Головин Вадим Фёдорович (RU),Рачков Михаил Юрьевич (RU),Архипов Максим Викторович (RU),Журавлев Виталий Валерьевич (RU)
申请号：
RU2011140267/14
公开号：
RU00115205U1
申请日:
2011.10.05
申请国别(地区):
RU
年份:
2012
代理人:
摘要：
TECHNICAL FIELD OF THE utility model represents a robot arm for holding the massage physiotherapy. The field of application of the utility model is the automation of massage treatments and manual therapy. The device design comprises a manipulator with control system electromechanical actuator units, wherein the end link is equipped with massage tools with a force sensor which is mounted between an end link and a massage instrument, and the output force sensor coupled to the control system. The force sensor may be configured as two associated axial joint with one end brackets, one of which is rigidly connected with the end link and the other - with a massage instrument, wherein the sensing element of the force sensor is in the form of an inductive coil attached to the other end of the first bracket and ferromagnetic core mounted on the second bracket is movable within the inductive coil from the normal component of the massage force and the elastic member installed between Cronshaw eynami. The force sensor may also be configured with a ball joint, wherein the first bracket is installed the second inductive coil is perpendicular to the first inductive coil, wherein the second bracket is secured to the second ferromagnetic core movable within a second inductive coil of the tangential component of the force of the massage. The technical result is expressed in providing the possibility of generating a signal in the manipulator control system on the normal and tangential components of the current massage force to the respective drive control units of the manipulator when implementing predetermined massage processes.Область техники, к которой относится полезная модель, представляет собой манипулятор робота для проведения массажной физиотерапии. Областью применения полезной модели является автоматизация процедур массажа и мануальной терапии. Конструкция устройства содержит манипулятор с системой управления электромеханическими приводами звеньев, при этом конечное звено осна
