CN108771613B - Robot massage robot hand of orthopedics - Google Patents
Robot massage robot hand of orthopedics Download PDFInfo
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- CN108771613B CN108771613B CN201810723422.XA CN201810723422A CN108771613B CN 108771613 B CN108771613 B CN 108771613B CN 201810723422 A CN201810723422 A CN 201810723422A CN 108771613 B CN108771613 B CN 108771613B
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- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000010438 heat treatment Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 2
- 210000003205 muscle Anatomy 0.000 abstract description 4
- 230000017531 blood circulation Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 208000008035 Back Pain Diseases 0.000 description 1
- 208000000112 Myalgia Diseases 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 208000019804 backache Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/02—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains adapted for simultaneous treatment with light, heat or drugs
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- 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
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- 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
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
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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)
- Dermatology (AREA)
- Engineering & Computer Science (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses an orthopedic robot massage robot hand which comprises a robot hand and a motor, wherein the robot hand is connected with a massage robot body through a rocker arm and is of a cavity structure, the motor is fixedly connected to the front side wall of an inner cavity of the robot hand, and through the combination of a rotary disc, a first straight gear and a massage roller, patients are massaged in multiple modes, muscles are stimulated in different modes, the massage effect of a massage device is effectively improved, the different massage modes act together, the massage efficiency is effectively improved, the massage range is expanded, and the workload of medical staff is reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an orthopedic robot massage robot hand.
Background
The massage can promote blood circulation effectively, slow down muscle ache, can effectively reduce some patients not, especially to orthopedic patient, most orthopedic patient all need bed rest after the operation to be supported statically, in order to avoid lying for a long time and lead to waist back ache, need medical personnel to massage for patient, with promotion patient's blood circulation, accelerate the recovery, the consuming time power of manual massage, massage for a long time can not be long-time, but current machine massage, the massage mode of massage machine hand is single, the massage dynamics is less, be difficult to carry out thorough massage to the back, consequently, need the massage machine hand of a multimode.
Disclosure of Invention
The invention aims to provide an orthopedic robot massage robot hand to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a robot massage robot hand for orthopedics department comprises a robot hand and a motor, wherein the robot hand is connected with a massage robot body through a rocker arm, the robot hand is of a cavity structure, the motor is fixedly connected to the front side wall of an inner cavity of the robot hand, the output end of the motor is fixedly connected with a second rotating shaft, the inner wall of the robot hand is rotatably connected with a first rotating shaft, rotating wheels are fixedly sleeved on the second rotating shaft and the first rotating shaft and are connected with each other through a belt, rotating discs are fixedly sleeved on the second rotating shaft and the first rotating shaft, a plurality of first single-sided racks are fixedly connected to the side wall of each rotating disc, a second single-sided rack meshed with the first single-sided racks is arranged on the side edge of the second rotating shaft, double-sided racks meshed with the first single-sided racks are arranged on the side edge of the first rotating shaft, a third straight gear rotatably connected to the rear side wall of the inner cavity of the robot hand is meshed with the second, the side walls of the second single-sided rack and the double-sided rack are both connected to a first sliding groove formed in the front side wall of the inner cavity of the manipulator in a sliding mode, the top ends of the second single-sided rack and the double-sided rack are both connected with the inner top wall of the manipulator through first springs, the bottom ends of the second single-sided rack and the double-sided rack are both fixedly connected with a pressing plate, first openings are formed in the side walls of the two sides of the manipulator, the side walls of the first openings are both rotatably connected with massage hammers, the massage hammer on the left side is meshed with a third straight gear, and the massage hammer on the right side is meshed with the first single-sided rack on the right turntable;
the second rotating shaft and the first rotating shaft are fixedly sleeved with a first bevel gear, the inner bottom wall and the inner side wall of the robot hand are fixedly connected with a plurality of symmetrically arranged fixed sleeves, the fixed sleeves close to the front side wall of the inner cavity of the robot hand are rotatably penetrated with a third rotating shaft, the other fixed sleeves are rotatably penetrated with a fourth rotating shaft, the top end of the third rotating shaft is fixedly sleeved with a second bevel gear meshed with the first bevel gear, the lower parts of the third rotating shaft and the fourth rotating shaft are fixedly sleeved with a second straight gear, the second straight gear is mutually meshed, the adjacent second straight gear is mutually meshed, the bottom ends of the third rotating shaft and the fourth rotating shaft are movably sleeved with a shaft sleeve, the lower parts of the side walls of the third rotating shaft and the fourth rotating shaft are respectively provided with two symmetrically arranged second chutes, the inner side wall of the shaft sleeve is fixedly connected with two symmetrically arranged slide blocks, and the slide blocks are slidably connected on the second chutes, the bottom activity of axle sleeve runs through the diapire of manipulator and fixedly connected with second massage head, the bushing plate has all been fixed the cover on the top of axle sleeve, the bottom contact of bushing plate have with manipulator bottom wall fixed connection's second spring, motor, switch and external power all constitute a series circuit through the wire.
Preferably, the massage is beaten including first spur gear, drum and first massage head, the fixed grafting in center of drum has the fifth pivot of rotating the connection on first opening lateral wall, the fixed first spur gear that has cup jointed in middle part of drum, the first spur gear in left side meshes with the third spur gear mutually, and the first single face rack on the first spur gear in right side and the right side carousel meshes mutually, the drum is located the one end of a plurality of connecting rods of fixedly connected with on the outside lateral wall of manipulator, the first massage head of other end fixedly connected with of connecting rod, right side the lateral wall of connecting rod all is connected with the lateral wall of manipulator through the fourth spring.
Preferably, two the quotation edge of carousel rotates the one end that is connected with the rocker, the other end of rocker all rotates and is connected with telescopic lateral wall, the equal sliding connection in telescopic top is on the third spout that the roof was seted up in the manipulator, the sleeve internalization is pegged graft and is had the ejector pin, the top of ejector pin is connected with telescopic interior roof through the third spring, the bottom fixedly connected with fixed plate of ejector pin, the second opening has been seted up on the interior diapire of manipulator, the bottom activity of fixed plate runs through the second opening, and rotates on the lateral wall of fixed plate to be connected with the massage and rolls.
Preferably, the width of the first opening is smaller than the width of the robot arm by 2-3cm, the width of the cylinder is smaller than the width of the first opening by 2cm, the number of the connecting rods is not less than six, and the connecting rods are distributed on the cylinder at equal intervals.
Preferably, the massage roller includes roller core, heating jacket and massage piece, the roller core rotates to be connected on the lateral wall of fixed plate, the fixed heating jacket that has cup jointed on the roller core, a plurality of massage pieces of fixedly connected with on the lateral wall of heating jacket, the inside fixedly connected with heating wire of heating jacket.
Preferably, the first massage head, the second massage head and the massage block are all made of rubber.
Preferably, the number of the fourth rotating shafts is three, and the height of the fourth rotating shafts is lower than the lowest point of the rotating disc.
Preferably, the number of the first single-sided racks is four, the first single-sided racks are distributed on the side wall of the rotary table at equal intervals, and the angle between the two ends of each first single-sided rack and the circle center of the rotary table is 60-75 degrees.
Compared with the prior art, the invention has the beneficial effects that:
1. through the combination of the rotary disc, the first straight gear and the massage roller, the massage of patients in various modes is realized, different modes of stimulation is carried out on muscles, and the massage effect of the massage device is effectively improved.
2. The second massage head rotates and intermittently moves downwards at the same time, so that muscles are effectively kneaded and pressed, and the connecting rod drives the first massage head to intermittently rotate to knock the back and to knock and relax the back.
3. The massage roller can roll and heat the massage block at the same time, so that the blood circulation can be better stimulated.
4. Through the combination of sleeve and third spring, adapt to different muscle distributions, avoid rolling pressure too big.
The hand of the machine integrates the different massage modes into a whole to act together, effectively improves the massage efficiency, enlarges the massage range and lightens the workload of medical care personnel.
Drawings
Fig. 1 is an external view of a massage robot in the prior art;
fig. 2 is a schematic structural diagram of an orthopedic robot massage robot hand according to the present invention;
FIG. 3 is an enlarged view of portion A;
FIG. 4 is a sectional view taken along line B-B;
fig. 5 is a side view of the massage roller.
In the figure: the massage machine comprises a manipulator 1, a motor 2, a first rotating shaft 3, a second rotating shaft 4, a double-sided rack 5, a rotating wheel 6, a belt 7, a rotating disc 8, a first single-sided rack 9, a rocker 10, a first bevel gear 11, a second bevel gear 12, a sleeve 13, a first straight gear 14, a connecting rod 15, a first massage head 16, a cylinder 17, a mandril 18, a massage roller 19, a fixing plate 20, a pressing plate 21, a third rotating shaft 22, a second single-sided rack 23, a fixing sleeve 24, a second straight gear 25, a sleeve plate 26, a shaft sleeve 27, a second massage head 28 and a third straight gear 29.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a robot massage robot hand for orthopedics department comprises a robot hand 1 and a motor 2, wherein the robot hand 1 is connected with a massage robot body through a rocker arm, the robot hand 1 is of a cavity structure, the motor 2 is fixedly connected to the front side wall of an inner cavity of the robot hand 1, the motor 2 adopts a Y model Y-160M 1-2,11KW and 3000r/min, the output end of the motor 2 is fixedly connected with a second rotating shaft 4, the inner wall of the robot hand 1 is rotatably connected with a first rotating shaft 3, rotating wheels 6 are fixedly sleeved on the second rotating shaft 4 and the first rotating shaft 3, the two rotating wheels 6 are connected through a belt 7, a rotating disc 8 is fixedly sleeved on the second rotating shaft 4 and the first rotating shaft 3, a plurality of first single-face racks 9 are fixedly connected to the side wall of the rotating disc 8, the number of the first single-face racks 9 is four, the first single-face racks are equidistantly distributed on the side wall of the rotating disc 8, the angle between the two ends of the first single-face, the first massage head 16 and the second massage head 28 can move intermittently and the massage force is moderate, the side edge of the second rotating shaft 4 is provided with a second single-sided rack 23 meshed with the first single-sided rack 9, the side edge of the first rotating shaft 3 is provided with a double-sided rack 5 meshed with the first single-sided rack 9, the other side of the double-sided rack 5 is meshed with a third straight gear 29 rotatably connected to the rear side wall of the inner cavity of the manipulator 1, the side walls of the second single-sided rack 23 and the double-sided rack 5 are slidably connected to a first chute arranged on the front side wall of the inner cavity of the manipulator 1, the top ends of the second single-sided rack 23 and the double-sided rack 5 are connected with the inner top wall of the manipulator 1 through a first spring, the bottom ends of the second single-sided rack 23 and the double-sided rack 5 are fixedly connected with a pressing plate 21, the side walls on both sides of the manipulator 1 are provided with first openings, the side walls, the massage hammer has the effect of massaging the human body.
The massage hammer comprises a first straight gear 14, a cylinder 17 and a first massage head 16, a fifth rotating shaft which is rotatably connected to the side wall of a first opening is fixedly inserted in the center of the cylinder 17, the first straight gear 14 is fixedly sleeved in the middle of the cylinder 17, the first straight gear 14 on the left side is meshed with a third straight gear 29, the first straight gear 14 on the right side is meshed with a first single-sided rack 9 on a right turntable 8, one end of a plurality of connecting rods 15 are fixedly connected to the side wall of the cylinder 17 which is positioned outside the manipulator 1, the other end of each connecting rod 15 is fixedly connected with the first massage head 16, the side wall of each connecting rod 15 on the right side is connected with the side wall of the manipulator 1 through a fourth spring, the massage efficiency is effectively improved through up-down knocking of the massage hammer, the width of the first opening is 2-3cm smaller than that of the manipulator 1, the width of the cylinder 17 is 2cm smaller than that of, and the massage hammer is distributed on the cylinder 17 at equal intervals, so that the massage hammer can completely knock the back within the range covered by the manipulator 1. The second rotating shaft 4 and the first rotating shaft 3 are fixedly sleeved with a first bevel gear 11, the inner bottom wall and the inner side wall of the manipulator 1 are fixedly connected with a plurality of symmetrically arranged fixing sleeves 24, the fixing sleeve 24 close to the front side wall of the inner cavity of the manipulator 1 is rotatably penetrated with a third rotating shaft 22, the other fixing sleeves 24 are rotatably penetrated with a fourth rotating shaft, the number of the fourth rotating shafts is three, the height of the fourth rotating shaft is lower than the lowest point of the turntable 8, the total width of the second massage head 28 is ensured to be the same as that of the manipulator 1, the massage area is enlarged, the top end of the third rotating shaft 22 is fixedly sleeved with a second bevel gear 12 meshed with the first bevel gear 11, the lower parts of the third rotating shaft 22 and the fourth rotating shaft are fixedly sleeved with a second straight gear 25, the adjacent second straight gears 25 are mutually meshed, the bottom ends of the third rotating shaft 22 and the fourth rotating shaft are movably sleeved with a shaft sleeve 27, the lower parts of the side walls of the third rotating shaft 22 and the fourth rotating shaft are respectively provided, the slider that two symmetries of fixedly connected with set up on the inside wall of axle sleeve 27, slider sliding connection are on the second spout, and the diapire and the fixedly connected with second massage head 28 of robot 1 are run through in the bottom activity of axle sleeve 27, and the lagging 26 has all been fixed to have cup jointed on the top of axle sleeve 27, and the bottom contact of lagging 26 has the second spring with the bottom wall fixed connection in the robot 1.
The edge of the disk surface of the two rotary disks 8 is rotatably connected with one end of a rocker 10, the other end of the rocker 10 is rotatably connected with the side wall of a sleeve 13, the top end of the sleeve 13 is slidably connected with a third chute formed on the inner top wall of the manipulator 1, a mandril 18 is movably inserted in the sleeve 13, the top end of the mandril 18 is connected with the inner top wall of the sleeve 13 through a third spring, the bottom end of the mandril 18 is fixedly connected with a fixed plate 20, the inner bottom wall of the manipulator 1 is provided with a second opening, the bottom end of the fixed plate 20 movably penetrates through the second opening, a massage roller 19 is rotatably connected on the side wall of the fixed plate 20, the massage roller 19 comprises a roller core, a heating sleeve and massage blocks, the roller core is rotatably connected on the side wall of the fixed plate 20, the heating sleeve is fixedly connected on the roller core, a plurality of massage blocks are, the massage range is enlarged through the reciprocating rolling of the massage roller, the comprehensiveness of the massage is ensured, the first massage head 16, the second massage head 28 and the massage blocks are made of rubber materials, the pain caused by overlarge pressure is effectively avoided, and the motor 2, the electric heating wire power switch and an external power supply form a series circuit through wires.
The motor 2 is started, the first rotating shaft 3 rotates to drive the second rotating shaft 4 to rotate through the rotating wheel 6 and the belt 7, so that the rotating discs 8 on two sides rotate clockwise, the first bevel gear 11 is meshed with the second bevel gear 12 to rotate to drive the third rotating shaft 22 to rotate, the second straight gear 25 on the third rotating shaft 22 is meshed with the second straight gear 25 on the fourth rotating shaft to rotate, so that the shaft sleeve 27 and the second massage head 28 rotate to rub the back, the first single-sided rack 9 on the left rotating disc 8 is meshed with the double-sided rack 5 to move downwards, the first single-sided rack 9 on the right rotating disc 8 is meshed with the second single-sided rack 23 to move downwards, the pressing plates 21 on two sides are synchronously driven to downwards press the shaft sleeve 27 to expand the massage force of the second massage head 28, the double-sided rack 5 moves downwards to drive the third straight gear 29 to rotate in the opposite direction to the rotating disc 8 on the right side, and, the first massage head 16 is driven to move downwards to beat the back, when the first single-sided rack 9 at the two sides is separated from the second single-sided rack 23 and the double-sided rack 5, when the first spring pulls the double-sided rack 5 and the second single-sided rack 23 to move upwards, the second spring pushes the shaft sleeve 27 to move upwards, so that the second massage head 28 is separated from the back, the connecting rod 15 on the right side moves upwards under the action of the reverse rotation of the third straight gear 29, the first single-sided rack 9 on the right side is separated from the first straight gear 14 on the right side, the fourth spring will push the right connecting rod 15 to rotate upwards, so that the first massage heads 16 on both sides are away from the back synchronously, when the rotating disc 8 rotates, the pulling sleeve 13 moves left and right, so that the massage roller 19 rolls back and forth on the back, the heating sleeve can heat the massage blocks, the massage effect is better improved, and the whole back is comprehensively massaged by moving the massage robot body.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an orthopedics robot massage machine hand, includes machine hand (1) and motor (2), its characterized in that: the massage robot is characterized in that the robot hand (1) is connected with the massage robot body through a rocker arm, the robot hand (1) is of a cavity structure, a motor (2) is fixedly connected onto the front side wall of an inner cavity of the robot hand (1), a second rotating shaft (4) is fixedly connected with an output end of the motor (2), a first rotating shaft (3) is rotatably connected onto the inner wall of the robot hand (1), rotating wheels (6) are fixedly sleeved on the second rotating shaft (4) and the first rotating shaft (3) respectively, the rotating wheels (6) are connected through a belt (7), a rotating disc (8) is fixedly sleeved on the second rotating shaft (4) and the first rotating shaft (3) respectively, a plurality of first single-face racks (9) are fixedly connected onto the side wall of the rotating disc (8), a second single-face rack (23) meshed with the first single-face racks (9) is arranged on the side edge of the second rotating shaft (4), the side edge of the first rotating shaft (3) is provided with a double-sided rack (5) meshed with the first single-sided rack (9), the other side of the double-sided rack (5) is meshed with a third straight gear (29) rotatably connected to the rear side wall of the inner cavity of the manipulator (1), the side walls of the second single-sided rack (23) and the double-sided rack (5) are both slidably connected to a first chute formed in the front side wall of the inner cavity of the manipulator (1), the top ends of the second single-sided rack (23) and the double-sided rack (5) are both connected with the inner top wall of the manipulator (1) through a first spring, the bottom ends of the second single-sided rack (23) and the double-sided rack (5) are both fixedly connected with a pressing plate (21), the side walls of both sides of the manipulator (1) are both provided with first openings, the side wall of the first opening is both rotatably connected with a massage hammer, and the left side of the massage hammer is meshed with the third straight gear, the massage hammer on the right side is meshed with a first single-sided rack (9) on the right rotary disc (8);
first bevel gear (11) is fixedly sleeved on the second rotating shaft (4) and the first rotating shaft (3), a fixed sleeve (24) which is fixedly connected with a plurality of symmetrical devices is arranged on the inner bottom wall and the inner side wall of the manipulator (1), the inner side wall of the manipulator (1) is close to the inner cavity of the manipulator (1), a third rotating shaft (22) is arranged on the fixed sleeve (24) in a rotating mode and penetrates through the fixed sleeve, a fourth rotating shaft is arranged on the fixed sleeve (24) in a rotating mode, a second bevel gear (12) meshed with the first bevel gear (11) is fixedly sleeved on the top end of the third rotating shaft (22), a second straight gear (25) is fixedly sleeved on the lower portion of the third rotating shaft (22) and the lower portion of the fourth rotating shaft, the second straight gear (25) is adjacent to the second straight gear (25) in an mutually meshed mode, a shaft sleeve (27) is movably sleeved on the bottom end of the third rotating shaft (22) and the fourth rotating shaft, second chutes which are symmetrically arranged are arranged on the lower, the utility model discloses a mechanical hand massage device, including axle sleeve (27), motor (2), switch and external power source, the slider that two symmetries of fixedly connected with set up on the inside wall of axle sleeve (27), slider sliding connection is on the second spout, the diapire and the fixedly connected with second massage head (28) of robot (1) are run through in the bottom activity of axle sleeve (27), bushing (26) have all been fixed to have cup jointed lagging on the top of axle sleeve (27), the bottom contact of bushing (26) have with robot (1) inner diapire fixed connection's second spring, a series circuit is all constituteed through the wire to motor (2), switch and external power source.
2. The robot massage robot hand for orthopedics department of claim 1, characterized in that: the massage hammer comprises a first straight gear (14), a cylinder (17) and a first massage head (16), a fifth rotating shaft which is rotatably connected to the side wall of a first opening is fixedly inserted in the center of the cylinder (17), the middle of the cylinder (17) is fixedly sleeved with the first straight gear (14), the first straight gear (14) on the left side is meshed with a third straight gear (29), the first straight gear (14) on the right side is meshed with a first single-face rack (9) on a right-side turntable (8), the cylinder (17) is located at one end of the outer side wall of the manipulator (1) and is fixedly connected with a plurality of connecting rods (15), the first massage head (16) on the other end of the connecting rod (15) is fixedly connected with the right side, and the side wall of the connecting rod (15) is connected with the side wall of the manipulator (1) through a fourth spring.
3. The robot massage robot hand for orthopedics department of claim 1, characterized in that: two the quotation edge of carousel (8) rotates the one end that is connected with rocker (10), the other end of rocker (10) all rotates the lateral wall that is connected with sleeve (13), the equal sliding connection in top of sleeve (13) is on the third spout that the roof was seted up in manipulator (1), sleeve (13) internalization is pegged graft and is had ejector pin (18), the top of ejector pin (18) is connected with the interior roof of sleeve (13) through the third spring, the bottom fixedly connected with fixed plate (20) of ejector pin (18), the second opening has been seted up on the interior diapire of manipulator (1), the second opening is run through in the bottom activity of fixed plate (20), and rotates on the lateral wall of fixed plate (20) and is connected with massage and rolls (19).
4. The robot massage robot hand for orthopedics department of claim 2, characterized in that: the width of the first opening is smaller than the width of the manipulator (1) by 2-3cm, the width of the cylinder (17) is smaller than the width of the first opening by 2cm, the number of the connecting rods (15) is not less than six, and the connecting rods are equidistantly distributed on the cylinder (17).
5. The robot massage robot hand for orthopedics department of claim 3, characterized in that: massage is rolled (19) and is included roller core, heating jacket and massage piece, the roller core rotates to be connected on the lateral wall of fixed plate (20), the fixed heating jacket that has cup jointed on the roller core, a plurality of massage pieces of fixedly connected with on the lateral wall of heating jacket, the inside fixedly connected with heating wire of heating jacket.
6. The robot massage robot hand for orthopedics department of claim 2, characterized in that: the first massage head (16), the second massage head (28) and the massage block are all made of rubber materials.
7. The robot massage robot hand for orthopedics department of claim 1, characterized in that: the number of the fourth rotating shafts is three, and the height of the fourth rotating shafts is lower than the lowest point of the rotating disc (8).
8. The robot massage robot hand for orthopedics department of claim 1, characterized in that: the number of the first single-face racks (9) is four, the first single-face racks are distributed on the side wall of the rotary table (8) at equal intervals, and the angle between the two ends of each first single-face rack (9) and the circle center of the rotary table (8) is 60-75 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810723422.XA CN108771613B (en) | 2018-07-04 | 2018-07-04 | Robot massage robot hand of orthopedics |
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| CN201810723422.XA CN108771613B (en) | 2018-07-04 | 2018-07-04 | Robot massage robot hand of orthopedics |
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| CN108771613B true CN108771613B (en) | 2020-06-05 |
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| CN113520830B (en) * | 2021-07-12 | 2022-10-21 | 吉林大学 | Auxiliary device for helping old people to carry out gastrointestinal digestion |
| CN113476286B (en) * | 2021-08-11 | 2023-07-14 | 河北体育学院 | Physical ability recovery equipment for automatically relaxing muscles and control method |
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| CN108771613A (en) | 2018-11-09 |
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