CN105943353B - A kind of medical arm-massage machine people based on parallel institution - Google Patents
A kind of medical arm-massage machine people based on parallel institution Download PDFInfo
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- CN105943353B CN105943353B CN201610343640.1A CN201610343640A CN105943353B CN 105943353 B CN105943353 B CN 105943353B CN 201610343640 A CN201610343640 A CN 201610343640A CN 105943353 B CN105943353 B CN 105943353B
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- 241000397426 Centroberyx lineatus Species 0.000 claims description 10
- 210000005069 ears Anatomy 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 29
- 230000000694 effects Effects 0.000 description 22
- 230000036544 posture Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 13
- 210000003205 muscle Anatomy 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000017531 blood circulation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/04—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with hydraulic or pneumatic 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/004—With mechanical drive, e.g. spring mechanism or vibrating unit being hit for starting vibration and then applied to the body of a patient
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Massaging Devices (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The present invention relates to a kind of medical arm-massage machine people based on parallel institution, including lower platform, the upper surface of lower platform is uniformly provided with six side chains in parallel, and the upper end of six side chains in parallel is uniformly arranged on upper mounting plate；Side chain in parallel includes the hollow lower thread spindle that lower end is welded on lower platform, No.1 ball pivot is threadedly installed on hollow lower thread spindle, the upper end of No.1 ball pivot is threadedly provided with No.1 sleeve, the upper end of No.1 sleeve is threadedly provided with No.1 hydraulic cylinder, the upper end of No.1 hydraulic cylinder is threadedly provided with No. two sleeves, the upper end of No. two sleeves is threadedly provided with No. two ball pivots, the upper end of No. two ball pivots is threadedly provided with hollow upper thread spindle, and hollow upper thread spindle is welded on the lower surface of upper mounting plate；Arm-massage machinery hand is installed in the middle part of upper mounting plate upper surface.The present invention realizes the stable automatic lifting massage functions of arm, there is provided a kind of new way of arm-massage.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of medical arm-massage machine based on parallel institution
People.
Background technology
Present people are often worked for a long time due to being busy with one's work, either manual work person or electricity
Brain working people, often all in the working condition of excess load.Manual work person mainly completes work by both hands, when long
Between make mechanical movement can cause to ache to arm muscles, the generation of many body illnesses, cybraian can be caused for a long time by going down
It is the same, often maintains a posture to cause local blood supply insufficiency, trick is ached, and going down can cause greatly for a long time to body
Injury.Some the elderly often play, frequent movable arm is to prevention to take exercises by a promoting blood circulation ball in hand
Disease of old people is very helpful, but not agile enough for some special the elderlys, such as trick, and arm motion can seem special
Other painstaking, they realize the blood circulation of arm with greater need for artificial arm-massage or automation arm-massage, reach forging
The purpose of refining.
Existing artificial arm-massage mode is predominantly by massaging arm muscles so that arm muscles loosen, and delay
Solve arm pain, but this artificial arm-massage mode exist need to manually adjust massage position, massage force it is uneven, by
Rub the defects such as the time is long, massage effect difference is low with operating efficiency；And although existing automation arm-massage mode can be realized automatically
Change the function of arm-massage, but need patient oneself to adjust arm-massage position, massage range is small, cumbersome, work
Efficiency is low, but also arm-massage width be present and can not adjust, it is impossible to meets the wide patient of dissimilar arm, the scope of application is small, massage
During equipment shake be present, massage stability difference and the defects of massage effect difference.
The content of the invention
, can the invention provides a kind of medical arm-massage machine people based on parallel institution in order to solve the above problems
Need to manually adjust massage position, massage force in a manner of solving artificial arm-massage uneven, cumbersome low with operating efficiency
Problem, can also solve it is existing automation arm-massage mode existing for arm-massage width is non-adjustable, the scope of application is small, presses
Scope of rubbing is small, massage effect is poor, equipment has the problem shaken and massage stability difference in massage processes, it is possible to achieve arm
Stable automatic lifting massage functions, and with arm-massage width is adjustable, the scope of application is big, massage range is big, massage effect
Be not present in good, massage processes shake, massage stability it is good, without artificial adjusting massage position, easy to operate and work effect
A kind of the advantages that rate is high, there is provided new way of arm-massage.
To achieve these goals, the present invention is realized using following technical scheme：A kind of medical treatment based on parallel institution
Arm-massage machine people, including lower platform, the upper surface of the lower platform are uniformly provided with six side chains in parallel around its axis, and six
The upper end of individual side chain in parallel is uniformly arranged on upper mounting plate；The side chain in parallel includes lower end and is welded under hollow on lower platform
Thread spindle, mode is connected through a screw thread on hollow lower thread spindle No.1 ball pivot is installed, the upper end of No.1 ball pivot is connected by screw thread
The mode of connecing is provided with No.1 sleeve, and the upper end of No.1 sleeve is connected through a screw thread mode and is provided with No.1 hydraulic cylinder, No.1 hydraulic pressure
The upper end of cylinder is connected through a screw thread mode and is provided with No. two sleeves, and the upper end of No. two sleeves is connected through a screw thread mode and is provided with two
Number ball pivot, the upper end of No. two ball pivots are connected through a screw thread mode and are provided with hollow upper thread spindle, and hollow upper thread spindle is welded on
The shifting formed on the lower surface of platform, when spherical pair S that the present invention is formed when being worked by No.1 ball pivot, No.1 hydraulic cylinder extension
The spherical pair S formed during dynamic secondary P and No. two ball pivot work constitutes SPS parallel connection side chains, and the lower platform in the present invention is as fixed
Platform, six SPS parallel connections side chains, upper mounting plate constitute 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have dynamic
The advantages that state responds, rigidity height, large carrying capacity, stability are good and kinematic accuracy is high, passes through six on six side chains in parallel
Individual No.1 hydraulic cylinder drives upper mounting plate to make to move repeatedly up and down, causes the present invention can by the advantages of 6-SPS parallel institutions
To realize stable automatic lifting massage functions, arm-massage position is adjusted without patient oneself, massage range is big, operation letter
Just, operating efficiency is high, and because the advantages of 6-SPS parallel institutions causes this invention removes the shake situation in the course of work,
Stability is good；Arm-massage machinery hand is installed in the middle part of the upper mounting plate upper surface.
As a preferred technical solution of the present invention, the arm-massage machinery hand includes being arranged on upper mounting plate upper surface
The L-type fixed column at middle part, the end of L-type fixed column are welded with fixed plate, and the upper end of fixed plate is provided with recess, fixed plate it is interior
It is symmetrically welded with two fixed ears on wall, rotary shaft is provided with by bearing in two fixed ears, is provided with the middle part of rotary shaft
Driven gear, driven gear are meshed with driving gear in the recess of fixed plate, and rotary electric machine is fixed in the middle part of driving gear
Output shaft on, rotary electric machine by motor cabinet be arranged on fixed plate side wall on；The both ends of the rotary shaft are symmetrically installed with two
To engaging lug, two pairs of engaging lugs are welded on the left side wall of connecting plate, and two arms are symmetrically installed with the right side wall of connecting plate
Massage machine, two arm massagers can realize the automatic massage function of arm；Because different patients is easypro according to itself
Suitable degree needs different massage postures, and the present invention can need to adjust arm-massage posture according to patient, and rotary electric machine starts
Work, rotary electric machine drive driving gear to rotate, and driving gear drives driven gear to rotate, and driven gear drives rotary shaft two
Rotated in individual fixed ear, rotary shaft drives two pairs of engaging lugs to rotate, and two pairs of engaging lugs drive two hands being arranged on connecting plate
Arm massage machine rotate, so as to have adjusted massage posture of the arm massager to patient, add level of comfort, add by
Rub effect.
As a preferred technical solution of the present invention, the arm massager includes being welded on connecting plate right side wall
Massage support plate, massage and No. two hydraulic cylinders and four expansion links be installed on the inwall of support plate, No. two hydraulic cylinders and four are flexible
The top of bar is provided with massage sliding block, and the left end for massaging sliding block is welded with swallow-tail form traveller, swallow-tail form traveller and swallowtail-shaped slide
Between be connected by sliding matching mode, swallowtail-shaped slide is welded on the right side wall of connecting plate, is passed through No. two hydraulic cylinders and is driven
Sliding block movement is massaged, massage sliding block can be stablized under four expansion links and the spaced motion of swallow-tail form traveller and swallowtail-shaped slide
Make stretching motion, so as to have adjusted the distance between two arm massagers so that the present invention be applicable different arm width
Patient, the scope of application is big, and operating efficiency is high；The upper and lower ends of the massage sliding block are symmetrically arranged with two L-type connecting poles, and two
Root L-type connecting pole is symmetrically connected to the back of arc massage piece, and the back centre position of arc massage piece is provided with connecting shaft,
Six elastic massage side chains are evenly arranged with around its axis, the tops of six elastic massage side chains is installed in flexible in connecting shaft
The right side of plate, elastic massage side chain can be played to patient's arm automatic elastic massage functions；The right-hand member of the massage sliding block
Face is uniformly provided with five No. three hydraulic cylinders, and the top of five No. three hydraulic cylinders is arranged on the left side of expansion plate, passes through five
The drive expansion plate that No. three hydraulic cylinders can be stablized makees stretching motion back and forth, and the stretching speed of No. three hydraulic cylinders is different, and elasticity is pressed
Rub side chain massage force it is different, therefore the present invention can massage according to the stretching speed of No. three hydraulic cylinders of regulation come regulation elasticity
The massage force of side chain, the level of comfort of arm-massage is added, massage excellent in efficiency, operating efficiency is high；The elastic massage branch
The No.1 ring that chain includes being welded on expansion plate right side hooks, and No.1 ring hooks and is connected with drawstring, and the end of drawstring is connected with No. two
On ring hooks, No. two rings are linked and are connected in Elastic force post, and the end of Elastic force post is arranged in connecting shaft, and the top of Elastic force post is provided with soft
Sex massage ball, when five No. three hydraulic cylinders start to make stretching motion, No. three hydraulic cylinders drive telescoping visor movement, and expansion plate drives
Six elastic massage side chains move simultaneously, and elastic massage side chain pulls No. two rings to hook motion by drawstring, and No. two rings hook band and moved
Flexible massage ball on power post moves back and forth, and by the elastic performance of Elastic force post flexible massage ball is constantly hit back and forth
Arc massage piece is hit, the arm-massage function to patient is reached to the uniform vibration force of patient's arm by arc massage piece.
As a preferred technical solution of the present invention, the central axis of the lower platform and the central axis phase of upper mounting plate
Overlap, it is high and lower platform and upper mounting plate holding can be made all the time the advantages that stability is good by the rigidity of 6-SPS parallel institutions
It is parallel, so that arm-massage machinery hand carries out to remain steady in arm lifting massage processes to patient, it is stable
Performance is good, and massage effect is good, and operating efficiency is high.
As a preferred technical solution of the present invention, the gearratio of the driving gear and driven gear is 2:1, pass through
Reduce gearratio to reduce the rotary speed of rotary shaft, the speed of posture is massaged so as to reduce arm massager to patient.
As a preferred technical solution of the present invention, the material of the arc massage piece is soft rubber, and soft rubber can be with
Effective increase arm-massage level of comfort, massage effect are good.
During work, the present invention is first arranged on the operation ground of required massage, first determines two according to the arm of patient is wide
The distance between individual arm massager, No. two hydraulic cylinders are started working, and No. two hydraulic cylinders drive massage sliding block movement, and massage is slided
What block can be stablized under four expansion links and the spaced motion of swallow-tail form traveller and swallowtail-shaped slide makees stretching motion, so as to adjust
The distance between two arm massagers are saved so that the present invention is applicable the patient of different arm width, and the scope of application is big, work
Make efficiency high；Then needed to adjust massage posture of the arm-massage machinery hand to patient's arm according to patient, rotary electric machine starts
Work, rotary electric machine drive driving gear to rotate, and driving gear drives driven gear to rotate, and driven gear drives rotary shaft two
Rotated in individual fixed ear, rotary shaft drives two pairs of engaging lugs to rotate, and two pairs of engaging lugs drive two hands being arranged on connecting plate
Arm massage machine rotate, so as to have adjusted massage posture of the arm massager to patient, add level of comfort, add by
Rub effect；Last arm massager is started working, when five No. three hydraulic cylinders start to make stretching motion, No. three hydraulic cylinder bands
Dynamic telescoping visor movement, expansion plate drive six elastic massage side chains to move simultaneously, and elastic massage side chain pulls No. two by drawstring
Ring hooks motion, and No. two rings, which hook, drives the flexible massage ball in Elastic force post to move back and forth, and causes by the elastic performance of Elastic force post soft
Sex massage ball can constantly hit arc massage piece back and forth, be reached by arc massage piece to the uniform vibration force of patient's arm
To the arm-massage function to patient, at the same time No.1 hydraulic cylinder is started working, six No.1 liquid on six side chains in parallel
Cylinder pressure motion drives upper mounting plate to make to move repeatedly up and down, by the advantages of 6-SPS parallel institutions the present invention is realized surely
Fixed automatic lifting massage functions, and because the lower platform in the present invention is as fixed platform, six SPS parallel connections side chains, upper mounting plates
Constitute 6-SPS parallel institutions as moving platform, 6-SPS parallel institutions have dynamic response is good, rigidity is high, large carrying capacity,
Stability is good and the advantages that kinematic accuracy is high, and the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
On arm-massage machinery hand plateau can be remained during arm-massage, eliminate in massage processes caused by
Jitter phenomenon, the stability of massage processes is added, improves massage effect.
The beneficial effects of the invention are as follows：
1st, the present invention by No. two hydraulic cylinders drive massage sliding block move modes adjust two arm massagers away from
From so that the present invention is applicable the patient of different arm width, and the scope of application is big, and operating efficiency is high；
2nd, rotary electric machine of the invention drives two arm massagers being arranged on connecting plate to turn by gear drive
It is dynamic, massage posture of the arm massager to patient has been saved, level of comfort has been added, adds massage effect；And the present invention is logical
The motions of No. three hydraulic cylinders is crossed to drive six elastic massage side chains constantly to hit arc massage piece and six side chains in parallel back and forth
On six No.1 hydraulic cylinders drive the arm-massage machinery hand on upper mounting plate to make to move repeatedly up and down and realize the present invention
Stable automatic lifting massage functions, without artificial adjustment arm-massage position, easy to operate, massage range is big, massages efficiency
It is high；
3rd, the fixed frame in the present invention constitutes as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform
6-SPS parallel institutions, the arm massaging machine that the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
Tool hand can remain plateau during arm-massage, eliminate caused jitter phenomenon in massage processes, increase
The stability of massage processes, improves massage effect；
4th, the present invention, which solves artificial arm-massage mode, needs to manually adjust that massage position, massage force be uneven, operation
Cumbersome and ineffective problem, also solve it is existing automation arm-massage mode existing for arm-massage width can not
Adjust, the scope of application is small, massage range is small, massage effect is poor, equipment has shake and massages stability difference in massage processes
Problem, the stable automatic lifting massage functions of arm are realized, and with arm-massage width is adjustable, the scope of application is big, massage
Scope is big, massage effect is good, shake is not present in massage processes, massage stability is good, without artificial adjusting massage position, behaviour
Make the advantages that easy and operating efficiency is high, there is provided a kind of new way of arm-massage.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of arm-massage machinery hand of the present invention；
Fig. 3 is the top view of arm-massage machinery hand of the present invention；
Fig. 4 is the front view of arm-massage machinery hand of the present invention.
Specific embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of medical arm-massage machine people based on parallel institution, including lower platform 1, it is described
The upper surface of lower platform 1 is uniformly provided with six side chains 2 in parallel around its axis, and the upper end of six side chains 2 in parallel is uniformly arranged on
On upper mounting plate 3；The side chain in parallel 2 includes the hollow lower thread spindle 21 that lower end is welded on lower platform 1, hollow lower thread spindle 21
On be connected through a screw thread mode No.1 ball pivot 22 be installed, the upper end of No.1 ball pivot 22 is connected through a screw thread mode and is provided with No.1
Sleeve 23, the upper end of No.1 sleeve 23 are connected through a screw thread mode and are provided with No.1 hydraulic cylinder 24, the upper end of No.1 hydraulic cylinder 24
The mode of being connected through a screw thread is provided with No. two sleeves 25, and the upper end of No. two sleeves 25 is connected through a screw thread mode and is provided with No. two balls
Hinge 26, the upper end of No. two ball pivots 26 is connected through a screw thread mode and is provided with hollow upper thread spindle 27, and hollow upper thread spindle 27 welds
On the lower surface of upper mounting plate 3, spherical pair S that the present invention is formed when work by No.1 ball pivot 22, No.1 hydraulic cylinder 24 stretch
When the prismatic pair P that the is formed and No. two ball pivots 26 spherical pair S that are formed when working constitute SPS parallel connections side chain 2, and in the present invention
Lower platform 1 constitutes 6-SPS parallel institutions, 6-SPS as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 as moving platform
Parallel institution has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, passes through six
Six No.1 hydraulic cylinders 24 motion on side chain 2 in parallel drives upper mounting plate 3 to make to move repeatedly up and down, by 6-SPS parallel institutions
The advantages of cause the present invention to realize stable automatic lifting massage functions, adjust arm-massage position without patient oneself,
Massage range is big, easy to operate, and operating efficiency is high, and because the advantages of 6-SPS parallel institutions make it that this invention removes work
During shake situation, stability is good；Arm-massage machinery hand 9 is installed in the middle part of the upper surface of upper mounting plate 3.
The arm-massage machinery hand 9 includes being arranged on the L-type fixed column 91 in the middle part of the upper surface of upper mounting plate 3, L-type fixed column
91 end is welded with fixed plate 92, and the upper end of fixed plate 92 is provided with recess, two are symmetrically welded with the inwall of fixed plate 92
Individual fixed ear 93, rotary shaft 94 is provided with by bearing in two fixed ears 93, the middle part of rotary shaft 94 is provided with driven gear
95, driven gear 95 is meshed with driving gear 96 in the recess of fixed plate 92, and the middle part of driving gear 96 is fixed on rotation electricity
On the output shaft of machine 97, rotary electric machine 97 is arranged in the side wall of fixed plate 92 by motor cabinet；The both ends pair of the rotary shaft 94
Title is provided with two couples of engaging lug 94a, and two couples of engaging lug 94a are welded on the left side wall of connecting plate 98, the right side wall of connecting plate 98
On be symmetrically installed with two arm massagers 99, two arm massagers 99 can realize the automatic massage function of arm；
Because different patients needs different massage postures according to itself level of comfort, the present invention can need to adjust hand according to patient
Arm massages posture, and rotary electric machine 97 is started working, and rotary electric machine 97 drives driving gear 96 to rotate, and driving gear 96 drives driven
Gear 95 rotates, and driven gear 95 drives rotary shaft 94 to be rotated in two fixed ears 93, and rotary shaft 94 drives two pairs of engaging lugs
94a is rotated, and two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98 to rotate, so as to have adjusted
Massage posture of the arm massager 99 to patient, adds level of comfort, adds massage effect.
The arm massager 99 includes the massage support plate 991 being welded on the right side wall of connecting plate 98, massages support plate 991
Inwall on the tops of No. two hydraulic cylinders 992 and four expansion links 993, No. two hydraulic cylinders 992 and four expansion links 993 is installed
Massage sliding block 994 is installed, the left end of massage sliding block 994 is welded with swallow-tail form traveller 994a, swallow-tail form traveller 994a and dovetail
It is connected between shape chute 994b by sliding matching mode, swallowtail-shaped slide 994b is welded on the right side wall of connecting plate 98, is led to
Crossing No. two hydraulic cylinders 992 drives massage sliding block 994 to move, and massage sliding block 994 is in four expansion links 993 and swallow-tail form traveller 994a
Make stretching motion with what can be stablized under swallowtail-shaped slide 994b spaced motion, so as to have adjusted two arm massagers 99
The distance between so that the present invention is applicable the patient of different arm width, and the scope of application is big, and operating efficiency is high；The massage is slided
The upper and lower ends of block 994 are symmetrically arranged with two L-type connecting pole 994c, two L-type connecting pole 994c be symmetrically connected to arc by
Rub the back of piece 996, the back centre position of arc massage piece 996 is provided with connecting shaft 995, around its axle in connecting shaft 995
Line is evenly arranged with six elastic massage side chains 997, and the top of six elastic massage side chains 997 is installed in expansion plate 998
Right side, elastic massage side chain 997 can be played to patient's arm automatic elastic massage functions；The right side of the massage sliding block 994
End face is uniformly provided with five No. three hydraulic cylinders 999, and the top of five No. three hydraulic cylinders 999 is arranged on the left end of expansion plate 998
Face, the drive expansion plate 998 that can be stablized by five No. three hydraulic cylinders 999 make stretching motion back and forth, No. three hydraulic cylinders 999
Stretching speed is different, and the massage force of elastic massage side chain 997 is different, therefore the present invention can be according to No. three hydraulic cylinders of regulation
999 stretching speed carrys out the massage force of regulation elasticity massage side chain 997, adds the level of comfort of arm-massage, massage effect
Rate is good, and operating efficiency is high；The No.1 ring that the elastic massage side chain 997 includes being welded on the right side of expansion plate 998 hooks 9971, one
Number ring hooks and drawstring 9972 is connected with 9971, and the end of drawstring 9972 is connected with No. two rings and hooked on 9973, and No. two rings hook 9973 and connected
It is connected in Elastic force post 9974, the end of Elastic force post 9974 is arranged in connecting shaft 995, and the top installation of Elastic force post 9974 is flexible
Massage ball 9975, when five No. three hydraulic cylinders 999 start to make stretching motion, No. three hydraulic cylinders 999 drive expansion plate 998 to transport
Dynamic, expansion plate 998 drives six elastic massage side chains 997 to move simultaneously, and elastic massage side chain 997 pulls two by drawstring 9972
Number ring hooks 9973 motions, and the flexible massage ball 9975 that No. two rings are hooked in 9973 drive Elastic force posts 9974 moves back and forth, by elastic force
The elastic performance of post 9974 allows flexible massage ball 9975 constantly to hit arc massage piece 996 back and forth, is pressed by arc
The piece 996 that rubs reaches the arm-massage function to patient to the uniform vibration force of patient's arm.
The central axis of the central axis and upper mounting plate 3 of the lower platform 1 coincides, by the firm of 6-SPS parallel institutions
The advantages that degree height and good stability, can make lower platform 1 and the keeping parallelism of upper mounting plate 3 all the time, so that arm-massage is mechanical
Hand 9 carries out to remain steady in arm lifting massage processes to patient, and stability is good, and massage effect is good, work effect
Rate is high.
The gearratio of the driving gear 96 and driven gear 95 is 2:1, reduce rotary shaft 94 by reducing gearratio
Rotary speed, so as to reduce arm massager 99 to patient massage posture speed.
The material of the arc massage piece 996 is soft rubber, and soft rubber can effectively increase arm-massage level of comfort,
Massage effect is good.
During work, the present invention is first arranged on the operation ground of required massage, first determines two according to the arm of patient is wide
The distance between individual arm massager 99, No. two hydraulic cylinders 992 are started working, and No. two hydraulic cylinders 992 drive massage sliding block 994
Mobile, massage sliding block 994 can under four expansion links 993 and swallow-tail form traveller 994a and swallowtail-shaped slide 994b spaced motion
Stretching motion is made with stable, so as to have adjusted the distance between two arm massagers 99 so that the present invention is applicable difference
The patient of arm width, the scope of application is big, and operating efficiency is high；Then need to adjust arm-massage machinery hand 9 to disease according to patient
The massage posture of human arm, rotary electric machine 97 are started working, and rotary electric machine 97 drives driving gear 96 to rotate, the band of driving gear 96
Dynamic driven gear 95 rotates, and driven gear 95 drives rotary shaft 94 to be rotated in two fixed ears 93, and rotary shaft 94 drives two pairs
Engaging lug 94a is rotated, and two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98 to rotate, so as to
Massage posture of the arm massager 99 to patient is have adjusted, level of comfort is added, adds massage effect；Last arm is pressed
The device 99 that rubs is started working, and when five No. three hydraulic cylinders 999 start to make stretching motion, No. three hydraulic cylinders 999 drive expansion plate
998 motions, expansion plate 998 drive six elastic massage side chains 997 to move simultaneously, and elastic massage side chain 997 passes through drawstring 9972
No. two rings are pulled to hook 9973 motions, the flexible massage ball 9975 that No. two rings are hooked in 9973 drive Elastic force posts 9974 is moved back and forth, borrowed
Help the elastic performance of Elastic force post 9974 to allow flexible massage ball 9975 constantly to hit arc massage piece 996 back and forth, pass through
Arc massage piece 996 reaches the arm-massage function to patient to the uniform vibration force of patient's arm, at the same time No.1 liquid
Cylinder pressure 24 is started working, and six No.1 hydraulic cylinders 24 motion on six side chains 2 in parallel drives upper mounting plate 3 to make to transport repeatedly up and down
It is dynamic, cause the present invention to realize stable automatic lifting massage functions by the advantages of 6-SPS parallel institutions, and due to this hair
Lower platform 1 in bright constitutes 6-SPS parallel machines as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 as moving platform
Structure, 6-SPS parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high,
The arm-massage machinery hand 9 that the present invention to be arranged on upper mounting plate 3 by the premium properties of 6-SPS parallel institutions is pressed in arm
Plateau can be remained during rubbing, caused jitter phenomenon in massage processes is eliminated, adds massage processes
Stability, improve massage effect；Solving artificial arm-massage mode needs to manually adjust massage position, massage force inequality
Even, cumbersome and ineffective problem, it is wide also to solve arm-massage existing for existing automation arm-massage mode
Spend non-adjustable, the scope of application is small, massage range is small, massage effect is poor, in massage processes equipment exist shake and massage stability
The problem of energy difference, has reached purpose.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (6)
- A kind of 1. medical arm-massage machine people based on parallel institution, it is characterised in that：It is described lower flat including lower platform (1) The upper surface of platform (1) is uniformly provided with six side chains (2) in parallel around its axis, and the upper end of six side chains (2) in parallel is uniformly installed On upper mounting plate (3)；The side chain in parallel (2) includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), hollow Mode is connected through a screw thread on lower thread spindle (21) No.1 ball pivot (22) is installed, the upper end of No.1 ball pivot (22) is connected by screw thread The mode of connecing is provided with No.1 sleeve (23), and the upper end of No.1 sleeve (23) is connected through a screw thread mode and is provided with No.1 hydraulic cylinder (24), the upper end of No.1 hydraulic cylinder (24) is connected through a screw thread mode and is provided with No. two sleeves (25), No. two sleeves (25) it is upper End is connected through a screw thread mode and is provided with No. two ball pivots (26), and the upper end of No. two ball pivots (26) is connected through a screw thread mode and is provided with Hollow upper thread spindle (27), hollow upper thread spindle (27) are welded on the lower surface of upper mounting plate (3)；Upper mounting plate (3) upper end Middle face is provided with arm-massage machinery hand (9)；The arm-massage machinery hand (9) includes being arranged on the L-type fixed column (91) in the middle part of upper mounting plate (3) upper surface, and L-type is fixed The end of post (91) is welded with fixed plate (92), and the upper end of fixed plate (92) is provided with recess, right on the inwall of fixed plate (92) Title is welded with two fixed ears (93), and rotary shaft (94) is provided with by bearing on two fixed ears (93), rotary shaft (94) Middle part is provided with driven gear (95), and driven gear (95) is meshed with driving gear (96) in the recess of fixed plate (92), It is fixed in the middle part of driving gear (96) on the output shaft of rotary electric machine (97), rotary electric machine (97) is arranged on by motor cabinet and fixed In plate (92) side wall；The both ends of the rotary shaft (94) are symmetrically installed with two pairs of engaging lugs (94a), two pairs of engaging lug (94a) welderings It is connected on the left side wall of connecting plate (98), two arm massagers (99) is symmetrically installed with the right side wall of connecting plate (98).
- A kind of 2. medical arm-massage machine people based on parallel institution according to claim 1, it is characterised in that：It is described The central axis of the central axis of lower platform (1) and upper mounting plate (3) coincides.
- A kind of 3. medical arm-massage machine people based on parallel institution according to claim 1, it is characterised in that：It is described The gearratio of driving gear (96) and driven gear (95) is 2:1.
- A kind of 4. medical arm-massage machine people based on parallel institution according to claim 1, it is characterised in that：It is described Arm massager (99) includes the massage support plate (991) being welded on connecting plate (98) right side wall, massages the interior of support plate (991) No. two hydraulic cylinders (992) and four expansion links (993) are installed on wall, No. two hydraulic cylinders (992) and four expansion links (993) Top is provided with massage sliding block (994), and the left end of massage sliding block (994) is welded with swallow-tail form traveller (994a), swallow-tail form traveller It is connected between (994a) and swallowtail-shaped slide (994b) by sliding matching mode, swallowtail-shaped slide (994b) is welded on connecting plate (98) on right side wall；The upper and lower ends of the massage sliding block (994) are symmetrically arranged with two L-type connecting poles (994c), two L Type connecting pole (994c) is symmetrically connected to the back of arc massage piece (996), and the back interposition of arc massage piece (996) installs Connecting shaft (995) is equipped with, six elastic massage side chains (997), six bullets are evenly arranged with around its axis in connecting shaft (995) The top of sex massage side chain (997) is installed in the right side of expansion plate (998)；The right side of the massage sliding block (994) is equal Even to be provided with five No. three hydraulic cylinders (999), the top of five No. three hydraulic cylinders (999) is arranged on the left end of expansion plate (998) Face.
- A kind of 5. medical arm-massage machine people based on parallel institution according to claim 4, it is characterised in that：It is described The No.1 ring that elastic massage side chain (997) includes being welded on expansion plate (998) right side hooks (9971), and No.1 ring is hooked on (9971) Drawstring (9972) is connected with, the end of drawstring (9972) is connected with No. two rings and hooked on (9973), and No. two rings hook (9973) and are connected to In Elastic force post (9974), the end of Elastic force post (9974) is arranged in connecting shaft (995), and the top of Elastic force post (9974) is provided with Flexible massage ball (9975).
- A kind of 6. medical arm-massage machine people based on parallel institution according to claim 4, it is characterised in that：It is described The material of arc massage piece (996) is soft rubber.
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| CN201610343640.1A CN105943353B (en) | 2016-05-22 | 2016-05-22 | A kind of medical arm-massage machine people based on parallel institution |
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| CN201610343640.1A CN105943353B (en) | 2016-05-22 | 2016-05-22 | A kind of medical arm-massage machine people based on parallel institution |
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| CN105943353B true CN105943353B (en) | 2018-02-13 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963615B (en) * | 2017-04-13 | 2019-06-18 | 田洪森 | Medical massage instrument |
| CN107823738A (en) * | 2017-11-27 | 2018-03-23 | 倪敏芳 | A kind of neurosurgery aids in physiotherapy nursing intelligent robot |
| CN107811829A (en) * | 2017-11-27 | 2018-03-20 | 倪敏芳 | A kind of neurosurgery back nerve system health care massage instrument |
| CN107773406A (en) * | 2017-11-27 | 2018-03-09 | 刘静 | A kind of nursing section special medical massage robot with automatic infusion function |
| CN112243697B (en) * | 2020-11-05 | 2021-12-14 | 周友国 | Transmission shaft device for swing arm type agricultural machine |
| CN113143733B (en) * | 2021-05-10 | 2022-12-23 | 米狗实业(深圳)有限公司 | Fascia rifle with adjustable |
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