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Massage robot for traumatological department of traditional chinese medicine

A robot, a new type of technology, applied in the field of medical machinery, can solve the problems of high labor intensity and strong physical labor for doctors, and achieve significant economic and social benefits, high flexibility, decoupling and good dynamic characteristics

Inactive Publication Date: 2004-07-21
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traumatology in traditional Chinese medicine is massaged manually by experienced doctors. Doctors have high labor intensity and belong to strong physical labor.

Method used

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  • Massage robot for traumatological department of traditional chinese medicine
  • Massage robot for traumatological department of traditional chinese medicine
  • Massage robot for traumatological department of traditional chinese medicine

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0017] as attached figure 1 As shown, it is composed of a square fixed platform 9, a rectangular moving platform 10, and five hybrid branches connecting the moving platform 10 and the fixed platform 9, wherein the four branches are the same, connected to the four vertices of the upper and lower platforms, and the other They are different branches connected to the centroids of the upper and lower platforms. The four same branches are composed of ball pairs 6 and 8 and moving pair 7 respectively, and the other different branches are composed of rotating pairs 1, 2, 3, 4, and 5, in which the axes of rotating pairs 1, 2, and 3 are mutually parallel to figure 1 In the Y-axis direction shown, the axes of the rotating pairs 4 and 5 are parallel to each other and parallel to figure 1 The direction of the Z axis is shown, and the axes of the rotating pairs 3 and 4 are perpendicular to each other and intersect at one point (that is, forming a Hooke hinge structure). The four moving p...

Embodiment 2

[0019] as attached figure 2 As shown, it consists of a square fixed platform 9, a rectangular moving platform 10, and five hybrid branches connecting the moving platform 10 and the fixed platform 9, wherein the four branches are the same, connected to the four vertices of the upper and lower platforms, and the other They are different branches connected to the centroids of the upper and lower platforms. The four same branches are composed of ball pairs 6 and 8 and moving pair 7 respectively, and the other different branches are composed of rotating pairs 1, 2, 3, 5, 11, 12, 13, and 14, of which rotating pairs 1 and 2 , 3 axes are parallel to each other and parallel to figure 2 In the Y-axis direction shown, the axes of the rotating pairs 11, 12, 13, 14 are parallel to each other and parallel to figure 2 In the X-axis direction shown, the axis of the rotating pair 5 is parallel to the Z-axis direction. The four moving pairs 7 of the same branch are respectively realized b...

Embodiment 3

[0021] as attached image 3 As shown, it is composed of a square fixed platform 9, a rectangular moving platform 10, and five hybrid branches connecting the moving platform 10 and the fixed platform 9, wherein the four branches are the same, connected to the four vertices of the upper and lower platforms, and the other They are different branches connected to the centroids of the upper and lower platforms. The four identical branches are respectively composed of ball pairs 6 and 8 and moving pair 7, and the other different branches are respectively composed of rotating pairs 1, 2, 4, 5 and moving pair 15, among which the rotating pairs 1, 2, and 4 are axes parallel to each other and to figure 1 In the Y-axis direction shown, the axial direction of the rotating pair 2 coincides with the moving direction of the moving pair 15 (i.e. forms a cylindrical pair structure), and the axis of the rotating pair 5 is parallel to image 3 The direction of the Z axis is shown. The four mo...

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Abstract

A medical massage robot for the surgical department of traditional Chinese medicine is composed of 5-freedom parallel mechanism, sensors and control system. Said 5-freedom parallel mechanism consists of fixed platform, movable platform and 5 branches consisting of 4 same ones and one different for simulating 6 massage operations. Its advantages are high rigidity, dynamic characteristics, sensitivity and flexibility.

Description

Technical field [0001] The invention relates to medical machinery, in particular to a type of robot composed of a five-degree-of-freedom parallel mechanism plus a sensor and a control system that can be used in Chinese medicine massage, and belongs to the research field of space parallel robots and the modernization of Chinese medical equipment. For example, a two-dimensional A five-degree-of-freedom parallel mechanism that rotates and moves in three dimensions forms a massage robot. Background technique [0002] Traditional Chinese medicine massage therapy is a wonderful flower in the treatment of traumatology in my country. It has a long history. According to the investigation, no massage robot used for medical treatment has been found yet. The mechanical structure of the equipment used in the market for health care can be simulated by a single method, which lacks suitable methods. The actuator can complete the simulation of mainstream massage techniques. Such as Patent Pu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 马履中王劲松
Owner JIANGSU UNIV
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