CN105411831B - A kind of tracking massage robot - Google Patents

Abstract

A tracking massage robot comprises a longitudinal movement mechanism, a transverse movement mechanism, a vertical movement mechanism, a bracket, a mechanical arm and a massage head. The bracket is located on the upper surface of the longitudinal movement mechanism. The transverse motion mechanism is located on the gantry of the support. The vertical movement mechanism is located on the vertical base plate in the transverse movement mechanism. The massage head is fixed on the mechanical arm, and the mechanical arm is fixed on the connecting plate of the vertical motion mechanism. The present invention is a tracking massage robot capable of realizing massage massage techniques on the back, neck and other parts from multiple angles. The range of motion in the vertical direction is adjusted to meet the needs of patients of different sizes, and the real-time force during the massage process can be adjusted to ensure the safety and reliability of the massage process and improve the comfort.

Description

A tracking massage robot

technical field

The invention relates to a tracking massage robot, which belongs to the fields of rehabilitation medicine and health care.

Background technique

Existing massage devices at present, such as the domestic back rubbing and massage manipulator disclosed in the invention of Chinese Patent No. 201010193262.6, mainly include a frame, a left and right moving mechanism, an up and down moving mechanism, a front and rear telescopic mechanism and a front end rubbing back head mechanism. The moving mechanism is installed on the beam of the frame. The upper and lower parts of the up and down moving mechanism are respectively installed on the upper and lower guide rods and connected with the timing belt in the left and right moving mechanism. The front and rear telescopic mechanisms are installed on the slider of the up and down moving mechanism. The back rubbing head mechanism is installed on the front and back telescopic mechanism. The front and rear telescopic mechanisms of the above invention are installed on the front end of the up and down movement. Under the conditions of overall balance and installation stability, the telescopic stroke is short and the moving distance is limited. When the above-mentioned device realizes bathing and massage actions, the back rubbing head at the front end can only realize the pitching action, the massage angle is limited, and the anthropomorphism is poor.

Contents of the invention

In order to overcome the shortcomings of limited angle and poor anthropomorphism existing in the prior art, the present invention proposes a tracking massage robot.

The present invention includes a movement mechanism, a support, a mechanical arm and a massage head, and the movement mechanism includes a longitudinal movement mechanism, a lateral movement mechanism and a vertical movement mechanism; wherein:

The bracket is located on the upper surface of the longitudinal movement mechanism. The longitudinal lead screw and the two guide rods in the longitudinal movement mechanism are in transmission cooperation with the support, and are used to realize the overall reciprocating movement of the support along the longitudinal lead screw, and the moving direction is the Y-axis direction in the coordinate system.

The transverse movement mechanism is located on the gantry frame of the support, and the two ends of the transverse lead screw and the two transverse linear guide rails in the transverse movement mechanism are respectively fixed on the gantry frame; the transverse motor in the transverse movement mechanism passes through the The horizontal lead screw drives the vertical bottom plate fixed on the bracket through the horizontal lead screw nut seat to reciprocate along the horizontal lead screw, and its moving direction is the X-axis direction in the coordinate system.

The vertical motion mechanism is located on the vertical bottom plate in the horizontal motion mechanism, and the two ends of the vertical lead screw and the two vertical linear guide rails in the vertical motion mechanism are respectively fixed on the surface of the vertical bottom plate, through The vertical lead screw in the vertical motion mechanism drives the mechanical arm fixed with the connecting plate and the massage head to reciprocate along the Z axis of the coordinate system. The mechanical arm is fixed on the connecting plate.

The longitudinal movement mechanism includes a horizontal base, a longitudinal motor, a longitudinal lead screw and a guide rod. The longitudinal lead screw is fixed in the middle of the upper surface of the horizontal base, and the two guide rods are respectively fixed on the upper surface of the horizontal base, and are respectively located at both sides of the longitudinal lead screw. The longitudinal motor is fixed on the longitudinal motor fixing seat, and the longitudinal motor fixing seat is fixed on one side surface of the horizontal base. The output end of the longitudinal motor is connected with the longitudinal lead screw. The guide rod holes located on both sides of the lower end of the bracket are coaxially matched with the two guide rods, and the screw holes located in the middle of the lower end of the bracket are coaxially matched with the longitudinal screw, and the longitudinal motor is driven by the longitudinal screw. The support moves back and forth as a whole along the longitudinal screw.

The transverse motion mechanism includes a transverse motor, a transverse lead screw, two transverse linear guide rails, a vertical bottom plate and a transverse bearing fixing assembly. The horizontal lead screw is horizontally fixed on the middle part of the gantry side surface of the support. Two horizontal linear guide rails are also horizontally fixed on the surface of one side of the gantry frame of the support, and the two horizontal linear guide rails are respectively fixed on both sides of the horizontal lead screw by horizontal guide rail screws.

The transverse motor is connected to one end of the transverse lead screw; the transverse lead screw and the transverse lead screw nut cooperate to drive, driving the vertical bottom plate on the bracket to reciprocate along the transverse lead screw; the transverse lead screw nut is set and fixed on the transverse lead screw ; The horizontal screw nut seat is set on the horizontal screw nut and fixed on the middle of one surface of the vertical bottom plate. Two transverse guide rail sliders are respectively fixed on the surface of the vertical bottom plate, and are respectively located on both sides of the transverse lead screw nut seat. The slide grooves of the two transverse guide rail sliders are respectively clamped on the two transverse linear guide rails. The vertical motion mechanism, the mechanical arm and the massage head are supported by the horizontal linear guide rail, and the motion of the horizontal motion mechanism is guided.

The transverse motor is fixed on the bracket through the transverse motor fixing seat; the transverse motor fixing seat is a stepped bent plate. On the plate at one end of the transverse motor fixing seat, there is a through hole matched with the transverse motor. On the plate at the other end of the transverse motor fixing seat, mounting holes fixed to the bracket are distributed; the plates respectively located at two ends of the transverse motor fixing seat are parallel to each other.

The vertical motion mechanism includes a vertical motor, a vertical lead screw, two vertical linear guide rails and a connecting plate. The vertical lead screw is vertically fixed on the vertical bottom plate, and two vertical linear guide rails are fixed on the vertical bottom plate and are located at both sides of the vertical lead screw. The connecting plate is connected with the two vertical linear guide rails through the vertical guide rail sliders. The vertical lead screw is fixed on the connecting plate through the vertical lead screw nut and the vertical lead screw nut seat; the vertical motor is fixed on one end of the vertical bottom plate. The output end of the vertical motor is coaxially connected with the vertical lead screw, thereby driving the mechanical arm fixed to the connecting plate to reciprocate along the vertical lead screw.

The mechanical arm includes a boom and a small arm mechanism; the boom and the small arm mechanism are fixedly connected. The small arm mechanism includes a first small arm, a second small arm and a wrist joint; a small arm motor is fixed inside the first small arm, the output end of the small arm motor is connected with the second small arm, and the small arm motor Drive the second forearm to rotate. The center of one end of the second small arm is equipped with a wrist motor and a wrist motor coupling; the center of the other end of the second small arm has an axially protruding connecting rod through which the second small arm The arm is connected with the arm coupling. The fixing seat of the wrist joint is fixedly connected with the end surface of the second forearm shell through wrist screws.

The wrist joint includes a wrist motor, a fixed seat, a fixed plate, a first bevel gear, a second bevel gear, a first connecting shaft, a second connecting shaft, a third connecting shaft and an end cover. The wrist motor is located inside the fixed second forearm. The output shaft of the wrist motor is connected with the connecting shaft; the other end of the connecting shaft is put into the central axis hole of the first bevel gear. The first bevel gear is located in the fixed seat, and the installation sleeve at one end of the first bevel gear is put into the installation hole on the vertical plate of the fixed seat, and the wrist motor drives the second bevel gear through the connecting shaft. A bevel gear rotates.

One end of the first connecting shaft is installed on the horizontal plate of the fixed seat; the other end of the first connecting shaft is screwed to the second connecting shaft; the other end of the second connecting shaft is connected to the third connecting shaft connect. The other end of the third connecting shaft is loaded into the through hole on the fixing plate; one end of the fixing plate is fixed on the end face of the vertical plate of the “L” shaped fixing seat. End caps are installed at the end of the first connecting shaft and the horizontal plate of the fixed seat and the end of the third connecting shaft and the fixed plate, and the shafts of the first connecting shaft and the third connecting shaft are limited by the two end caps To move. The second bevel gear is sleeved on the first connecting shaft and meshed with the first bevel gear.

The massage head adopts a crank slider structure, including a percussion motor, a reducer, an eccentric wheel, a rocker, a roller and a massage head connector.

The eccentric wheel is installed on the reducer. The rocker is located on the inner surface of the connection seat of the massage head connector, and is hinged with the lugs on the connection seat; the rocker is a "U"-shaped structure, and one of the rods has a connection with the eccentric wheel. Chute for rod fit. The force sensor is fixed on the lower surface of the flat plate at the lower end of the rocker, and the "U" shaped roller fixing piece is fixed on the lower surface of the force sensor. The roller is fixed in the roller fixture by the roller shaft and can rotate freely. A tracking sensor fixing piece is respectively fixed on the inner surfaces of both sides of the roller fixing piece, and the tracking sensor fixing piece is positioned above the roller. The tracking sensor fixing part is arc-shaped and placed concentrically with the roller. Fix three tracking sensors with fixing bolts at the front end of each tracking sensor fixing part for collecting path information.

The connecting piece of the massage head is in the shape of "L", and the two mutually perpendicular plates are the connecting seat and the mounting plate respectively. There is a pair of lugs connected to the second connecting shaft on the outer surface of the connecting seat; there is a baffle on the inner surface of the connecting seat; the ear pieces and the baffle are both perpendicular to the connecting seat. Both the mounting plate and the baffle have mounting holes. The output shaft of the knocking motor is connected with a reducer; one end of the knocking motor is put into the mounting hole on the mounting plate, and one end of the reducer is put into the mounting hole on the baffle.

The primary purpose of the present invention is to propose a tracking massage robot that can realize massage massage techniques on the back, neck and other parts from multiple angles, and realize massage operations such as fixed-point tapping, marching tapping, and tracking massage. A further object of the present invention is to realize the features of the above-mentioned massage robot with diversified functions, convenient control and high degree of anthropomorphism.

The tracking massage robot of the present invention can reciprocate in the whole process, and can also reciprocate in a short distance as required. The present invention is equipped with longitudinal, lateral, and vertical motion control motors, which can realize the adjustment of the range of motion in the vertical, horizontal, and vertical directions, so as to meet the needs of patients of different sizes. The present invention is equipped with a force sensor, which can adjust the real-time force during the massage process, so as to ensure the safety and reliability of the massage process and improve comfort. This design is also equipped with a tracking sensor, which can track the set massage track attached to the back or neck, and can also perform fixed-point massage on the set acupuncture points. The massage trajectory can be designed, planned and adjusted for patients with different body types or symptoms, so as to achieve targeted massage operations and improve its universal applicability and massage effect.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a structural schematic diagram of the longitudinal movement mechanism;

Fig. 3 is a side view of Fig. 2;

Fig. 4 is the structural representation of lateral motion mechanism;

Fig. 5 is a structural schematic diagram of a transverse linear guide rail;

Fig. 6 is a structural schematic diagram of a transverse lead screw;

Fig. 7 is the structural representation of vertical motion mechanism;

Fig. 8 is the structural representation of mechanical arm and massage head;

Fig. 9 is a structural schematic diagram of the massage head;

Fig. 10 is an A-A sectional view of the second forearm and the wrist joint. In the picture:

1. Longitudinal movement mechanism; 2. Horizontal movement mechanism; 3. Vertical movement mechanism; 4. Mechanical arm; 5. Massage head; 6. Horizontal base; 7. Longitudinal bearing fixing component; 8. Guide rod; 9. Bracket; 10. Longitudinal screw; 11. Longitudinal motor fixing seat; 12. Longitudinal motor; 13. Longitudinal motor bolt; 14. Longitudinal motor coupling; 15. Horizontal motor fixing seat; 16. Vertical bottom plate; ;18. Transverse nut seat screw; 19. Transverse slider screw; 20. Transverse linear guide rail; 21. Transverse motor bolt; 22. Transverse motor; 23. Transverse motor coupling; 24. Transverse guide rail slider; 25. Transverse guide rail Lead screw nut seat; 26 horizontal lead screw; 27 horizontal guide rail screw; 28. horizontal nut seat screw; 29. horizontal lead screw nut; 30 vertical guide rail screw; 31 vertical linear guide rail; 32. connecting plate; 33. vertical Slider screw; 34. Vertical guide rail slider; 35. Vertical motor bolt; 36 Vertical motor; 37 Vertical motor fixing seat; 38 Vertical motor coupling; 39. Vertical screw nut; 40 Vertical Nut screw; 41. Vertical lead screw nut seat; 42. Vertical nut seat screw; 43. Vertical lead screw; 44. Vertical bearing fixing assembly; 45. The first forearm; 46. Forearm motor; 47. Small arm coupling; 48. Second small arm; 49. Mounting plate; 50. Fixed plate; 51 Connecting seat; 52. End cover; 53. Vertical plate; 54. Fixed pin; 55. Rocker; 56. Connecting rod; 57. Eccentric wheel; 58. Reducer; 59. Baffle; 60. Knock motor; 61. Horizontal plate; 62 second bevel gear; 63. First bevel gear; 64. Forearm motor fixing seat; 65. threaded hole; 66 arm; 67. force sensor; 68. roller shaft; 69. roller; 70. tracking sensor fixing piece; 71. tracking sensor; 72 fixing bolt; Department motor; 75. Wrist motor screw; 76. Wrist motor coupling; 77. Connecting shaft; 78. Wrist screw; 79. First connecting shaft; 80. Second connecting shaft; 81. Third connecting shaft .

detailed description

This embodiment is a tracking massage robot, including a support 9 , a longitudinal movement mechanism 1 , a lateral movement mechanism 2 , a vertical movement mechanism 3 , a mechanical arm 4 and a massage head 5 . Wherein: the bracket 9 is located on the upper surface of the longitudinal movement mechanism 1 . The longitudinal lead screw 10 and the two guide rods 8 in the longitudinal movement mechanism 1 are in transmission cooperation with the support 9, and are used to realize the overall reciprocating movement of the support 9 along the longitudinal lead screw 10, and its moving direction is the Y-axis direction in the coordinate system .

Described transverse motion mechanism 2 is positioned on the gantry frame of support 9, and the two ends of horizontal lead screw 26 and two transverse linear guide rails 20 in this lateral motion mechanism 2 are respectively fixed on this gantry frame; The horizontal motor 22 in the drive drives the vertical bottom plate 16 fixed on the bracket through the horizontal screw nut seat 25 to reciprocate along the horizontal screw 26 through the horizontal screw 26, and its moving direction is the X-axis direction in the coordinate system.

Described vertical movement mechanism 3 is positioned on the vertical bottom plate 16 in transverse movement mechanism 2, and the two ends of vertical lead screw 43 in this vertical movement mechanism 3 and two vertical linear guide rails 31 are fixed on this vertical respectively. On the surface of the bottom plate 16, the mechanical arm 4 fixed with the connecting plate 32 and the massage head 5 are driven to reciprocate along the Z axis of the coordinate system by the vertical lead screw 43 in the vertical motion mechanism 3 .

As shown in FIGS. 2-3 , the longitudinal movement mechanism 1 includes a horizontal base 6 , a longitudinal motor 12 , a longitudinal lead screw 10 and a guide rod 8 . The longitudinal lead screw 10 is fixed on the middle position of the upper surface of the horizontal base through the longitudinal bearing fixing assembly 7, and the two guide rods 8 are respectively fixed on the upper surface of the horizontal base 6 through the longitudinal bearing fixing assembly, and are located on both sides of the longitudinal lead screw 10 respectively. .

The longitudinal motor 12 is fixed on the longitudinal motor fixing seat 11 through the longitudinal motor bolt 13, and the longitudinal motor fixing seat 11 is fixed on one side surface of the horizontal base. The output end of the longitudinal motor is connected with the longitudinal lead screw 10 through a longitudinal motor coupling 14 . The guide rod holes on both sides of the lower end of the bracket 9 cooperate coaxially with the two guide rods 8, the screw holes located in the middle of the lower end of the bracket 9 coaxially cooperate with the longitudinal screw 10, and the longitudinal motor 12 passes through The longitudinal lead screw drives the bracket to reciprocate as a whole along the longitudinal lead screw, and the moving direction is the Y-axis direction in the coordinate system.

As shown in FIGS. 4-5 , the transverse motion mechanism 2 includes a transverse motor 22 , a transverse lead screw 26 , two transverse linear guide rails 20 , a vertical bottom plate 16 and a transverse bearing fixing assembly 17 .

A transverse bearing fixing assembly 17 is installed at both ends of the transverse screw 26 , through which the transverse bearing fixing assembly 17 horizontally fixes the transverse screw on the middle part of the gantry side surface of the support 9 . Two horizontal linear guide rails 20 are also horizontally fixed on the side surface of the gantry frame of the support, and the two horizontal linear guide rails are respectively fixed on both sides of the horizontal lead screw by horizontal guide rail screws 27 .

One end of the transverse lead screw 26 is equipped with a transverse motor holder 15, and the transverse motor holder is fixed on one side surface of the support; the transverse motor 22 is fixed on the transverse motor holder by a transverse motor bolt 21. The output end of the transverse motor 22 is connected with one end of the transverse lead screw 26 through the transverse motor coupling 23; Move, and its moving direction is the X-axis direction in the coordinate system.

The transverse lead screw nut 29 is sleeved on the transverse lead screw, and is fixed on the transverse lead screw nut seat 25 by the transverse nut screw 28; A seat screw 18 is fixed in the middle of one surface of the vertical bottom plate 16 .

Two transverse guide rail sliders 24 are respectively fixed on the surface of the vertical bottom plate 16 by transverse slider screws 19, and are respectively located on both sides of the transverse lead screw nut seat. The slide grooves of the two transverse guide rail sliders are respectively clamped on the two transverse linear guide rails 20 . The vertical motion mechanism 3 , the mechanical arm 4 and the massage head 5 are supported by the horizontal linear guide rail 20 , and the movement of the horizontal motion mechanism is guided.

The horizontal motor fixing seat 15 is a stepped bent plate. There is a through hole matched with the transverse motor 22 on the plate at one end of the transverse motor fixing seat. On the plate at the other end of the transverse motor fixing seat, mounting holes fixed to the bracket are distributed; the plates respectively located at two ends of the transverse motor fixing seat are parallel to each other.

The transverse bearing fixing assembly 17 is in the shape of a rectangular block. There is a through transverse screw mounting hole on the transverse bearing fixing assembly; there are through bolt holes on the upper surface and the lower surface of the transverse bearing fixing component; the axis of the transverse screw mounting hole is in line with the The axis spaces of the bolt holes are perpendicular to each other.

As shown in FIG. 6 , the vertical motion mechanism 3 includes a vertical motor 36 , a vertical lead screw 43 , two vertical linear guide rails 31 and a connecting plate 32 . The vertical lead screw 43 is vertically fixed on the upper and lower ends of the vertical base plate 16 through the vertical bearing fixing assembly 44, and the two vertical linear guide rails 31 are fixed on the vertical base plate 16 by the vertical guide rail screws 30. side. Connecting plate 32 is connected with two vertical linear guide rails 31 by vertical guide rail slider 34, and connecting plate 32 and vertical guide rail slider 34 are fixed by vertical slider screw 33; Described vertical linear guide rail 31 supports Bearing and guiding. Between connecting plate 32 and vertical leading screw 43, be connected by vertical leading screw nut 39, vertical leading screw nut seat 41, and connecting plate 32 and vertical leading screw nut seat 41 are fixed by vertical nut seat screw 42, Connect and fix by vertical nut screw 40 between the vertical lead screw nut 39 and the vertical lead screw nut seat 41 . The vertical motor 36 and the vertical motor fixing base 37 are fixed by the vertical motor bolt 35, and the vertical motor fixing base 37 is fixed on one end of the vertical bottom plate 16. The output end of the vertical motor 36 is coaxially connected with the vertical lead screw 43 through the vertical motor coupling 38, thereby driving the mechanical arm 4 fixed with the connecting plate 32 to reciprocate along the vertical lead screw 43, and the moving direction is the coordinate system in the Z-axis direction.

When the present invention performs a massage operation, the vertical motor 12, the horizontal motor 22 and the vertical motor 36 are respectively controlled according to the patient's demand for the massage position. The vertical motor 12 , the horizontal motor 22 and the vertical motor 36 are stepping motors or servo motors. Considering factors such as accuracy and price, stepping motors are selected in this embodiment.

As shown in FIGS. 7-9 , the mechanical arm 4 is fixed on the connecting plate 32 through the threaded hole 65 . The mechanical arm 4 includes a large arm 66 and a small arm mechanism, which are fixedly connected by a fixing pin 54 .

The small arm mechanism includes a first small arm 45, a second small arm 48 and a wrist joint. The inside of the first small arm 45 fixes the small arm motor 46 through the small arm motor fixing seat 64, and the output end of the small arm motor 46 passes through the small arm. The shaft coupling 47 is connected with the second small arm 48 , and the second small arm 48 is driven to rotate by the small arm motor 46 . The center of one end of the second small arm 48 has a stepped blind hole for installing the wrist motor 74 and the wrist motor coupling 76; the center of the other end of the second small arm 48 has an axially protruding connection A rod through which the second arm is connected to the arm coupling 47 . The fixing seat of the wrist joint is fixedly connected with the end surface of the second forearm shell through wrist screws 78 .

The wrist joint includes a wrist motor 74, a fixed seat, a fixed plate 50, a first bevel gear 63, a second bevel gear 62, a first connecting shaft 79, a second connecting shaft 80, a third connecting shaft 81 and an end cover 52 .

The wrist motor 74 is located inside the second forearm 48 and fixed by the wrist motor screw 75 . The output shaft of the wrist motor 74 is connected with the connecting shaft 77 for fixing the first bevel gear 63 through the wrist motor coupling 76; . The first bevel gear 63 is located in the fixed seat, and the mounting sleeve at one end of the first bevel gear is packed into the mounting hole on the vertical plate 53 of the fixed seat, and the wrist motor is realized by the connecting shaft. 74 drives the first bevel gear 63 to rotate.

One end of the first connecting shaft 79 is installed on the horizontal plate 61 of the fixed seat; the other end of the first connecting shaft 79 is screwed to the threaded hole on the end face of the second connecting shaft 80; the second connecting shaft The other end of 80 fits into the blind hole on the end face of the third connecting shaft 81, and the second connecting shaft and the third connecting shaft are interference fit. The other end of the third connecting shaft 81 is inserted into the through hole on the fixing plate 50; one end of the fixing plate is fixed on the end face of the vertical plate 53 of the “L” shaped fixing seat. An end cover 52 is installed at the end where the first connecting shaft cooperates with the horizontal plate 61 of the fixed seat and the end where the third connecting shaft cooperates with the fixed plate, and the first connecting shaft and the third connecting shaft are restricted by the two end covers. axial movement. The second bevel gear 62 is sleeved on the first connecting shaft 79 and meshed with the first bevel gear.

In this embodiment, the large arm and small arm structure of the mechanical arm 4 is an anthropomorphic structural design, and the purpose is to improve the massage effect. And the forearm is designed as the first forearm 45 and the second forearm 48, mainly to realize the degree of freedom of rotation of the forearm, so that the massage action is multi-angle and multi-directional.

As shown in Figures 7-8, the massage head 5 adopts a crank slider structure, including a percussion motor 60, a reducer 58, an eccentric wheel 57, a rocking rod 55, a roller 69 and a massage head connector.

The connecting piece of the massage head is in an "L" shape, and the two mutually perpendicular plates are the connecting seat 51 and the mounting plate 49 respectively. There is a pair of lugs connected to the second connecting shaft 80 on the outer surface of the connecting seat; a baffle 59 is provided on the inner surface of the connecting seat; the lugs and the baffle are both perpendicular to the connecting seat. Both the mounting plate and the baffle have mounting holes. Knock on the output shaft of motor 60 and be connected with speed reducer 58; One end of this knock motor packs in the mounting hole on the mounting plate, and one end of the speed reducer packs in the mounting hole on the baffle.

The forearm motor 46, the wrist motor 74 and the tapping motor 60 all select stepper motors.

The eccentric wheel 57 is installed on the speed reducer. The rocking bar 55 is positioned at the inner surface of the connecting seat 51 of the massage head connector, and is hinged with the lugs on the connecting seat; the rocking bar is a "U" shaped structure, and one of the bars has a The connecting rod 56 cooperates with the chute. During work, the eccentric wheel 57 drives the connecting rod 56 on the eccentric wheel 57 to rotate, and makes the connecting rod slide in the chute on the rocking bar, thereby driving the rocking bar 55 to swing.

The flat plate at the lower end of the rocking bar is used to install the force sensor 67. The force sensor is fixed on the lower surface of the bottom plate of the rocker, and the "U" shaped roller fixing part 73 is fixed on the lower surface of the force sensor by screws. The roller 69 is fixed in the roller fixture by the roller shaft 68, and can rotate freely. The material selection of roller 69 is softer rubber. Tracking sensor fixing parts 70 are respectively fixed on the inner surfaces of both sides of the roller fixing part, and the tracking sensor fixing parts are located above the rollers. The tracking sensor fixing part 70 is arc-shaped and placed concentrically with the roller. Three tracking sensors 71 are fixed with fixing bolts 72 at the front ends of each tracking sensor fixing member 70 for collecting path information.

The function of the tracking sensor 71 is to detect the movement path of the massage head, choose a grayscale sensor, a color sensor or an infrared sensor, and consider the sensitivity and response speed factors, the infrared sensor is selected as the tracking sensor 71 in this embodiment. Since the effective height of the infrared sensor for detecting objects is 10 mm to 120 mm, in order to meet the requirements of detection accuracy, sensitivity and detection range, this embodiment chooses to install the infrared sensor above the roller 69 . At the same time, in order to improve the accuracy of track change detection, this embodiment selects three infrared sensors, which are used to detect the left, middle and right track edges respectively, so as to prevent the massage head from deviating from the track.

When the massage operation is performed in this embodiment, according to the needs of the actual massage angle, the small arm motor 46 on the mechanical arm 4 can drive the second small arm 48 to rotate at a certain angle. The wrist motor 74 makes the massage head 5 pitch at a certain angle through the first bevel gear 63 and the second bevel gear 62, and finally the roller 69 reaches a suitable position. The percussion motor 60 of massage head 5 realizes that roller 69 swings up and down by speed reducer 58 and the slider crank structure made of eccentric wheel 57, connecting rod 56 and rocking bar 55, and completes the percussion action. The roller structure can realize the tapping and rolling massage movements in traditional Chinese medicine massage techniques to meet the needs of patients for massage techniques.

Claims (4)

1. A tracking massage robot is characterized in that it comprises a kinematic mechanism, a support, a mechanical arm and a massage head, and said kinematic mechanism includes a longitudinal kinematic mechanism, a lateral kinematic mechanism and a vertical kinematic mechanism; wherein: The bracket is located on the upper surface of the longitudinal movement mechanism; the longitudinal screw and the two guide rods in the longitudinal movement mechanism cooperate with the bracket to realize the overall reciprocating movement of the bracket along the longitudinal screw, and the moving direction is the coordinate system The direction of the Y axis in; The transverse movement mechanism is located on the gantry frame of the support, and the two ends of the transverse lead screw and the two transverse linear guide rails in the transverse movement mechanism are respectively fixed on the gantry frame; the transverse motor in the transverse movement mechanism passes through the The horizontal screw drives the vertical bottom plate fixed on the bracket through the horizontal screw nut seat to reciprocate along the horizontal screw, and its moving direction is the X-axis direction in the coordinate system; The vertical motion mechanism is located on the vertical bottom plate in the horizontal motion mechanism, and the two ends of the vertical lead screw and the two vertical linear guide rails in the vertical motion mechanism are respectively fixed on the surface of the vertical bottom plate, through The vertical lead screw in the vertical movement mechanism drives the mechanical arm fixed with the connecting plate and the massage head to reciprocate along the Z axis of the coordinate system; the mechanical arm is fixed on the connecting plate; The mechanical arm includes a large arm and a small arm mechanism; the fixed connection between the large arm and the small arm mechanism; the small arm mechanism includes a first small arm, a second small arm and a wrist joint; the first A forearm motor is fixed inside the forearm, and the output end of the forearm motor is connected with the second forearm, and the second forearm is driven to rotate by the forearm motor; a wrist motor and a wrist motor are installed at the center of one end of the second forearm. Motor coupling; the center of the other end of the second forearm has an axially protruding connecting rod through which the second forearm is connected to the forearm coupling; the "L" of the wrist joint The shape fixing seat is fixedly connected with the end face of the second forearm shell through the wrist screw; The wrist joint includes a wrist motor, an "L"-shaped fixed seat, a fixed plate, a first bevel gear, a second bevel gear, a first connecting shaft, a second connecting shaft, a third connecting shaft and an end cover; the wrist The first motor is fixed inside the second forearm; the output shaft of the wrist motor is connected to one end of the connecting shaft; the other end of the connecting shaft is put into the central shaft hole of the first bevel gear; the first bevel gear It is located in the "L"-shaped fixed seat, and the installation sleeve at one end of the first bevel gear is inserted into the installation hole on the vertical plate of the "L"-shaped fixed seat, and the wrist motor is realized through the connecting shaft. drive the first bevel gear to rotate; One end of the first connecting shaft is installed on the horizontal plate of the "L"-shaped fixed seat; the other end of the first connecting shaft is screwed to one end of the second connecting shaft; the other end of the second connecting shaft It is connected with one end of the third connecting shaft; the other end of the third connecting shaft is put into the through hole on the fixing plate; one end of the fixing plate is fixed on the end face of the vertical plate of the “L” shaped fixing seat; The end of the first connecting shaft that cooperates with the horizontal plate of the "L"-shaped fixed seat and the end of the third connecting shaft that cooperates with the fixed plate are all equipped with end caps, and the first connecting shaft and the third connection are restricted by the two end caps. Axial movement of the shaft; the second bevel gear is sleeved on the first connecting shaft and meshed with the first bevel gear; The massage head adopts a crank slider structure, including a percussion motor, a reducer, an eccentric wheel, a rocker, a roller and a massage head connector; The eccentric wheel is installed on the reducer; the rocker is located on the inner surface of the connecting seat of the massage head connector, and is hinged with the lugs on the connecting seat; the rocking bar is a "U"-shaped structure, and the rocking bar There is a chute matching the connecting rod on the eccentric wheel; the force sensor is fixed on the lower surface of the lower plate of the rocker, and the "U" shaped roller fixing part is fixed on the lower end surface of the force sensor; the roller passes through the roller shaft It is fixed in the roller fixing part and can rotate freely; a tracking sensor fixing part is fixed in the roller fixing part, and the tracking sensor fixing part is located above the roller; the tracking sensor fixing part is It is arc-shaped and placed concentrically with the roller; three tracking sensors are fixed with fixing bolts at the front end of the tracking sensor fixing part for collecting path information. 2. tracking massage robot as claimed in claim 1, is characterized in that, described longitudinal movement mechanism comprises horizontal base, longitudinal motor, longitudinal lead screw and guide rod; Longitudinal lead screw is fixed on the middle of horizontal base upper surface, two The root guide rods are respectively fixed on the upper surface of the horizontal base, and are respectively located on both sides of the longitudinal screw; the longitudinal motor is fixed on the longitudinal motor fixing seat, and the longitudinal motor fixing seat is fixed on one side surface of the horizontal base; the output end of the longitudinal motor is connected to the Longitudinal lead screw connection; the guide rod holes located on both sides of the lower end of the support are coaxially matched with the two guide rods, the lead screw holes located in the middle of the lower end of the support are coaxially matched with the longitudinal lead screw, and the longitudinal motor passes through The longitudinal lead screw drives the bracket to reciprocate as a whole along the longitudinal lead screw. 3. tracking massage robot as claimed in claim 1, is characterized in that, described transverse movement mechanism comprises transverse motor, transverse lead screw, two transverse linear guide rails, vertical bottom plate and transverse bearing fixing assembly; It is fixed in the middle of the surface of the gantry side of the bracket; two horizontal linear guide rails are also horizontally fixed on the surface of the gantry side of the bracket, and the two horizontal linear guide rails are respectively fixed on the horizontal rail by screws. Both sides of the screw; The transverse motor is connected to one end of the transverse lead screw; the transverse lead screw and the transverse lead screw nut cooperate to drive, driving the vertical bottom plate on the bracket to reciprocate along the transverse lead screw; the transverse lead screw nut is set and fixed on the transverse lead screw The horizontal lead screw nut seat is set on the horizontal lead screw nut and fixed on the middle part of a surface of the vertical bottom plate; the two horizontal guide rail sliders are respectively fixed on the surface of the vertical bottom plate, and are respectively located on the horizontal lead screw nut seat Both sides; the chutes of the two horizontal guide rail sliders are respectively clamped on the two horizontal linear guide rails; the vertical motion mechanism, the mechanical arm and the massage head are supported by the horizontal linear guide rails, and the lateral movement Institutional movement orientation. 4. tracking massage robot as claimed in claim 1, is characterized in that, described vertical motion mechanism comprises vertical motor, vertical lead screw, two vertical linear guide rails and connecting plate; Fixed on the vertical bottom plate, two vertical linear guide rails are fixed on the vertical bottom plate and located on both sides of the vertical lead screw; the connecting plate is connected with the two vertical linear guide rails through the vertical guide rail slider; the vertical wire The rod is fixed on the connection plate through the vertical lead screw nut and the vertical lead screw nut seat; the vertical motor is fixed on one end of the vertical bottom plate; the output end of the vertical motor is coaxially connected with the vertical lead screw, thereby driving the The mechanical arm moves back and forth along the vertical lead screw.