CN105267018A - Bionic universal massaging manipulator - Google Patents
Bionic universal massaging manipulator Download PDFInfo
- Publication number
- CN105267018A CN105267018A CN201510766222.9A CN201510766222A CN105267018A CN 105267018 A CN105267018 A CN 105267018A CN 201510766222 A CN201510766222 A CN 201510766222A CN 105267018 A CN105267018 A CN 105267018A
- Authority
- CN
- China
- Prior art keywords
- holder
- installing rack
- cardan
- type motor
- numeric type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
- A61H7/008—Suction kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
A bionic universal massaging manipulator comprises a mechanism assembly, wherein the mechanism assembly comprises a pair of massaging heads; the massaging heads are respectively connected to first fixed seats rotatably through kneading arms; the first fixed seat is provided with a first digital stepping motor which drives the kneading arms to rotate in the inside-outside direction; the first fixed seat is mounted on a rotating plate; a driven gear is fixed on the bottom of the rotating plate; the rotating plate is rotatably mounted on a base plate; the base plate is provided with a driving gear and a second digital stepping motor; the driving gear is meshed with the driven gear; the second digital stepping motor drives the driving gear to rotate; and second fixed seats are respectively fixed on the left side and the right side of the base plate. The second fixed seats are rotatably connected with an upper universal joint and a lower universal joint, the universal joints are mounted on a transverse rotating shaft, the transverse rotating shaft is mounted on a mounting rack and is connected with a transmission, the mounting rack is provided with a worm motor connected with the transmission, and sliding wheels are distributed on the left side and the right side of the mounting rack and are connected with a traveling motor.
Description
Technical field
The present invention relates to massage armchair technical field, particularly relate to a kind of bionical Universal massage mechanical hand.
Background technology
The comfortableness of massaging in current massage armchair mainly relies on massager core, and a pair massage head in massager core is fixed on fixed mount, and the distance between massage head to regulate, and cannot adapt to the client of the different bodily form like this.And whole massager core cannot rotate, the vibrations of massage head realize under the cooperation by eccentric and rocking bar, and such massaging way is more single, the simple motion such as can only realize vibrations or knock.Massage head along with massager core up and down or move left and right, and being limited in scope of movement, can only massage back portion, more fully cannot massage human body, such as side, cervical region, if the massage of this these position just needs to install massager core in addition.
And the massage effect of current massager core mainly relies on vibrations, or part accomplishes simply to rub rearward, cannot accomplish kneading and the massage of practicing engineer's massage manipulation.As the two-way kneading massage movement of one that publication number is CN201480659U; this movement adopts the mode of eccentric stiffener to realize left and right kneading, but can only realize one direction kneading in back portion, function singleness; very mechanical dumb, good massage effect can not be reached.
Summary of the invention
The present invention will solve above-mentioned prior art Problems existing, provides a kind of bionical Universal massage mechanical hand, adopts independently malaxation massage head, coordinate multi-direction travel mechanism, each position such as back and side is carried out to kneading and the massage of more professional maneuver.
The present invention solves the technical scheme that its technical problem adopts: this bionical Universal massage mechanical hand, comprise cartridge assemblies, cartridge assemblies comprises a pair massage head, massage head is rotationally connected with on holder one respectively by kneading arm, holder one is provided with and drives inside and outside the first numeric type motor rotated of kneading arm, holder one is arranged on rolling disc, being fixed with driven gear bottom rolling disc and rotating is installed on chassis, chassis is provided with the driving gear engaged with driven gear and the second numeric type motor driving driving gear to rotate, the left and right sides on chassis is fixed with holder two respectively.This part is the mechanism of cartridge assemblies, massage head can realize the opening and closing movement of inside and outside shrinkage expansion under the cooperation of kneading arm and the first numeric type motor, play the action of kneading, and massage head can 360 ° of rotations in the cooperation of rolling disc and the second numeric type motor, the holder two of tray bottom is rotatably connected on upper cardan, and such massage head can overturn around on holder two.
Wherein holder two is rotatably connected on upper cardan, upper cardan upper part is provided with the holder three that is rotationally connected with holder two and is provided with the 3rd numeric type motor driving holder two to rotate, the lower part of upper cardan is provided with the holder four distributed up and down, holder four is connected with lower cardan, the upper part of lower cardan is provided with the holder five be rotationally connected with holder four and the 4th numeric type motor driving holder four to rotate, and the lower part of lower cardan is provided with the holder six of left and right distribution; This structure carries out multi-direction movement by upper cardan and lower cardan to cartridge assemblies, massage head can be massaged health both sides, and can control massage and the massage that massage head carries out professional maneuver.
Wherein holder six is provided with horizontal rotating shaft, horizontal rotating shaft to be arranged on installing rack and to be connected with variator, and installing rack is provided with the endless screw electric motor be connected with variator; The right and left distributing installation of installing rack has movable pulley, and movable pulley is connected with movable motor.
In order to perfect further, cartridge assemblies has two groups, left and right and is arranged in horizontal rotating shaft respectively by upper cardan, lower cardan.
Perfect further, installing rack is frame structure, and the centre of installing rack is provided with the dividing plate of a pair cartridge assemblies being divided right and left, and horizontal rotating shaft is installed on the upper end of installing rack, and cartridge assemblies can be built in installing rack.
Perfect further, movable pulley comprises the driven pulley being arranged on installing rack lower end, the drivewheel being arranged on installing rack upper end, and drivewheel is installed on the rotating shaft, and turning cylinder connects movable motor.
Perfect further, kneading arm comprises interior kneading arm and outer kneading arm, the output shaft of the first numeric type motor is fixedly connected with interior kneading arm in the lump through holder, the output shaft of the first numeric type motor is provided with internal gear, and the medial surface of outer kneading arm is fixed with the external gear engaged with internal gear.
The effect that the present invention is useful is: massage face of the present invention is wider, maximumly can massage health two side; Two separate operations of cartridge assemblies, and can before and after multi-faceted staggered massage; Adopt independently malaxation massage head, coordinate multi-direction travel mechanism, each position such as back and side is massaged, imitate the maneuver of practicing engineer, kneading and the massage of more professional maneuver are provided, are conducive to extensive popularization.
Accompanying drawing explanation
Fig. 1 is that master of the present invention attempts;
Fig. 2 is side view of the present invention;
Fig. 3 is the three-dimensional structure diagram in front of the present invention;
Fig. 4 is the three-dimensional structure diagram of bottom surface of the present invention;
Fig. 5 is the three-dimensional structure diagram of bottom surface of the present invention;
Fig. 6 is the structural representation of cartridge assemblies in the present invention;
Fig. 7 is the three-dimensional structure diagram of cartridge assemblies forward part in the present invention;
Fig. 8 is the three-dimensional structure diagram at Fig. 7 back side;
Fig. 9 is the explosive decomposition figure of upper cardan and lower cardan in cartridge assemblies in the present invention.
Description of reference numerals: cartridge assemblies 1, massage head 1-1, kneading arm 1-2, interior kneading arm 1-21, outer kneading arm 1-22, holder one 1-3, first numeric type motor 1-4, rolling disc 1-5, driven gear 1-6, chassis 1-7, driving gear 1-8, second numeric type motor 1-9, holder two 1-10, upper cardan 2, holder three 2-1, 3rd numeric type motor 2-2, holder four 2-3, lower cardan 3, holder five 3-1, 4th numeric type motor 3-2, holder six 3-3, horizontal rotating shaft 4, installing rack 5, variator 6, endless screw electric motor 7, movable pulley 8, driven pulley 8-1, drivewheel 8-2, movable motor 9, turning cylinder 10, internal gear 11, external gear 12, dividing plate 13.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
With reference to accompanying drawing: this bionical Universal massage mechanical hand, comprise cartridge assemblies 1, cartridge assemblies 1 comprises a pair massage head 1-1, massage head 1-1 is rotationally connected with on holder one 1-3 respectively by kneading arm 1-2, holder one 1-3 is provided with and drives inside and outside the first numeric type motor 1-4 rotated of kneading arm 1-2, holder one 1-3 is arranged on rolling disc 1-5, being fixed with driven gear 1-6 bottom rolling disc 1-5 and rotating is installed on the 1-7 of chassis, chassis 1-7 is provided with the driving gear 1-8 engaged with driven gear 1-6 and the second numeric type motor 1-9 driving driving gear 1-8 to rotate, the left and right sides of chassis 1-7 is fixed with holder two 1-10 respectively, holder two 1-10 is rotatably connected on upper cardan 2, upper cardan 2 upper part is provided with holder three 2-1 that is rotationally connected with holder two 1-10 and is provided with the 3rd numeric type motor 2-2 driving holder two 1-10 to rotate, the lower part of upper cardan 2 is provided with holder four 2-3 distributed up and down, holder four 2-3 is connected with lower cardan 3, the upper part of lower cardan 3 is provided with holder five 3-1 be rotationally connected with holder four 2-3 and the 4th numeric type motor 3-2 driving holder four 2-3 to rotate, the lower part of lower cardan 3 is provided with holder six 3-3 of left and right distribution, holder six 3-3 is provided with horizontal rotating shaft 4, and horizontal rotating shaft 4 to be arranged on installing rack 5 and to be connected with variator 6, and installing rack 5 is provided with the endless screw electric motor 7 be connected with variator 6, the right and left distributing installation of installing rack 5 has movable pulley 8, and movable pulley 8 is connected with movable motor 9.
Wherein cartridge assemblies 1 has two groups, left and right and is arranged in horizontal rotating shaft 4 respectively by upper cardan 2, lower cardan 3.Installing rack 5 is frame structure, and the centre of installing rack 5 is provided with the dividing plate 13 of a pair cartridge assemblies being divided right and left, and horizontal rotating shaft 4 is installed on the upper end of installing rack 5, and cartridge assemblies 1 can be built in installing rack 5.Movable pulley 8 comprises the driven pulley 8-1 being arranged on installing rack 5 lower end, the drivewheel 8-2 being arranged on installing rack 5 upper end, and drivewheel 8-2 is arranged on turning cylinder 10, and turning cylinder 10 connects movable motor 9.
Wherein kneading arm 1-2 comprises interior kneading arm 1-21 and outer kneading arm 1-22, the output shaft of the first numeric type motor 1-4 passes holder one 1-3 and is fixedly connected with interior kneading arm 1-21, the output shaft of the first numeric type motor 1-4 is provided with internal gear 11, and the medial surface of outer kneading arm 1-22 is fixed with the external gear 12 engaged with internal gear 11.
Embodiment one, cartridge assemblies as the left side in accompanying drawing: lower cardan outwards rotates by horizontal rotating shaft, upper cardan to the left direction rotates, make a pair massage head be positioned at side and be also affixed on human body side in front and back, first numeric type motor 1-4 carrys out back rotation within the specific limits and controls a pair massage head opening and closing by a small margin, realize kneading, 3rd numeric type motor 2-2 carrys out back rotation and controls massage head to massage back and forth within the specific limits, and the 4th numeric type motor 3-2 carrys out back rotation and control massage head to knock within the specific limits.
Embodiment two, as accompanying drawing: a set of massaging action of practicing engineer's specialty maneuver has integrated to be pinched, rub, massage, multiple action such as to knock, pinch, rub and carry out at the same time, then add and massage and knock, this is of the present invention when massaging, first numeric type motor 1-4 controls kneading arm 1-2 opening and closing, effect massage head being played pinch, the second numeric type motor 1-9 is coordinated to control dial rotation, massage head is made to play the effect of kneading, 3rd numeric type motor 2-2 distance massage head is nearer, by quick rotation make massage head complete vibration massage function back and forth by a small margin, pressing and the action such as to knock, and the 4th numeric type motor 3-2 distance massage head is far away, massage head is made to complete massage, the action such as to knock.Each numeric type motor independently controls, and can integrate multiple action and complete a series of massage, realizes imitating practicing engineer's specialty massage manipulation, strengthens massage comfort level.
Although the present invention has illustrated by reference to preferred embodiment and has described, those skilled in the art should understand, and in the scope of claims, can do the various change in form and details.
Claims (5)
1. a bionical Universal massage mechanical hand, comprise cartridge assemblies (1), cartridge assemblies (1) comprises a pair massage head (1-1), it is characterized in that: described massage head (1-1) is rotationally connected with on holder one (1-3) respectively by kneading arm (1-2), holder one (1-3) is provided with and drives inside and outside the first numeric type motor (1-4) rotated of kneading arm (1-2), holder one (1-3) is arranged on rolling disc (1-5), rolling disc (1-5) bottom is fixed with driven gear (1-6) and rotates and is installed on chassis (1-7), chassis (1-7) is provided with the driving gear (1-8) engaged with driven gear (1-6) and the second numeric type motor (1-9) driving driving gear (1-8) to rotate, the left and right sides on described chassis (1-7) is fixed with holder two (1-10) respectively,
Described holder two (1-10) is rotatably connected on upper cardan (2), upper cardan (2) upper part is provided with the holder three (2-1) that is rotationally connected with holder two (1-10) and is provided with the 3rd numeric type motor (2-2) driving holder two (1-10) to rotate, the lower part of upper cardan (2) is provided with the holder four (2-3) distributed up and down, holder four (2-3) is connected with lower cardan (3), the upper part of lower cardan (3) is provided with the holder five (3-1) be rotationally connected with holder four (2-3) and the 4th numeric type motor (3-2) driving holder four (2-3) to rotate, the lower part of lower cardan (3) is provided with the holder six (3-3) of left and right distribution,
Described holder six (3-3) is provided with horizontal rotating shaft (4), horizontal rotating shaft (4) is arranged on installing rack (5) and goes up and be connected with variator (6), and installing rack (5) is provided with the endless screw electric motor (7) be connected with variator (6); The right and left distributing installation of described installing rack (5) has movable pulley (8), and movable pulley (8) is connected with movable motor (9).
2. bionical Universal massage mechanical hand according to claim 1, is characterized in that: described cartridge assemblies (1) has two groups, left and right and is arranged in horizontal rotating shaft (4) respectively by upper cardan (2), lower cardan (3).
3. bionical Universal massage mechanical hand according to claim 2, it is characterized in that: described installing rack (5) is frame structure, the centre of installing rack (5) is provided with the dividing plate (13) of a pair cartridge assemblies (1) being divided right and left, described horizontal rotating shaft (4) is installed on the upper end of installing rack (5), and described cartridge assemblies (1) can be built in installing rack (5).
4. bionical Universal massage mechanical hand according to claim 1, it is characterized in that: described movable pulley (8) comprises the driven pulley (8-1) being arranged on installing rack (5) lower end, the drivewheel (8-2) being arranged on installing rack (5) upper end, drivewheel (8-2) is arranged on turning cylinder (10), and turning cylinder (10) connects described movable motor (9).
5. bionical Universal massage mechanical hand according to claim 1, it is characterized in that: described kneading arm (1-2) comprises interior kneading arm (1-21) and outer kneading arm (1-22), the output shaft of described first numeric type motor (1-4) passes holder one (1-3) and is fixedly connected with interior kneading arm (1-21), the output shaft of the first numeric type motor (1-4) is provided with internal gear (11), and the medial surface of described outer kneading arm (1-22) is fixed with the external gear (12) engaged with internal gear (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510766222.9A CN105267018B (en) | 2015-11-11 | 2015-11-11 | Bionical Universal massage manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510766222.9A CN105267018B (en) | 2015-11-11 | 2015-11-11 | Bionical Universal massage manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105267018A true CN105267018A (en) | 2016-01-27 |
| CN105267018B CN105267018B (en) | 2017-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510766222.9A Active CN105267018B (en) | 2015-11-11 | 2015-11-11 | Bionical Universal massage manipulator |
Country Status (1)
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| CN (1) | CN105267018B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2096357U (en) * | 1991-06-28 | 1992-02-19 | 刘永兰 | Electric massage appliances |
| JP3011924B1 (en) * | 1998-09-02 | 2000-02-21 | 好宏 岩崎 | Shiatsu |
| CN201304065Y (en) * | 2008-11-28 | 2009-09-09 | 厦门蒙发利科技（集团）股份有限公司 | Massager core with an elastic massage arm |
| CN102058466A (en) * | 2011-03-15 | 2011-05-18 | 江苏大学 | Chinese massage robot |
| JP2013075341A (en) * | 2011-09-30 | 2013-04-25 | Equos Research Co Ltd | Joint angle measuring device and joint angle measuring method |
| CN203988899U (en) * | 2014-08-07 | 2014-12-10 | 安徽久工健业股份有限公司 | Three-dimensional massage machine core |
| CN204092512U (en) * | 2014-09-12 | 2015-01-14 | 郑全忠 | One opens back and massaging assembly |
| CN204364355U (en) * | 2014-12-19 | 2015-06-03 | 厦门蒙发利科技（集团）股份有限公司 | A kind of broad-adjustable massager core of massage head and massage armchair |
| CN205083965U (en) * | 2015-11-11 | 2016-03-16 | 浙江多迪斯泰保健器材有限公司 | Mechanical hand of bionical universal massage |
-
2015
- 2015-11-11 CN CN201510766222.9A patent/CN105267018B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2096357U (en) * | 1991-06-28 | 1992-02-19 | 刘永兰 | Electric massage appliances |
| JP3011924B1 (en) * | 1998-09-02 | 2000-02-21 | 好宏 岩崎 | Shiatsu |
| CN201304065Y (en) * | 2008-11-28 | 2009-09-09 | 厦门蒙发利科技（集团）股份有限公司 | Massager core with an elastic massage arm |
| CN102058466A (en) * | 2011-03-15 | 2011-05-18 | 江苏大学 | Chinese massage robot |
| JP2013075341A (en) * | 2011-09-30 | 2013-04-25 | Equos Research Co Ltd | Joint angle measuring device and joint angle measuring method |
| CN203988899U (en) * | 2014-08-07 | 2014-12-10 | 安徽久工健业股份有限公司 | Three-dimensional massage machine core |
| CN204092512U (en) * | 2014-09-12 | 2015-01-14 | 郑全忠 | One opens back and massaging assembly |
| CN204364355U (en) * | 2014-12-19 | 2015-06-03 | 厦门蒙发利科技（集团）股份有限公司 | A kind of broad-adjustable massager core of massage head and massage armchair |
| CN205083965U (en) * | 2015-11-11 | 2016-03-16 | 浙江多迪斯泰保健器材有限公司 | Mechanical hand of bionical universal massage |
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| Publication number | Publication date |
|---|---|
| CN105267018B (en) | 2017-06-13 |
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Denomination of invention: Bionic universal massage manipulator Effective date of registration: 20210429 Granted publication date: 20170613 Pledgee: Industrial and Commercial Bank of China Limited Qingtian sub branch Pledgor: ZHEJIANG DOTAST HEALTHCARE EQUIPMENT Co.,Ltd. Registration number: Y2021330000364 |
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