Intelligent massage robot and digital twin monitoring system thereofTechnical Field
The invention relates to the field of health medical equipment, in particular to a robot technology and an intelligent control technology, and specifically relates to an intelligent massage robot and a digital twin monitoring system thereof.
Background
Along with the continuous improvement of the living standard and the gradual enhancement of health consciousness, the massage is used as a traditional body health care mode and is widely applied to the aspects of relieving muscle fatigue, promoting blood circulation, relaxing body and mind and the like. However, the conventional manual massage method has high technical requirements for the massagers and also has high consumption in terms of time and physical ability. In addition, manual massage is difficult to adjust precisely according to individual differences, and it is often difficult to achieve optimal relaxation and health care effects.
With the continuous progress of robot technology, robots are gradually expanding from the industrial field to the industries of medical treatment, rehabilitation, construction, cleaning and the like, and massage robots are generated. Although the existing massage robots can replace manual massage to a certain extent, intelligent control, personalized service and real-time feedback functions are generally lacking. Most massage robots rely on preset massage programs to perform operations, and cannot be precisely matched according to the state of a user in real time, so that personalized customized experience cannot be provided. In addition, the current massage robots generally fail to widely apply digital twin technology, which limits their real-time monitoring and guiding capabilities in the health field, and existing devices may cause discomfort and even negatively affect users when providing massage services due to lack of accurate adjustment functions based on physiological data.
Therefore, to the above-mentioned problem, there is an urgent need for a massage robot that can combine intelligent control, real-time feedback and digital twin technology, adopt the parallel robot mechanism of the six degrees of freedom of flip-chip structural design, ensure the accuracy of massage head and user back contact, prevent the massage area of deviating human back, utilize digital twin technology to establish virtual mannequin, interact with robot control system through virtual mannequin, realize accurate motion control, in order to satisfy individualized health management's demand, through accurate adjustment and long-term health management function based on physiological data, this technique will show promotion massage effect, provide more comfortable and scientific health care experience for the user.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an intelligent massage robot and a digital twin monitoring system thereof, which realize virtual-real synchronous mapping of the robot work state and user health feedback by combining data mining, machine learning and a digital twin-based control system, analyze the rules of human health requirements based on user data acquired by a sensor, generate an individualized massage mode and forecast massage effect, simulate the hand massage manipulation of a parallel mechanism by the digital twin model, and utilize a control unit to perform real-time feedback regulation on the health state of the user so as to dynamically optimize the massage strategy and improve the intelligence, individuation and safety of the intelligent massage process of the body, thereby meeting the diversified requirements of the fields of medical rehabilitation, health management and household intelligent equipment.
The intelligent massage robot is characterized by comprising a parallel mechanism, a gantry mechanism and a transverse sliding bed, wherein the parallel mechanism comprises a fixed platform, three pairs of driving branches, a flange plate and a massage head, the driving branches comprise three revolute pairs (R1, R4 and R5), a fixed support, two driving branched chains and a T-shaped connecting block, the fixed support is fastened by a Yu Dingping table through bolts and is connected with the revolute pair R1 through a bearing, the revolute pair R1 is connected with the revolute pair R2 through the bearing, the revolute pair R2 is connected with the driving branched chains, the driving branched chains are connected with the revolute pair R4 through a bearing, the revolute pair R4 is connected with the T-shaped connecting block, the upper end of the T-shaped connecting block is connected with the revolute pair R5 through a bearing, the three threaded holes of the central disc of the fixed platform are connected with the gantry mechanism, the movable platform comprises the flange plate and the massage head, and the massage head is distributed on the other side of the flange plate;
The gantry mechanism consists of a vertical sliding mechanism and a horizontal sliding mechanism, wherein the vertical sliding mechanism comprises a supporting frame, a motor connecting plate, a driving motor, a vertical supporting plate, a vertical sliding rail, a vertical connecting plate and a vertical screw rod, the motor is fixed on the motor connecting plate, the supporting frame is positioned at the lower end of the vertical supporting plate, the vertical screw rod is positioned between the vertical supporting plate and the vertical sliding rail, the inside of the vertical connecting plate is connected with the vertical screw rod, and the outside of the vertical connecting plate is connected with the horizontal sliding mechanism through a fastening screw;
the sliding bed comprises a bed plate and a sliding mechanism, wherein the sliding mechanism comprises a driving motor, a coupler, a sliding block, a screw rod, a U-shaped connecting plate and sliding rails, the driving motor is connected with a screw rod shaft, the screw rod shaft is fixed between the two sliding rails, the screw rod shaft is sequentially connected with the coupler and the sliding block, the bed plate is fixed on the sliding block through bolts, and the U-shaped connecting plate is in fastening connection with the bed plate.
Preferably, the driving branched chain comprises two revolute pairs (R2 and R3), a motor support, a motor and an electric push rod, wherein the revolute pair R2 is connected with the motor support, the motor is connected with the motor support through a bolt, an output shaft of the motor is connected with the electric push rod, the electric push rod is connected with the revolute pair R3 through a bearing to form a pair of driving branches, the three fixing supports are uniformly distributed on the surface of the fixed platform, the three pairs of driving branches are uniformly arranged on the fixing supports, the fixing supports are connected with the revolute pair R1, the revolute pair R1 is connected with two revolute pairs R2 with the same structure, the revolute pair R2 is connected with the revolute pair R3 with the same structure through the driving branched chain, the revolute pair R4 is connected with the revolute pair R5, and the revolute pair R5 is connected with the massage head.
Preferably, the side of the vertical support plate is provided with a triangular bracket, a motor in the transverse sliding mechanism is installed in a motor box, a screw rod is connected with a motor shaft, the motor is installed between the transverse support plate and a horizontal sliding rail through a bearing and is fixedly connected with a horizontal connecting plate through a bolt, and the horizontal connecting plate is connected with the fixed platform through a bolt.
The digital twin monitoring system of the intelligent massage robot comprises the intelligent massage robot, a sensor, a digital twin model, a monitoring system and a control system, wherein the sensor comprises a pressure sensor, a temperature sensor, a position sensor and an acceleration sensor, the digital twin model utilizes a neural network machine learning algorithm to carry out deep fusion on sensor data so as to realize virtual-real synchronous mapping of the artificial state of the massage robot and human health feedback, the monitoring system monitors the running state of the massage robot in real time based on the digital twin model and generates feedback data in real time, the control system adaptively adjusts the massage strategy of the massage robot according to the digital twin model and the feedback data, the massage strategy comprises massage intensity, massage time and massage area, and dynamically switches massage modes according to the real-time monitoring data, wherein the massage modes comprise a relaxation mode, a deep relaxation mode, a quick recovery mode and individuation and optimization of massage effects.
The digital twin model performs data interaction with the health monitoring system through the cloud platform, and the massage intensity, duration and mode are dynamically adjusted based on real-time health data and virtual simulation results of a user, so that accurate personalized massage experience is achieved. The invention not only improves the intelligent level of the massage robot, but also provides an innovative solution for health management and rehabilitation.
The invention has the advantages that (1) the high-precision massage and force control are realized, the massage robot has 6 degrees of freedom, the multi-degree-of-freedom action of a human hand can be simulated, the softness of the massage force and the action can be ensured through the accurate force control, the high-precision massage requirement can be met, (2) the multi-drive branch design is adopted, the redundancy and the flexibility of a drive system are enhanced, the reliability and the durability of the massage robot are improved, the stable operation can be kept in long-time use, the possible fault risk brought by a common single drive system is avoided, (3) the digital twin technology is applied, the running state of the robot can be monitored and analyzed in real time, the accurate control is realized, the intelligent level of the robot is improved, the autonomous control capability is enhanced, the operation of the robot can be automatically regulated, the tactile feedback mechanism and the closed-loop control are utilized, the real-time detection of the tactile feedback mechanism and the sensor is utilized, the pressure feedback data is collected, the action of the robot is automatically regulated through the closed-loop control algorithm, the excessive pressure and the uncomfortable contact is avoided, the damage in the massage is ensured, the condition can be ensured, the user is greatly influenced, the user can not feel the user is influenced, and the user is not has the health condition, and the user is greatly has the health condition, and the user is required to be analyzed, and has different health conditions.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an intelligent massage robot and a digital twin monitoring system thereof according to the present invention;
FIG. 2 is a schematic diagram of a parallel mechanism of an intelligent massage robot and a digital twin monitoring system thereof according to the present invention;
FIG. 3 is a schematic diagram of a parallel mechanism single branch of an intelligent massage robot and a digital twin monitoring system thereof according to the present invention;
FIG. 4 is a schematic view of a gantry mechanism of an intelligent massage robot and its digital twinning monitoring system according to the present invention;
FIG. 5 is a schematic view of a sliding mechanism of an intelligent massage robot and its digital twinning monitoring system according to the present invention;
Fig. 6 is a schematic diagram of the composition of a kinematic pair of a parallel mechanism of the intelligent massage robot and the digital twin monitoring system thereof.
Wherein:
In FIG. 1, a parallel mechanism, a gantry mechanism and a transverse sliding bed are adopted;
In FIG. 2, a fixed platform 101, a fixed support 102, a motor support 103, a motor 104, a motor 105, an electric push rod 106, a T-shaped connecting block 107, a flange plate 108 and a massage head 108;
In FIG. 3, the rotary pairs R1 and 211, the rotary pairs R2 and 212, the rotary pairs R3 and 213, the rotary pairs R4 and 214, the rotary pair R5,
In FIG. 4, 301, a support frame, 302, a motor connecting plate, 303, a motor, 304, a vertical support plate, 305, a vertical slide rail, 306, a vertical connecting plate, 307, a vertical screw rod, 308, a motor box, 309, 310, a horizontal screw rod, 311, a horizontal support plate, 312, a horizontal slide rail and 313, a horizontal connecting plate;
In fig. 5, 401, a driving motor, 402, a coupler, 403, a sliding block, 404, a screw rod, 405, a U-shaped connecting plate and 406, a sliding rail.
Detailed Description
The intelligent massage robot aims to overcome the defects of the conventional intelligent massage robot in the aspects of personalized massage effect, user health requirement identification and real-time adjustment, the traditional massage robot is difficult to dynamically optimize the massage strategy according to the physical condition and health feedback of the user, the massage effect is difficult to accurately adapt to the requirement of each user, the health data of the user can be acquired in real time through combining a machine learning technology with an intelligent digital twin model, the personalized massage mode can be generated according to an analysis result, the massage effect is predicted and optimized, the digital twin model provides more accurate massage control through simulating a human hand massage method, and the intelligent massage robot can adjust the massage intensity, time and area in real time, so that more intelligent, personalized and safe massage experience is realized. The specific embodiments of the present invention are merely examples, and are intended to help those skilled in the art understand the technical solutions of the present invention, and it should be emphasized that the scope of the present invention is not limited to these examples, and any other modifications and embodiments that can be implemented by those skilled in the art without creative efforts fall within the scope of the present invention.
The technical scheme adopted by the invention comprises the following steps:
The intelligent massage robot is characterized by comprising a parallel mechanism 1, a gantry mechanism 2 and a transverse sliding bed 3, wherein the parallel mechanism 1 comprises a fixed platform 101, three pairs of driving branches, a flange plate 107 and a massage head 108, the driving branches comprise three revolute pairs (R1, R4 and R5), a fixed support 102, two driving branches and a T-shaped connecting block 106, the fixed support 102 is fastened on the fixed platform 101 through bolts and is connected with the revolute pair R1 through a bearing, the revolute pair R1 is connected with the revolute pair R2 through a bearing, the revolute pair R2 is connected with the driving branches, the driving branches are connected with the revolute pair R4 through a bearing, the revolute pair R4 is connected with the T-shaped connecting block 106, the upper end of the T-shaped connecting block 106 is connected with the revolute pair R5 through a bearing, the three threaded holes of a center disc of the fixed platform 101 are connected with the gantry mechanism 2, the movable platform comprises the flange plate 107 and the massage head 108, and the massage head 108 is distributed on the other side of the flange plate 107;
As shown in fig. 4, the gantry mechanism 2 is composed of a vertical sliding mechanism and a horizontal sliding mechanism, the vertical sliding mechanism comprises a supporting frame 301, a motor connecting plate 302, a driving motor 303, a vertical supporting plate 304, a vertical sliding rail 305, a vertical connecting plate 306 and a vertical screw rod 307, the motor 303 is fixed on the motor connecting plate 305, the supporting frame 301 is positioned at the lower end of the vertical supporting plate 304, the vertical screw rod 307 is positioned between the vertical supporting plate 304 and the vertical sliding rail 305, the inside of the vertical connecting plate 306 is connected with the vertical screw rod 307, the outside is connected with the horizontal sliding mechanism through a fastening screw, the structure of the horizontal sliding mechanism is the same as that of the vertical sliding mechanism, the vertical sliding mechanism comprises a motor box 308, a driving motor 309, a horizontal screw rod 310, a horizontal supporting plate 311, a horizontal sliding rail 312 and a horizontal connecting plate 313, the motor box 308 is fixed on one side of the horizontal sliding mechanism, the motor 309 is fixed in the motor box 308 through a bolt, the motor shaft is connected with the horizontal screw rod 310, the inside of the horizontal connecting plate 313 is connected with the horizontal screw rod 310, and the outside is connected with the parallel mechanism 1 through a bolt;
As shown in fig. 5, the sliding bed comprises a bed plate and a sliding mechanism 3, the sliding machine 3 comprises a driving motor 401, a coupler 402, a sliding block 403, a screw rod 404, a U-shaped connecting plate 405 and sliding rails 406, the driving motor 401 is connected with the screw rod 404 through a shaft, the screw rod 404 is fixed between the two sliding rails 406, the screw rod 404 is sequentially connected with the coupler 402 and the sliding block 403 through a shaft, the bed plate is fixed on the sliding block 403 through bolts, and the U-shaped connecting plate 405 is fixedly connected with the bed plate.
As shown in figures 2 and 3, the intelligent massage robot according to claim 1 is characterized in that the driving branched chain comprises two revolute pairs (R2 and R3), a motor support 103, a motor 104 and an electric push rod 105, wherein the revolute pair R2 is connected with the motor support 103, the motor 104 is connected with the motor support 103 through bolts, an output shaft of the motor 104 is connected with the electric push rod 105, the electric push rod 105 is connected with the revolute pair R3 through a bearing to form a pair of driving branches, the three fixed supports 102 are uniformly distributed on the surface of the fixed platform 101, the three pairs of driving branches are uniformly arranged on the fixed supports 102, the fixed supports 102 are connected with the revolute pair R1, the revolute pair R1 is connected with two revolute pairs R2 with the same structure, the revolute pair R2 is connected with the revolute pair R3 with the same structure through the driving branched chain, the revolute pair R4 is shared by the two revolute pairs R3, the revolute pair R4 is connected with the revolute pair R5, and the revolute pair R5 is connected with the massage head 107.
As shown in FIG. 4, the intelligent massage robot according to claim 1 is characterized in that the vertical support is provided with an A-frame 301 at the side edge thereof, a motor 309 in the horizontal sliding mechanism is installed in a motor box 308, a screw 310 is connected with the motor 308 by a shaft, the motor 308 is installed between a horizontal support plate 311 and a horizontal sliding rail 312 by a bearing, and is fastened and connected with a horizontal connecting plate 313 by a bolt, and the horizontal connecting plate 313 is connected with the fixed platform 101 by a bolt.
The digital twin monitoring system of the intelligent massage robot comprises the intelligent massage robot, a sensor, a digital twin model, a monitoring system and a control system, wherein the sensor comprises a pressure sensor, a temperature sensor, a position sensor and an acceleration sensor, the digital twin model utilizes a neural network machine learning algorithm to carry out deep fusion on sensor data so as to realize virtual-real synchronous mapping of the artificial state of the massage robot and human health feedback, the monitoring system monitors the running state of the massage robot in real time based on the digital twin model and generates feedback data in real time, the control system adaptively adjusts the massage strategy of the massage robot according to the digital twin model and the feedback data, the massage strategy comprises massage intensity, massage time and massage area, and dynamically switches massage modes according to the real-time monitoring data, wherein the massage modes comprise a relaxation mode, a deep relaxation mode, a quick recovery mode and individuation and optimization of massage effects.
The digital twin model carries out data interaction with the health monitoring system through the cloud platform, and the massage intensity, the duration and the mode are dynamically adjusted based on real-time health data and virtual simulation results of a receiving user so as to realize accurate personalized massage experience.
The above-described implementation of the intelligent control robot based on digital twin technology is not limited to the above-described specific examples, but may be modified, equivalent replaced or improved in other specific ways within the framework of the present invention by those skilled in the art in light of the present disclosure. Thus, the examples should not be construed as the only possible embodiments of the invention.