CN106038217A - Human armpit massaging intelligent robot - Google Patents
Human armpit massaging intelligent robot Download PDFInfo
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- CN106038217A CN106038217A CN201610329527.8A CN201610329527A CN106038217A CN 106038217 A CN106038217 A CN 106038217A CN 201610329527 A CN201610329527 A CN 201610329527A CN 106038217 A CN106038217 A CN 106038217A
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- 230000033001 locomotion Effects 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000007664 blowing Methods 0.000 claims description 8
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- 239000000463 material Substances 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 229920006351 engineering plastic Polymers 0.000 claims description 3
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- 230000001166 anti-perspirative effect Effects 0.000 description 4
- 239000003213 antiperspirant Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 230000036541 health Effects 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
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- 206010002383 Angina Pectoris Diseases 0.000 description 1
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- 206010034464 Periarthritis Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
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- 235000019789 appetite Nutrition 0.000 description 1
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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
- 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
- A61H2201/01—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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0221—Mechanism for heating or cooling
- A61H2201/025—Mechanism for heating or cooling by direct air flow on the patient's body
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- 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)
- Percussion Or Vibration Massage (AREA)
- Massaging Devices (AREA)
Abstract
The invention relates to a human armpit massaging intelligent robot, which comprises a walking base, a moving device, a rambling device, two lifting adjusting devices, two main body massaging devices and local massaging devices, wherein the moving device is arranged between the walking base and the rambling device, and the moving device is fixedly connected to the walking base; the lifting adjusting devices are symmetrically arranged along the transverse central axis of the rambling device, and the bottom ends of the lifting adjusting devices are connected to the moving device; the main body massaging devices are fixedly arranged above the lifting adjusting devices; the local massaging devices are symmetrically arranged on the left and right sides of the main body massaging devices; and the local massaging devices are fixedly connected to the lifting adjusting devices. The intelligent robot disclosed by the invention can conduct massaging as well as air cooling and sweat dissipation on armpits of a human body, and the intelligent robot is comprehensive in massaging, significant in massaging effect and high in massaging comfort; the intelligent robot takes a good health care effect on the armpits of the human body; and the intelligent robot also promotes physical and psychological health of the human body to a certain degree.
Description
Technical field
The present invention relates to health care intelligent machine field, oxter, a kind of human body oxter massage intelligent machine
People.
Background technology
Massage is with the internal organs of the traditional Chinese medical science, theory of channels and collaterals as theoretical basis, and combines dissection and the pathological diagnosis of doctor trained in Western medicine, and uses
Maneuver or apparatus rub back and forth, kneading or beat the specific part of body surface to regulate organism physiology, pathological condition, reach reason
Treat purpose method, in nature, it is the Therapeutic Method of a kind of physics, in the treatment of massage, can be divided into therapeutic massage,
Sports massage and medical massage；For from position, massage can be divided into head massage, neck massaging, oxter massage, waist by
Rub, the massage of back massage, buttocks, leg massage and foot massage etc..
Oxter is commonly called as " axillary fossa " or " armpit ", therebetween the many sweat glands of cortex, and nerve and the blood vessel of domination upper limb are distributed,
Also have Lymph Node Groups in nest, summarize upper limb thoracic wall and the lymph of back shallow-layer, be referred to as " human body three keep healthy greatly special zone " by doctor；
Often pressing axillary fossa can treat the blood circulation diseases such as coronary heart diseases and angina pectoris, apoplexy sequela, and intercostal nerves
Bitterly, the nervous system disease such as hysteria, also mastopathy, scapulohumeral periarthritis etc.；Human anatomy then discloses, and does not only have sound at axillary fossa
Arteries and veins blood vessel, and have substantial amounts of lymphoid tissue, it is responsible for blood conveying, immune defense function, often presses axillary fossa, by improving blood
Supply, stimulation lymph, can improve cardio-pulmonary function, appetite stimulator, improve digestion power.
As can be seen here, massage healthy to people and at ordinary times health care in oxter all plays important work
With, but, current human body oxter is the position that people seldom touch in daily routines, is often easy to be ignored, more by everybody
Be far from being other health care, and all use for the most a small amount of human body oxter health care massage and manually massage and press
Pinch, there is no good human body oxter massage related equipment.In view of the above circumstances, the invention provides a kind of human body oxter massage by
Rub intelligent robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of human body oxter massage intelligent robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of human body oxter massage intelligent robot, including walking basal seat, mobile device, strolls device, rising-falling tone
Regulating device, main body massage machine and local massage machine, and the quantity of elevation and subsidence regulating device and main body massage machine is two, office
The quantity of portion's massage machine is four；Described mobile device is in walking basal seat and strolls between device, and mobile device and row
Walking base to be connected, elevation and subsidence regulating device is arranged symmetrically with along the central transverse axis strolling device respectively, and at the bottom of elevation and subsidence regulating device
End is connected with mobile device, and main body massage machine is fixed on directly over elevation and subsidence regulating device, and part massage device is respectively symmetrically
It is positioned at the left and right sides of main body massage machine, and part massage device is connected with elevation and subsidence regulating device.
As a further improvement on the present invention, described walking basal seat include travelling platform, walking ear mount, walking rotating shaft and
Road wheel；Described walking ear mount lays respectively at four drift angles of travelling platform bottom face, and walk ear mount and travelling platform
Being connected, road wheel is arranged in walking ear mount by walking rotating shaft；Walking basal seat is mainly used in being movably walking of the present invention.
As a further improvement on the present invention, described mobile device include cross slide way, transverse slider, longitudinal rail and
Longitudinal sliding block, and the quantity of cross slide way, transverse slider and longitudinal sliding block is two；Described cross slide way is along walking basal seat
Central transverse axis is respectively symmetrically the left and right sides being positioned at walking basal seat, and transverse slider is arranged on cross slide way, longitudinal rail
Two ends are separately fixed on transverse slider upper surface, and the two ends of longitudinal rail and cross slide way are provided with mobile gear respectively
Plate, longitudinal sliding block is arranged on longitudinal rail；The overall of the present invention can be realized by cross slide way and transverse slider laterally to move
Dynamic, generally longitudinally moving of the present invention can be realized by longitudinal rail and longitudinal sliding block, thus mobile device can be same
Carry out the motion of left and right and two-freedom front and back on horizontal plane, improve the mass motion motility on horizontal plane of the present invention.
As a further improvement on the present invention, described stroll device include drive mechanism, forward direction transfer roller, backward transfer roller and
Stroll conveyer belt；Described drive mechanism quantity is four, and forward direction transfer roller and backward transfer roller lay respectively at before and after walking basal seat two
Side, and forward direction transfer roller two ends and backward transfer roller two ends are fixedly connected by drive mechanism respectively, stroll conveyer belt two ends
Rotating around being enclosed within forward direction transfer roller and backward transfer roller, and stroll and in belt outer surface, be evenly arranged with semicolumn tread plate；Institute
The drive mechanism stated includes driving motor, driving arm, drive shaft and spring bearing, and described driving motor passes through driving arm
Being fixed on walking basal seat outboard end, driving motor is adjustable speed motor, and drive shaft one end is connected with driving electric machine main shaft,
The drive shaft other end passes spring bearing front end, and spring bearing is key shape structure, and spring bearing rear end is fixed on the walking end
On seat；By driving the rotation rotating drive drive shaft of motor, thus drive the synchronization of forward direction transfer roller and backward transfer roller in the same direction
Rotate, and then achieve the hoop motion strolling conveyer belt, and stroll device and can realize forward direction transfer roller by four drive mechanisms
The most synchronized rotation of synchronization with backward transfer roller, driving force is strong, and stable drive is strolled device and can be realized human body row in the above
Walk, serve the effect that human body is taken exercise.
As a further improvement on the present invention, described elevation and subsidence regulating device includes that fixed disk, lifting disk, lifting electric push away
Bar, lifting lead, regulation rotating shaft and fixed mount；Described lifting disk is positioned at directly over fixed disk, and lifting electric push rod is positioned at
Between fixed disk and lifting disk, and lifting electric push rod bottom is connected with fixed disk, lifting electric push rod top and lifting disk
Being connected, lifting lead quantity is four, and lifting lead uses two grades of stretching structures, and lifting lead is along lifting electric push rod
Central axis be respectively symmetrically layout, regulation rotating shaft is through the upper end of lifting electric push rod, and regulation rotating shaft two ends are passed through respectively
Fixed mount is fixedly connected, and fixed mount is in " X " type structure, and four legs of fixed mount are separately fixed at lifting lead
On, it is provided with at fixed mount medium position and regulates the lifting bearing that rotating shaft matches；Elevation and subsidence regulating device is mainly used in this
The regulation of bright whole height on the vertical plane, and easy to adjust, guide, regulation rotating shaft simultaneously can drive part massage device
Rotation on the vertical plane, and then the setting angle of regulation part massage device.
As a further improvement on the present invention, described main body massage machine includes outside Stewart parallel institution, massage
Cover, transmitting balls, back-up ring and air-supply arrangement；Described massage outer housing is positioned at directly over Stewart parallel institution, and massage outer housing
For hemispherical shell structure, massage outer housing material is PP engineering plastics, massages and is evenly arranged with vibration respectively on outer cover outer surface
Massage head and air-permeating hole, vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure, vibromassage
Head outer surface is flexible rubber material, and back-up ring is positioned at outside massage outer housing, and back-up ring fixes with Stewart parallel institution, passes
Dynamic ball is uniformly arranged between back-up ring and massage outer housing, can realize pressing by the cooperation of massage outer housing, transmitting balls and back-up ring
Rubbing the function of outer housing rotary motion in the horizontal plane, air-supply arrangement is positioned at inside massage outer housing；Described Stewart parallel institution
Including fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；
Described connection seat and Triangulum quantity are three, and the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six,
Described fixed platform and moving platform the most rounded shape structure, and fixed platform lower end is provided with installation external screw thread, connects seat and is arranged on
On the lower surface of fixed platform, and connecting seat on fixed platform in equilateral triangle location arrangements, Triangulum is arranged on moving platform upper end
On face, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is equilateral triangle column structure, Triangulum
It is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and matches with lower spherical hinge lower end external screw thread
Installing screwed hole, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod top and block plate seat upper end phase
Connecting, block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around set
On electric pushrod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat；Pass through
The stretching motion up and down of electric pushrod, thus drive pumping of moving platform, and added dynamic flat by limit spring
The jitter of platform, improves the massage effect of the present invention, and main body massage machine uses the Stewart parallel institution of 6-SPS, with string
Online structure phase specific stiffness is big, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, and main body massage machine can carry out three in space
The motion in translation three rotation six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good, main body is pressed
The device that rubs is positioned at the center position of the present invention, and during use, main body massage machine contacts in the middle part of human body oxter, not only acts as
Main load-bearing effect, takes full advantage of feature that the Stewart parallel institution weight capacity of 6-SPS is strong, and with human body axil
Lower contact area is big, and massage effect is good.Described air-supply arrangement includes air supply motor, motor cabinet, air-supply rotating shaft, blowing fan and lock
Tight cap, air supply motor is fixed on moving platform upper surface by motor cabinet, and air-supply rotating shaft one end is connected with air supply motor main shaft,
The air-supply rotating shaft other end is connected with blowing fan, and is fixed by locking cap between blowing fan and air-supply rotating shaft；Air-supply dress
Putting can be that the present invention produces wind regime, and the wind-force that air-supply arrangement produces is discharged by the air-permeating hole massaging on outer cover outer surface, makes
Axillary fossa can be blown while massaging human body oxter by the present invention, serve the effect driving antiperspirant, also make simultaneously by
Rub more comfortable pleasantly cool.
As a further improvement on the present invention, described part massage device include support, fixing axle, part massage head,
Support shaft, retainer ring, vibrating motor and vibrating spring, and number of holders is two；Described pedestal lower end is the bar of extension type
Shape and structure, pedestal upper end is forme fruste umbrella-shaped structure, and support is respectively symmetrically and is arranged in part massage head both sides, and local is pressed
Rubbing and be attached by fixing axle between head and pedestal upper end, part massage head is incomplete ring-shaped structure, part massage head
Massaging strip, support shaft is had to be positioned at immediately below part massage head along its circumferential direction spaced set on outer surface, and support shaft two
End is connected with support medial wall respectively, and vibrating motor is positioned at directly over support shaft, and vibrating motor is uniformly axial along support shaft
Direction is linearly arranged, vibrating motor lower end is arranged in support shaft by retainer ring, vibrating motor upper end and vibrating spring one
End is connected, and the vibrating spring other end is connected with part massage head medial wall；Vibration bullet is driven by the vibration of vibrating motor
The shake of spring, thus realize the vibration of part massage head, serving the effect of vibromassage, it is right that part massage device is mainly used in
The massage of both sides, human body oxter.
Compared with prior art, the invention have the advantages that
(1) present invention can carry out massage and air-cooled scattered antiperspirant to human body oxter, and massage is comprehensive, and massage effect is bright
Aobvious, massage comfort level is high, and human body oxter serves good health-care effect, the body and mind promoting human body the most to a certain extent
Healthy.
(2) mobile device of the present invention can carry out the motion of left and right and two-freedom front and back in same level, rises
Falling tone regulating device can move up and down on the vertical plane, can realize the present invention at sky by mobile device and elevation and subsidence regulating device
Three interior translational motions, thus improve the mass motion motility in space of the present invention.
(3) the strolling device and can realize the synchronization of forward direction transfer roller and backward transfer roller in the same direction by four drive mechanisms of the present invention
Synchronized rotation, driving force is strong, and stable drive is strolled device and can be realized human body walking in the above, serves what human body was taken exercise
Effect.
(4) the main body massage machine of the present invention uses the Stewart parallel institution of 6-SPS, and bearing capacity is strong and fine motion is smart
Degree height, can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity
Hurry up, kinematic dexterity good, main body massage machine contacts in the middle part of human body oxter, has not only acted as main load-bearing effect, fully
Make use of the feature that the Stewart parallel institution weight capacity of 6-SPS is strong, and big with human body oxter contact area, massage effect
The best；And air-supply arrangement can be that the present invention produces wind regime, and the wind-force that air-supply arrangement produces is by massaging on outer cover outer surface
Air-permeating hole is discharged so that axillary fossa can be blown while massaging human body oxter by the present invention, serves the effect driving antiperspirant,
Also make to massage more comfortable cooling off oneself simultaneously.
(5) the part massage device of the present invention drives the shake of vibrating spring by the vibration of vibrating motor, thus realizes
The vibration of part massage head, serves the effect of vibromassage, part massage device be mainly used in both sides, human body oxter by
Rub.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is that the present invention moves base, mobile device and strolls perspective view when device coordinates；
Fig. 3 is that stereochemical structure when elevation and subsidence regulating device of the present invention, main body massage machine and local massage machine cooperation is shown
It is intended to；
Fig. 4 be elevation and subsidence regulating device of the present invention and local massage machine coordinate time perspective view (from front to back
See)；
Fig. 5 be elevation and subsidence regulating device of the present invention and local massage machine coordinate time perspective view (from the bottom up
See)；
Fig. 6 is the perspective view of main body massage machine of the present invention；
Fig. 7 is the front view of main body massage machine of the present invention；
Fig. 8 is the perspective view of Stewart parallel institution of the present invention；
Fig. 9 is the perspective view after main body massage machine of the present invention removes Stewart parallel institution；
Figure 10 is the perspective view of part massage device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 10, a kind of human body oxter massage intelligent robot, including walking basal seat 1, mobile device
2, device 3, elevation and subsidence regulating device 4, main body massage machine 5 and local massage machine 6, and elevation and subsidence regulating device 4 and main body are strolled
The quantity of massage machine 5 is two, and the quantity of part massage device 6 is four；Described mobile device 2 is positioned at walking basal seat 1 He
Stroll between device 3, and mobile device 2 be connected with walking basal seat 1, elevation and subsidence regulating device 4 respectively along stroll device 3 horizontal in
Mandrel line is arranged symmetrically with, and elevation and subsidence regulating device 4 bottom is connected with mobile device 2, and main body massage machine 5 is fixed on rising-falling tone
Directly over regulating device 4, part massage device 6 is respectively symmetrically the left and right sides being positioned at main body massage machine 5, and part massage device
6 are connected with elevation and subsidence regulating device 4.
As in figure 2 it is shown, described walking basal seat 1 includes travelling platform 11, walking ear mount 12, walking rotating shaft 13 and road wheel
14；Described walking ear mount 12 lays respectively at four drift angles of travelling platform 11 bottom face, and walking ear mount 12 is flat with walking
Platform 11 is connected, and road wheel 14 is arranged in walking ear mount 12 by walking rotating shaft 13；Walking basal seat 1 is mainly used in the shifting of the present invention
Dynamic walking.
As in figure 2 it is shown, described mobile device 2 includes cross slide way 21, transverse slider 22, longitudinal rail 23 and longitudinally slides
Block 24, and the quantity of cross slide way 21, transverse slider 22 and longitudinal sliding block 24 is two；Described cross slide way 21 is along the walking end
The central transverse axis of seat 1 is respectively symmetrically the left and right sides being positioned at walking basal seat 1, and transverse slider 22 is arranged on cross slide way 21
On, longitudinal rail 23 two ends are separately fixed on transverse slider 22 upper surface, and longitudinal rail 23 and the two ends of cross slide way 21
Being provided with moving stop respectively, longitudinal sliding block 24 is arranged on longitudinal rail 23；By cross slide way 21 and transverse slider 22
Can realize the overall transverse shifting of the present invention, the entirety that can be realized the present invention by longitudinal rail 23 and longitudinal sliding block 24 is indulged
To movement, thus mobile device 2 can carry out the motion of left and right and two-freedom front and back in same level, improves this
Mass motion motility in open fire plane.
As in figure 2 it is shown, described device 3 of strolling includes drive mechanism 31, forward direction transfer roller 32, backward transfer roller 33 and strolls defeated
Send band 34；Described drive mechanism 31 quantity is four, before and after forward direction transfer roller 32 and backward transfer roller 33 lay respectively at walking basal seat 1
Both sides, and forward direction transfer roller 32 two ends and backward transfer roller 33 two ends are fixedly connected by drive mechanism 31 respectively, stroll defeated
Send band 34 two ends rotating around being enclosed within forward direction transfer roller 32 and backward transfer roller 33, and stroll and be evenly arranged with on conveyer belt 34 outer surface
Semicolumn tread plate；Described drive mechanism 31 includes driving motor 311, driving arm 312, drive shaft 313 and spring bearing
314, described driving motor 311 is fixed on walking basal seat 1 outboard end by driving arm 312, and driving motor 311 is adjustable speed
Motor, drive shaft 313 one end is connected with driving motor 311 main shaft, and drive shaft 313 other end passes spring bearing 314
Front end, and spring bearing 314 is in key shape structure, spring bearing 314 rear end is fixed in walking basal seat 1；By driving motor
The rotation rotating drive drive shaft 313 of 311, thus drive the synchronization rotating in same direction of forward direction transfer roller 32 and backward transfer roller 33, enter
And achieve the hoop motion strolling conveyer belt 34, and stroll device 3 and can realize forward direction transfer roller 32 by four drive mechanisms 31
With the most synchronized rotation of synchronization of backward transfer roller 33, driving force is strong, and stable drive is strolled device 3 and can be realized human body in the above
Walking, serve human body take exercise effect.
As shown in Fig. 3, Fig. 4 and Fig. 5, described elevation and subsidence regulating device 4 includes fixed disk 41, lifting disk 42, lifting electric
Push rod 43, lifting lead 44, regulation rotating shaft 45 and fixed mount 46；Described lifting disk 42 is positioned at directly over fixed disk 41, rises
Fall electric pushrod 43 is between fixed disk 41 and lifting disk 42, and lifting electric push rod 43 bottom is connected with fixed disk 41,
Lifting electric push rod 43 top is connected with lifting disk 42, and lifting lead 44 quantity is four, and lifting lead 44 uses two grades
Stretching structure, lifting lead 44 is respectively symmetrically layout along the central axis of lifting electric push rod 43, and regulation rotating shaft 45 is through rising
Dropping the upper end of electric pushrod 43, and regulation rotating shaft 45 two ends are fixedly connected by fixed mount 46 respectively, fixed mount 46 is in " X "
Type structure, and four legs of fixed mount 46 be separately fixed at lifting lead 44 on, be provided with at fixed mount 46 medium position
The lifting bearing matched with regulation rotating shaft 45；Elevation and subsidence regulating device 4 is mainly used in present invention whole height on the vertical plane
Regulation, and easy to adjust, guide, regulation rotating shaft 45 simultaneously can drive part massage device 6 rotation on the vertical plane, enters
And regulate the setting angle of part massage device 6.
As shown in Figures 6 to 9, described main body massage machine 5 includes Stewart parallel institution 51, massage outer housing 52, passes
Dynamic ball 53, back-up ring 54 and air-supply arrangement 55；Described massage outer housing 52 is positioned at directly over Stewart parallel institution 51, and presses
The outer housing 52 that rubs is hemispherical shell structure, and massage outer housing 52 material is PP engineering plastics, on massage outer housing 52 outer surface the most all
Even being provided with vibrating massaging head and air-permeating hole, vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical
Structure, vibrating massaging head outer surface is flexible rubber material, and back-up ring 54 is positioned at outside massage outer housing 52, and back-up ring 54 with
Stewart parallel institution 51 fixes, and transmitting balls 53 is uniformly arranged between back-up ring 54 and massage outer housing 52, outside massaging
The cooperation of cover 52, transmitting balls 53 and back-up ring 54 can realize massaging the function of outer housing 52 rotary motion in the horizontal plane, air-supply dress
Put 55 and be positioned at massage outer housing 52 inside；Described Stewart parallel institution 51 includes fixed platform 511, moving platform 512, connects seat
513, upper spherical hinge 514, electric pushrod 515, block plate seat 516, lower spherical hinge 517, Triangulum 518 and limit spring 519；Described
Connection seat 513 and Triangulum 518 quantity be three, upper spherical hinge 514, electric pushrod 515, block plate seat 516 and lower spherical hinge 517
Quantity be six, described fixed platform 511 and moving platform 512 the most rounded shape structure, and fixed platform 511 lower end is provided with peace
Dress external screw thread, connects seat 513 and is arranged on the lower surface of fixed platform 511, and connects seat 513 on fixed platform 511 in positive triangle
Shaped position is arranged, Triangulum 518 is arranged on moving platform 812 upper surface, and connects the installation between seat 513 and Triangulum 518
Position interlocks two-by-two, and Triangulum 518 is in equilateral triangle column structure, and Triangulum 518 is respectively symmetrically along its vertical center line and sets
It is equipped with inclined plane, inclined plane offers the installation screwed hole matched with lower spherical hinge 517 lower end external screw thread, electric pushrod
515 bottoms are connected with being connected seat 513 by upper spherical hinge 514, and electric pushrod 515 top is connected with block plate seat 516 upper end,
Block plate seat 516 lower end is connected with lower spherical hinge 517 one end, and lower spherical hinge 517 other end is arranged on Triangulum 518, spacing
Spring 519 is around being enclosed within electric pushrod 515, and limit spring 519 one end is connected with electric pushrod 515, and limit spring 519 is another
One end is connected with block plate seat 516；By the stretching motion up and down of electric pushrod 515, thus drive the most past of moving platform 512
Multiple motion, and the jitter of moving platform 512 is added by limit spring 519, improve the massage effect of the present invention, main body is pressed
The device 5 that rubs uses the Stewart parallel institution 51 of 6-SPS, and big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong
And fine motion precision is high, main body massage machine 5 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and
Space is little, movement velocity is fast, kinematic dexterity is good, and main body massage machine 5 is positioned at the center position of the present invention, uses
Time, main body massage machine 5 contacts in the middle part of human body oxter, has not only acted as main load-bearing effect, has taken full advantage of 6-SPS's
The feature that Stewart parallel institution 51 weight capacity is strong, and big with human body oxter contact area, and massage effect is good.Described
Air-supply arrangement 55 includes air supply motor 551, motor cabinet 552, air-supply rotating shaft 553, blowing fan 554 and locking cap 555, air supply motor
551 are fixed on moving platform 512 upper surface by motor cabinet 552, and air-supply rotating shaft 553 one end is connected with air supply motor 551 main shaft
Connecing, air-supply rotating shaft 553 other end is connected with blowing fan 554, and passes through locking cap between blowing fan 554 and air-supply rotating shaft 553
555 are fixed；Air-supply arrangement 55 can be that the present invention produces wind regime, and the wind-force that air-supply arrangement 55 produces is by massage outer housing 52
Air-permeating hole on outer surface is discharged so that axillary fossa can be blown while massaging human body oxter by the present invention, serves
Drive the effect of antiperspirant, also make to massage more comfortable cooling off oneself simultaneously.
As shown in Figure 10, described part massage device 6 includes support 61, fixing axle 62, part massage 63, support shaft
64, retainer ring 65, vibrating motor 66 and vibrating spring 67, and support 61 quantity is two；Described support 61 lower end is scalable
The strip structure of formula, support 61 upper end is forme fruste umbrella-shaped structure, and support 61 is respectively symmetrically and is arranged in part massage 63
Being attached by fixing axle 62 between both sides, and part massage 63 and support 61 upper end, part massage 63 is in not exclusively
Ring-shaped structure, part massage 63 outer surface has massaging strip, support shaft 64 to be positioned at office along its circumferential direction spaced set
Immediately below portion's massage head 63, and support shaft 64 two ends are connected with support 61 medial wall respectively, and vibrating motor 66 is positioned at support shaft
Directly over 64, and vibrating motor 66 is uniformly linearly arranged along support shaft 64 axial direction, and vibrating motor 66 lower end is by fixing
Ring 65 is arranged in support shaft 64, and vibrating motor 66 upper end is connected with vibrating spring 67 one end, vibrating spring 67 other end with
Part massage 63 medial wall is connected；By the shake of the vibration drive vibrating spring 67 of vibrating motor 66, thus realization office
The vibration of portion's massage head 63, serves the effect of vibromassage, part massage device 6 be mainly used in both sides, human body oxter by
Rub.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (5)
1. a human body oxter massage intelligent robot, it is characterised in that: include walking basal seat, mobile device, stroll dress
Put, elevation and subsidence regulating device, main body massage machine and local massage machine, and elevation and subsidence regulating device and the quantity of main body massage machine
Being two, the quantity of part massage device is four；Described mobile device is in walking basal seat and strolls between device, and mobile
Device is connected with walking basal seat, and elevation and subsidence regulating device is arranged symmetrically with along the central transverse axis strolling device respectively, and rising-falling tone
Regulating device bottom is connected with mobile device, and main body massage machine is fixed on directly over elevation and subsidence regulating device, part massage device
It is respectively symmetrically the left and right sides being positioned at main body massage machine, and part massage device is connected with elevation and subsidence regulating device；Wherein:
Described walking basal seat includes travelling platform, walking ear mount, walking rotating shaft and road wheel；Described walking ear mount position respectively
At four drift angles of travelling platform bottom face, and walking ear mount is connected with travelling platform, and road wheel is installed by walking rotating shaft
In walking ear mount；
Described main body massage machine includes Stewart parallel institution, massage outer housing, transmitting balls, back-up ring and air-supply arrangement；Institute
The massage outer housing stated is positioned at directly over Stewart parallel institution, and massage outer housing is hemispherical shell structure, massages outer housing material
For PP engineering plastics, massaging and be evenly arranged with vibrating massaging head and air-permeating hole on outer cover outer surface respectively, vibrating massaging head is with saturating
Air holes interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure, and vibrating massaging head outer surface is flexible rubber material, back-up ring position
Outside massage outer housing, and back-up ring fixes with Stewart parallel institution, and transmitting balls is uniformly arranged on back-up ring and massage outer housing
Between, air-supply arrangement is positioned at inside massage outer housing；Described Stewart parallel institution include fixed platform, moving platform, connection seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, and fixed platform lower end is provided with installation external screw thread, connects seat and is arranged on the lower surface of fixed platform, and connect seat and exist
In equilateral triangle location arrangements on fixed platform, Triangulum is arranged on moving platform upper surface, and connects between seat and Triangulum
Installation site is interlocked two-by-two, and Triangulum is equilateral triangle column structure, and Triangulum is respectively symmetrically setting along its vertical center line
Having inclined plane, inclined plane offers the installation screwed hole matched with lower spherical hinge lower end external screw thread, electric pushrod bottom leads to
Crossing spherical hinge and be connected with being connected seat, electric pushrod top is connected with block plate seat upper end, block plate seat lower end and lower spherical hinge
One end is connected, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one
End is connected with electric pushrod, and the limit spring other end is connected with block plate seat；
Described part massage device includes support, fixing axle, part massage head, support shaft, retainer ring, vibrating motor and vibration
Spring, and number of holders is two；Described pedestal lower end is the strip structure of extension type, and pedestal upper end is forme fruste umbrella
Shape structure, support is respectively symmetrically and is arranged in part massage head both sides, and by fixing axle between part massage head and pedestal upper end
Being attached, part massage head is incomplete ring-shaped structure, and part massage head outer surface equidistantly sets along its circumferential direction
Being equipped with massaging strip, support shaft is positioned at immediately below part massage head, and support shaft two ends are connected with support medial wall respectively, vibration
Motor is positioned at directly over support shaft, and vibrating motor is uniformly linearly arranged along support shaft axial direction, and vibrating motor lower end leads to
Crossing retainer ring to be arranged in support shaft, vibrating motor upper end is connected with vibrating spring one end, the vibrating spring other end and local
Massage head medial wall is connected.
A kind of human body oxter the most according to claim 1 massage intelligent robot, it is characterised in that: described movement
Device includes cross slide way, transverse slider, longitudinal rail and longitudinal sliding block, and cross slide way, transverse slider and longitudinal sliding block
Quantity is two；Described cross slide way is respectively symmetrically the left and right two being positioned at walking basal seat along the central transverse axis of walking basal seat
Side, transverse slider is arranged on cross slide way, and longitudinal rail two ends are separately fixed on transverse slider upper surface, and longitudinal rail
Being provided with moving stop respectively with the two ends of cross slide way, longitudinal sliding block is arranged on longitudinal rail.
A kind of human body oxter the most according to claim 1 massage intelligent robot, it is characterised in that: described strolls
Device includes drive mechanism, forward direction transfer roller, backward transfer roller and strolls conveyer belt；Described drive mechanism quantity is four, and forward direction turns
Roller and backward transfer roller lay respectively at both sides before and after walking basal seat, and forward direction transfer roller two ends and backward transfer roller two ends are passed through respectively
Drive mechanism is fixedly connected, and strolls conveyer belt two ends rotating around being enclosed within forward direction transfer roller and backward transfer roller, and strolls conveying
Semicolumn tread plate it is evenly arranged with on band outer surface；Described drive mechanism include drive motor, driving arm, drive shaft and
Spring bearing, described driving motor is fixed on walking basal seat outboard end by driving arm, and driving motor is adjustable speed stepping
Motor, drive shaft one end with drive electric machine main shaft be connected, the drive shaft other end pass spring bearing front end, and spring bearing in
Key shape structure, spring bearing rear end is fixed in walking basal seat.
A kind of human body oxter the most according to claim 1 massage intelligent robot, it is characterised in that: described lifting
Adjusting means includes fixed disk, lifting disk, lifting electric push rod, lifting lead, regulation rotating shaft and fixed mount；Described lifting
Dish is positioned at directly over fixed disk, and lifting electric push rod is between fixed disk and lifting disk, and lifting electric push rod bottom is with solid
Price fixing is connected, and lifting electric push rod top is connected with lifting disk, and lifting lead quantity is four, and lifting lead uses two
Level stretching structure, lifting lead is respectively symmetrically layout along the central axis of lifting electric push rod, and regulation rotating shaft is through lifting electricity
Moving the upper end of push rod, and regulation rotating shaft two ends are fixedly connected by fixed mount respectively, fixed mount is in " X " type structure and solid
Four legs determining frame are separately fixed on lifting lead, be provided with and regulate what rotating shaft matched at fixed mount medium position
Lifting bearing.
A kind of human body oxter the most according to claim 1 massage intelligent robot, it is characterised in that: described air-supply
Device includes air supply motor, motor cabinet, air-supply rotating shaft, blowing fan and locking cap, and air supply motor is fixed on dynamic flat by motor cabinet
On platform upper surface, air-supply rotating shaft one end is connected with air supply motor main shaft, and the air-supply rotating shaft other end is connected with blowing fan, and send
It is fixed by locking cap between fan and air-supply rotating shaft.
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| CN201610329527.8A CN106038217B (en) | 2016-05-18 | 2016-05-18 | A kind of human body oxter massage intelligent robot |
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| CN201610329527.8A CN106038217B (en) | 2016-05-18 | 2016-05-18 | A kind of human body oxter massage intelligent robot |
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| CN106038217A true CN106038217A (en) | 2016-10-26 |
| CN106038217B CN106038217B (en) | 2018-03-09 |
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| CN106618999A (en) * | 2017-02-13 | 2017-05-10 | 海宁海派家具有限公司 | Anion-generated massaging sofa |
| CN106619000A (en) * | 2017-02-13 | 2017-05-10 | 海宁海派家具有限公司 | Sofa with massaging and hypnotizing functions |
| CN112890916A (en) * | 2021-01-16 | 2021-06-04 | 黄启武 | Ultrasonic vibration type blood vessel dredging device for nephrology department |
| CN117815063A (en) * | 2024-03-04 | 2024-04-05 | 山东盈诊堂医药科技有限公司 | Angina pectoris relieving treatment device |
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| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN203988912U (en) * | 2014-07-24 | 2014-12-10 | 邵杰 | A kind of Medical nursing device |
| CN104873371A (en) * | 2014-06-20 | 2015-09-02 | 中国人民解放军第二军医大学 | Angle scar expand-massager |
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| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104873371A (en) * | 2014-06-20 | 2015-09-02 | 中国人民解放军第二军医大学 | Angle scar expand-massager |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112890916A (en) * | 2021-01-16 | 2021-06-04 | 黄启武 | Ultrasonic vibration type blood vessel dredging device for nephrology department |
| CN117815063A (en) * | 2024-03-04 | 2024-04-05 | 山东盈诊堂医药科技有限公司 | Angina pectoris relieving treatment device |
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| Publication number | Publication date |
|---|---|
| CN106038217B (en) | 2018-03-09 |
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Effective date of registration: 20180202 Address after: 515000 Guangdong city of Shantou province Chang Ping Road No. 57 Applicant after: The First Affiliated Hospital of Shantou University Medical College Address before: 246001, Anhui, Anqing Province grand view district built new village cottage 47 Applicant before: Yu Tianle |
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