected with palm head mounting plate 72, palm head mounting plate 72
Lower surface is fixedly connected with palm head skeleton 73.
The palm 73 surface of head skeleton is provided with gully, and the second electric heating wire 74 is provided in gully；It slaps outside head skeleton 73
Side is arranged with the palm by silica gel head 75.Slap head 7 include the palm head mounting bracket 71, the palm head mounting plate 72, the palm head skeleton 73,
Electric heating wire 74, the palm press silica gel head 75.
Head mounting bracket 71, connection servo electric cylinders 4 and palm head mounting plate 72 are slapped, is slapped recessed on head mounting framework 73
It is disposed with electric heating wire and temperature sensor in slot, is fixed on palm head mounting plate 72, outside is disposed with by soft silicon
The palm of glue production is by the palm of silica gel head 75. by the shape and ruler of shape and size simulation the human body palm and great thenar of silica gel head 75
It is very little.
Binocular machine vision system 8 is obtained and is identified by human body image, and the three-dimensional coordinate letter of the point with human body is obtained
Breath, is transmitted to host computer for this information.According to the three-dimensional information of the massage position point got, the cooperation of PC control six degree of freedom
Robot 1 is positioned and is massaged above human body.Binocular vision system is mounted on manipulator mounting framework 5, synchronous with manipulator
Movement.
5 upper surface of manipulator mounting framework is provided with multi-dimension force sensor 3, and 3 upper surface of multi-dimension force sensor is free with six
Degree cooperation robot 1 connects.
The working process of the invention is as follows:
The massage robot of the six-DOF robot massaging manipulator is installed when carrying out massage therapy, client first lies prone
Or lie in below massaging manipulator operating position, after device power-up, six degree of freedom cooperation robot 1 drives binocular machine vision
System 8 moves to designated position, is obtained and is identified to human body image, determines the three-dimensional coordinate information of massage part.Again will
Above-mentioned coordinate information is sent to host computer, and host computer issues a command to massaging manipulator according to the massage manipulation and process that set,
Massaging manipulator completion is controlled to the massage therapy process of human body.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910172718.1A CN109758345A (en) | 2019-03-07 | 2019-03-07 | A massage manipulator based on a six-degree-of-freedom robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910172718.1A CN109758345A (en) | 2019-03-07 | 2019-03-07 | A massage manipulator based on a six-degree-of-freedom robot |
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| Publication Number | Publication Date |
|---|---|
| CN109758345A true CN109758345A (en) | 2019-05-17 |
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|---|---|---|---|
| CN201910172718.1A Pending CN109758345A (en) | 2019-03-07 | 2019-03-07 | A massage manipulator based on a six-degree-of-freedom robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421560A (en) * | 2019-07-04 | 2019-11-08 | 天津大学 | A kind of cooperation robot constant force massage method based on pid algorithm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010042134A (en) * | 2008-08-12 | 2010-02-25 | Kyushu Hitachi Maxell Ltd | Massage machine |
| CN102641200A (en) * | 2012-02-28 | 2012-08-22 | 山东建筑大学 | Massage robot and realization of massage manipulation thereof |
| CN206934323U (en) * | 2017-01-22 | 2018-01-30 | 中国医科大学附属盛京医院 | A kind of point massage system based on seven freedom mechanical arm |
| CN108721104A (en) * | 2017-04-17 | 2018-11-02 | 武新平 | A kind of intelligent massaging robot |
| CN108785033A (en) * | 2018-03-09 | 2018-11-13 | 北京京回天科工贸有限责任公司 | A kind of massaging manipulator, mechanical massage component and human body localization method |
| CN209996730U (en) * | 2019-03-07 | 2020-01-31 | 西安伊蔓蒂电子科技有限公司 | A massage manipulator based on a six-degree-of-freedom robot |
-
2019
- 2019-03-07 CN CN201910172718.1A patent/CN109758345A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010042134A (en) * | 2008-08-12 | 2010-02-25 | Kyushu Hitachi Maxell Ltd | Massage machine |
| CN102641200A (en) * | 2012-02-28 | 2012-08-22 | 山东建筑大学 | Massage robot and realization of massage manipulation thereof |
| CN206934323U (en) * | 2017-01-22 | 2018-01-30 | 中国医科大学附属盛京医院 | A kind of point massage system based on seven freedom mechanical arm |
| CN108721104A (en) * | 2017-04-17 | 2018-11-02 | 武新平 | A kind of intelligent massaging robot |
| CN108785033A (en) * | 2018-03-09 | 2018-11-13 | 北京京回天科工贸有限责任公司 | A kind of massaging manipulator, mechanical massage component and human body localization method |
| CN209996730U (en) * | 2019-03-07 | 2020-01-31 | 西安伊蔓蒂电子科技有限公司 | A massage manipulator based on a six-degree-of-freedom robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421560A (en) * | 2019-07-04 | 2019-11-08 | 天津大学 | A kind of cooperation robot constant force massage method based on pid algorithm |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190517 |