CN109620673B - Angle-adjustable massage manipulator - Google Patents
Angle-adjustable massage manipulator Download PDFInfo
- Publication number
- CN109620673B CN109620673B CN201910073583.3A CN201910073583A CN109620673B CN 109620673 B CN109620673 B CN 109620673B CN 201910073583 A CN201910073583 A CN 201910073583A CN 109620673 B CN109620673 B CN 109620673B
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- Prior art keywords
- kneading
- detection
- piece
- mounting bracket
- rotating seat
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- 238000004898 kneading Methods 0.000 claims abstract description 113
- 238000001514 detection method Methods 0.000 claims description 107
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- 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
- 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
- A61H2201/16—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2205/062—Shoulders
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Dermatology (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)
- Massaging Devices (AREA)
Abstract
The invention relates to an angle-adjustable massage manipulator which comprises a mounting frame and a massage head assembly, wherein the massage head assembly comprises a crank arm and a massage head, the massage head is arranged on the crank arm, a kneading assembly for driving the crank arm and the massage head to act is further arranged on the mounting frame, the kneading assembly comprises a kneading shaft rotatably arranged on the mounting frame, the crank arm is rotatably arranged on the kneading shaft, an adjusting mechanism capable of adjusting the rotation angle of the crank arm is arranged on the mounting frame, the adjusting mechanism comprises a rotating seat, the rotating seat is rotatably arranged on the mounting frame, the rotating seat can drive the crank arm to rotate to realize the angle adjustment of the crank arm, and a driving assembly capable of driving the rotating seat to rotate is arranged on the mounting frame. By adopting the scheme, the invention overcomes the defects in the prior art, and provides the angle-adjustable massage manipulator which can adjust the angle of the massage head, is convenient to store and has better comfort.
Description
Technical Field
The invention relates to the technical field of massage chairs, in particular to an angle-adjustable massage manipulator.
Background
The office chair comprises a massage chair framework and a massage manipulator, wherein the massage chair framework is provided with a guide rail, the massage manipulator comprises a mounting frame, the mounting frame can slide up and down along the guide rail, a massage head assembly for massaging a human body, a kneading assembly for driving the massage head assembly to knead and a knocking assembly for driving the massage head assembly to knock are arranged on the mounting frame, a walking assembly for driving the mounting frame to move along the guide rail is arranged between the mounting frame and the guide rail, the walking assembly comprises an active walking shaft, a walking roller, a walking gear and a walking motor, the active walking shaft is rotatably arranged on the mounting frame, the walking motor is fixedly arranged on the mounting frame and drives the active walking shaft to rotate, the walking roller is arranged at the end part of the active walking shaft and can roll along the guide rail, the walking gear is arranged beside the walking roller, and a rack meshed with the walking gear is arranged on the guide rail, and the walking motor drives the walking gear to rotate, so that the mounting frame can be driven to slide up and down along the guide rail.
However, such massage mechanical arm, because the massage head subassembly needs to massage the human body, its outstanding setting of needs, and the massage head subassembly can't accomodate, and when not needing the massage, the people can touch as soon as sitting and leaning on, sits the top people, influences the travelling comfort.
Disclosure of Invention
The invention overcomes the defects of the prior art, and provides the angle-adjustable massage manipulator which can adjust the angle of the massage head, is convenient to store and has better comfort.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a massage manipulator of adjustable angle, includes mounting bracket and massage head subassembly, the massage head subassembly is including crank arm and massage head, the massage head sets up on the crank arm, still be equipped with the kneading subassembly of drive crank arm and the action of massage head on the mounting bracket, kneading subassembly is including rotating the kneading axle that sets up on the mounting bracket, crank arm rotates and sets up on kneading the axle, be equipped with adjustable crank arm turned angle's adjustment mechanism on the mounting bracket, adjustment mechanism is including rotating the seat, it sets up on the mounting bracket to rotate the seat, rotates the seat and can drive the crank arm and rotate the angle modulation who realizes the crank arm, is equipped with drivable on the mounting bracket and rotates seat pivoted drive assembly.
By adopting the scheme, the massage head is fixed or integrally arranged at the end part of the crank arm, the kneading component can drive the crank arm and the massage head to knead the human body, the massage head is in contact with the skin for massage, the crank arm is arranged on the kneading shaft in a rotating way, the kneading shaft can drive the kneading massage and can also be used for angle adjustment of the crank arm, the driving component drives the rotating seat to rotate, the rotating seat can drive the crank arm to rotate together for 0-90 degrees of adjustment, when the massage is needed, the crank arm can rotate for a certain angle, and the massage head stretches out to massage the shoulders, the back and the waist of the human body; when the massage is not needed, the crank arm can be rotated to reset, the massage head can be stored along with the massage head, the massage head can not be propped against a human body, interference is avoided, the angle of the massage head can be adjusted, the storage is convenient, and the comfort is better.
The invention is further provided with the following steps: the rotary seat rotates and sets up on kneading the axle, drive assembly includes slider, screw rod and first motor, slider and mounting bracket direction cooperation of sliding, and the slider is equipped with the rack along the axial direction of perpendicular to kneading the axle, be equipped with on the outer peripheral face of rotary seat with rack engaged with gyration gear, first motor is fixed to be set up on the mounting bracket, and the screw rod rotates and sets up at the mounting bracket, and the output shaft and the screw rod linkage of first motor set up, screw rod and slider screw-thread fit, thereby rotate the screw rod and can drive the slider and remove and drive the rotary seat and rotate, rotate the angular adjustment that the seat rotated and drive the crank arm.
Through adopting above-mentioned scheme, the rotation seat rotates and sets up on the kneading shaft, still can rotate and set up in other pivots, the slider sets up along the direction of perpendicular to kneading shaft, be equipped with the guide way on the mounting bracket, the slider slides along the guide way is reciprocal, the gyration gear is fixed or integrative to be set up on the lateral surface of rotation seat, the gyration gear also can be a part of gear, the up end of slider is equipped with the rack along the direction of perpendicular to kneading shaft, the slider is when reciprocating motion, because rack and gyration gear mesh, the slider can drive the rotation seat and rotate, thereby adjust the rotation angle of crank arm, the first motor drives the screw rod through the structure of worm wheel and worm and rotates, because screw rod and slider screw-thread fit, the screw rod rotates and can drive the slider and remove, and because screw rod and slider screw-thread fit have the self-locking function, after driving the rotation seat and rotating certain angle, can lock in appointed position, and is simple in structure, the transmission is stable, control is convenient.
The invention is further provided with the following steps: the rack is slidably arranged on the sliding block, a buffer piece is arranged between the rack and the sliding block, two sides of the buffer piece are fixedly connected with the rack and the sliding block respectively, a first detection assembly is arranged on the sliding block and comprises a first detection block and a first detection piece for sensing the position of the first detection block, the first detection block is arranged on the rack, the first detection piece is fixedly arranged on the sliding block, when the massage head is stressed, the rotating seat can drive the rack to slide and compress the buffer piece, and the first detection piece detects the first detection block; when the massage head is not stressed, the rack is reset under the action of the elastic force of the buffer piece, and the first detection piece does not detect the first detection block.
Through adopting the scheme, the buffer piece is buffer rubber, the buffer rubber is clamped between the rack and the sliding block, the rack can slide along the direction perpendicular to the kneading shaft and is arranged on the sliding block, the sliding block is provided with a limiting structure for limiting the rack to be separated from the sliding block, when a human body presses the massage head, the massage head can drive the crank arm to rotate so as to drive the rotating seat to rotate, the rotating seat drives the rack to move, the rack moves and presses the buffer piece, a first detection block on the rack moves to the first detection piece, the first detection piece is a photoelectric sensor, the first detection block is detected, signals are acquired, and kneading massage operation can be performed at the moment; when the human body does not press the massage head, the buffer piece can prop up the rack, the first detection piece can not be detected, after a certain time is set, if the human body does not press, the massage head and the crank arm are stored, and the device is simple in structure and convenient to control.
The invention is further provided with the following steps: the first detection block is arranged at one end of the rack, which is far away from the rotating seat, the first detection piece is fixedly arranged at one end of the sliding block, which is far away from the rotating seat, the buffer piece is provided with a first through hole for the first detection block to pass through, the end part of the sliding block is provided with a second through hole for the first detection block to pass through, when the massage head is stressed, the rotating seat can drive the rack to slide and compress the buffer piece, the first detection block extends out of the second through hole, and the first detection piece detects the first detection block; when the massage head is not stressed, the rack is reset under the action of the elastic force of the buffer piece, the first detection block is retracted into the second through hole, and the first detection block is not detected by the first detection piece.
By adopting the scheme, when a human body presses the massage head, the massage head drives the crank arm to rotate, so that the rotating seat is driven to rotate, the rack is driven to move by the rotating seat, the rack moves and presses the buffer piece, the first detection block on the rack can extend out of the end part of the sliding block through the first through hole and the second through hole, the first detection piece is a photoelectric sensor, detects the first detection block and acquires signals, and kneading massage operation can be performed at the moment; when the human body does not press the massage head, the buffer piece can prop up the rack, and the first detection block on the rack can not stretch out from the second through hole, and the first detection block can not be detected to the first detection piece, after setting for certain time, if the human body does not press yet, then the massage head is accomodate with the arm crank, simple structure, reasonable in design.
The invention is further provided with the following steps: still be equipped with the second on the mounting bracket and detect the subassembly, the second detects the piece including setting up the second on the mounting bracket and detects the piece, the second detects the piece and is located the one end that the sliding block kept away from the rotation seat, and when the crank arm rotated to completely accomodate the state, first detection piece moved to second detection piece department along with the sliding block, and first detection piece detects the second detection piece.
Through adopting above-mentioned scheme, when bent arm and massage head accomodate, the slider removes to the direction of keeping away from the rotation seat, and after bent arm and massage head accomodate completely, first detection spare moves to second detection piece department along with the slider, and first detection spare detects the second detection piece, can stop first motor operation, can confirm the initial position of slider, simple structure, convenient operation.
The invention is further provided with the following steps: the rotary seat comprises a connecting part and a rotating part, the rotating part is rotationally arranged on the kneading shaft, the rotary gear is arranged on the outer peripheral surface of the connecting part, the connecting part is further extended with an extending part along the axial direction of the kneading shaft, the length of the extending part is larger than that of the rotating part, the crank arms are provided with two groups and are respectively positioned on two sides of the rotating part, the crank arms correspond to the extending part, the extending part is provided with a slot or an inserting block, the crank arms are provided with an inserting block or a slot matched with the slot, and the inserting block is inserted in the slot to realize that the rotary seat drives the crank arms to rotate.
Through adopting above-mentioned scheme, the kneading axle passes through the bearing rotation and sets up on the mounting bracket, the rotation portion cover of rotating the seat is established on the kneading axle, the kneading axle is fixed respectively in the both sides of rotating the portion and is provided with spacing piece, spacing piece can restrict the axial displacement of rotating the seat along the kneading axle, can not influence the normal rotation of kneading the axle, the arm is provided with two, the arm cover is established on the kneading axle, the tip of arm is equipped with the inserted block, be equipped with the slot on the extension, the inserted block is inserted and is established in the slot, the arm can rotate along with rotating the seat to realize stretching out or accomodating of massage head, the steam generator is simple in structure, the transmission is stable.
The invention is further provided with the following steps: the kneading assembly comprises a kneading motor, the kneading motor is fixedly arranged on a mounting frame, an output shaft of the kneading motor is perpendicular to a kneading shaft, a kneading worm is arranged on the output shaft of the kneading motor, a kneading worm wheel meshed with the kneading worm is rotatably arranged on the mounting frame, a kneading driving gear is fixedly or integrally arranged on the kneading worm wheel, a kneading driven gear meshed with the kneading driving gear is arranged at a position corresponding to the kneading driving gear, a deflection wheel is arranged at a position corresponding to the crank arm, and the deflection wheel is connected with the crank arm.
Through adopting above-mentioned scheme, the kneading worm is rotated in kneading motor drive, kneading worm wheel rotation is driven to the kneading worm, kneading driving gear and kneading worm wheel are fixed or integrative the setting, kneading driving gear and kneading worm wheel synchronous rotation, kneading driving gear drives the kneading driven gear again and rotates, can realize the speed reduction of a certain extent, kneading driven gear and kneading axle synchronous rotation, kneading axle drive the off-angle wheel and make the off-angle motion, the arm cover is established on the off-angle wheel, the kneading axle can drive the arm and make the rotation of a small extent, through the action of massage head human body, realize kneading action, and is simple in structure, the transmission is more stable.
The invention is further provided with the following steps: still be equipped with the walking subassembly on the mounting bracket, the walking subassembly is including rotating the initiative walking axle that sets up on the mounting bracket, initiative walking axle and kneading axle are parallel to each other and the interval sets up, the both ends of initiative walking axle are equipped with first gyro wheel respectively, the both ends of kneading axle are equipped with the second gyro wheel respectively, are equipped with the pivoted second motor of drive initiative walking axle on the mounting bracket, the fixed setting of second motor is on the mounting bracket, the output shaft perpendicular to initiative walking axle of second motor is provided with the walking worm on the output shaft of second motor, rotate on the mounting bracket and be equipped with the walking worm wheel with the meshing of walking worm, fixed or integrative being provided with on the walking worm wheel first drive gear, still rotate on the mounting bracket be equipped with first drive gear engaged with second drive gear, fixed or integrative being provided with first bevel gear on the second drive gear, be equipped with on the initiative walking axle with first bevel gear engaged with second bevel gear.
Through adopting above-mentioned scheme, the kneading axle not only uses as kneading massage, can also adjust crank arm angle, still use as driven walking axle, the second gyro wheel does not need to provide the drive power and rotates, second motor drive walking worm rotates, walking worm drives walking worm wheel and rotates, first drive gear is fixed or integrative the setting with walking worm wheel, first drive gear rotates with walking worm wheel is synchronous, first drive gear drives second drive gear and rotates, play certain deceleration, second drive gear is fixed or integrative the setting with first bevel gear, second drive gear rotates with first bevel gear is synchronous, first bevel gear drives second bevel gear and rotates, second bevel gear is fixed or integrative the setting with initiative walking axle, second bevel gear rotates with initiative walking axle is synchronous, and a structure is simple, the transmission is stable.
The invention is further provided with the following steps: still be equipped with the third on the mounting bracket and detect the subassembly, the third detects the subassembly and detects the second that the dish turned angle including first detection dish and response first detection, and first detection dish is fixed to be set up on initiative walking axle, and the second detects the fixed setting of piece on the mounting bracket.
Through adopting above-mentioned scheme, the second detects the piece and is photoelectric sensor, and first detection dish is provided with a plurality of light trap along its circumference, and first detection dish and second detection cooperation detectable initiative walking shaft's rotation angle, but the rotation angle of third detection subassembly real-time supervision initiative walking shaft, the rotation of accessible external control ware control second motor to the walking position of automatic mechanical arm.
The invention is further provided with the following steps: still be equipped with the fourth on the mounting bracket and detect the subassembly, the fourth detects the subassembly and detects the third that the dish turned angle including the second and detect the dish including the second, and the second detects the dish and fixedly sets up on kneading the axle, and the third detects the fixed setting of piece on the mounting bracket.
Through adopting above-mentioned scheme, the third detects the piece and is photoelectric sensor, and the second detects the dish and is provided with a plurality of light trap along its circumference, and the second detects the rotation angle of dish and the cooperation detectable kneading axle of third detection piece, and photoelectric sensor gathers the signal to transmit for manipulator device, simple structure, reasonable in design.
The invention is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a massage head in an extended state;
fig. 2 is a schematic view showing a state in which the massage head is accommodated;
FIG. 3 is a schematic diagram of a structure of a rotating seat and a sliding block;
FIG. 4 is an internal schematic diagram of an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of the kneading assembly;
FIG. 6 is a schematic diagram of a drive assembly;
FIG. 7 is a schematic view of a walking assembly;
FIG. 8 is a schematic diagram of the mating structure of the crank arm and the rotating base;
fig. 9 is a schematic structural view of the slider, the rack, the buffer member, and the first detection member.
Detailed Description
As shown in fig. 1-9, an angle-adjustable massage manipulator comprises a mounting frame 1 and a massage head assembly, wherein the massage head assembly comprises a crank arm 21 and a massage head 22, the massage head 22 is fixedly or integrally arranged at the end part of the crank arm 21, a kneading assembly 3 for driving the crank arm 21 to move in cooperation with the massage head 22 is further arranged on the mounting frame 1, the kneading assembly 3 comprises a kneading shaft 31 rotatably arranged on the mounting frame 1, the crank arm 21 is rotatably arranged on the kneading shaft 31, an adjusting mechanism capable of adjusting the rotation angle of the crank arm 21 is arranged on the mounting frame 1, the adjusting mechanism comprises a rotating seat 41, the rotating seat 41 is rotatably arranged on the mounting frame 1, the rotating seat 41 can drive the crank arm 21 to rotate so as to realize the angle adjustment of the crank arm 21, and a driving assembly capable of driving the rotating seat 41 to rotate is arranged on the mounting frame 41. The kneading component 3 can drive the crank arm 21 to knead the human body, the massage head 22 is in contact with the skin for massage, the human body is more comfortable, the driving component drives the rotating seat 41 to rotate, the rotating seat 41 can drive the crank arm 21 to rotate together, the crank arm 21 can be adjusted by 0-90 degrees, when the massage is needed, the crank arm 21 can rotate for a certain angle, and the massage head 22 extends out for massaging the shoulder, the back and the waist of the human body; when the massage is not needed, the crank arm 21 can be rotated to reset, the massage head 22 can be completely stored along with the massage head, the massage head can not be propped against a human body, interference is avoided, the angle of the massage head 22 can be adjusted, the storage is convenient, and the comfort is better.
In this embodiment, the rotating seat 41 is rotatably disposed on the kneading shaft 31, the driving assembly includes a sliding block 42, a screw 43 and a first motor 44, the mounting frame 1 is provided with a sliding groove 11, the sliding block 43 is in guiding sliding fit with the sliding groove 11, the sliding block 42 is provided with a rack 45 along an axial direction perpendicular to the kneading shaft 31, a rotating gear 411 meshed with the rack 45 is integrally disposed on an outer circumferential surface of the rotating seat 41, the rotating gear 411 may be disposed on the rotating seat 31 separately, the rotating gear 411 may be a complete gear and may be a part of a gear, the first motor 44 is fixedly disposed on the mounting frame 1, the screw 43 is rotatably disposed on the mounting frame 1, a driving worm gear 46 is fixedly or integrally disposed on the screw 43, a driving worm 47 is fixedly or integrally disposed on an output shaft of the first motor 44, the driving worm gear 46 is meshed with the driving worm 47, a threaded hole 421 is disposed on the sliding block 42, the screw 421 is threaded through the threaded hole 421, the screw 43 is in threaded fit with the sliding block 42, the rotating screw 43 may drive the sliding block 42 to move so as to drive the rotating seat 41 to rotate so as to drive the angle adjustment of the crank arm 21. Of course, the rotating seat 41 may be rotatably disposed on the mounting frame 1 through another rotating shaft, so long as the rotating seat 41 can drive the crank arm 21 to rotate.
In this embodiment, the rack 45 is slidably disposed on the slider 42 through a structure of a guide rail and a guide groove, a buffer member 48 is disposed between the rack 45 and the slider 42, the buffer member 48 is made of buffer rubber, two sides of the buffer member 48 are fixedly connected with the rack 45 and the slider 42, the slider 42 is provided with a first detection assembly, the first detection assembly comprises a first detection block 51 and a first detection member 52 for sensing the position of the first detection block 51, the first detection block 51 is disposed at one end of the rack 45 far away from the rotation seat 41, the first detection member 52 is fixedly disposed at one end of the slider 42 far away from the rotation seat 41, a first through hole 481 for the first detection block 51 to pass through is disposed on the buffer member 48, a second through hole 422 for the first detection block 51 to pass through is disposed at an end of the slider 42, when the massage head 22 is stressed, the rotation seat 41 can drive the rack 45 to slide and compress the buffer member 48, the first detection block 51 extends out of the second through hole 422, and the first detection member 52 detects the first detection block 51; when the massage head 22 is not stressed, the rack 45 is reset under the elastic force of the buffer member 48, the first detection block 51 is retracted into the second through hole 522, and the first detection block 51 is not detected by the first detection member 52. Of course, the first detecting block 51 and the first detecting member 52 may be disposed at the side surfaces of the rack 45 and the slider 42, respectively, or at other positions, so long as the first detecting member 52 can detect the first detecting block 51 when the rack 45 moves the compression buffer 48. Of course, the cushioning member 48 may also be a spring structure.
In this embodiment, the mounting frame 1 is further provided with a second detecting component, the second detecting component includes a second detecting block 6 disposed on the mounting frame 1, the second detecting block 6 is located at one end of the slider 42 away from the rotating seat 41, when the crank arm 21 rotates to a fully stored state, the first detecting member 6 moves to the second detecting block 6 along with the slider 42, and the first detecting member 52 detects the second detecting block 6.
In this embodiment, the rotating base 41 includes a connecting portion 412 and a rotating portion 413, the rotating portion 413 is rotatably disposed on the kneading shaft 31, the two sides of the rotating portion 413 are fixedly provided with limiting pieces 49, the limiting pieces 49 can limit the rotating base 41 to move along the axial direction of the kneading shaft 31, the rotating gear 411 is disposed on the outer peripheral surface of the connecting portion 412, the connecting portion 412 further extends with an extending portion 414 along the axial direction of the kneading shaft 31, the length of the extending portion 414 is greater than that of the rotating portion 413, the crank arms 21 are provided with two groups and are respectively disposed on two sides of the rotating portion 413, the crank arms 21 are disposed corresponding to the extending portion 414, the extending portion 414 is provided with slots 4141, the crank arms 21 are provided with inserting blocks 211 matched with the slots 4141, and the inserting blocks 211 are inserted into the slots 4141 to realize that the rotating base 41 drives the crank arms 21 to rotate. Of course, the rotation seat 41 may be provided with a plug, and the crank arm 21 may be provided with a slot.
In this embodiment, the kneading assembly 3 includes a kneading motor 32, the kneading motor 32 is fixedly disposed on the mounting frame 1, an output shaft of the kneading motor 32 is perpendicular to the kneading shaft 31, a kneading worm 33 is integrally disposed on the output shaft of the kneading motor 32, a kneading worm wheel 34 meshed with the kneading worm 33 is rotatably disposed on the mounting frame 1, a kneading driving gear 35 is fixedly or integrally disposed on the kneading worm wheel 34, a kneading driven gear 36 meshed with the kneading driving gear 35 is disposed on the kneading shaft 31 at a position corresponding to the kneading driving gear 35, a deflection wheel 37 is fixedly disposed on the kneading shaft 31 at a position corresponding to the crank arm 21, and the crank arm 21 is sleeved on the deflection wheel 37.
In this embodiment, the mounting frame 1 is further provided with a traveling assembly, the traveling assembly 7 includes a driving traveling shaft 71 rotatably disposed on the mounting frame 1, the driving traveling shaft 71 and the kneading shaft 31 are parallel to each other and are disposed at intervals, two ends of the driving traveling shaft 71 are respectively provided with a first roller 72, two ends of the kneading shaft 31 are respectively provided with a second roller 73, the mounting frame 1 is provided with a second motor 74 for driving the driving traveling shaft 71 to rotate, the second motor 74 is fixedly disposed on the mounting frame 1, an output shaft of the second motor 74 is perpendicular to the driving traveling shaft 71, a traveling worm 75 is integrally disposed on an output shaft of the second motor 74, a traveling worm gear 76 meshed with the traveling worm 75 is rotatably disposed on the mounting frame 1, a first transmission gear 77 is fixedly or integrally disposed on the traveling worm gear 76, a second transmission gear 78 meshed with the first transmission gear 77 is rotatably disposed on the mounting frame 1, and a second bevel gear 710 meshed with the first bevel gear 79 is fixedly or integrally disposed on the driving traveling shaft 71.
In this embodiment, still be equipped with the third detection subassembly on the mounting bracket 1, the third detection subassembly includes first detection dish 81 and the second detection piece 82 of the first detection dish 81 rotation angle of response, first detection dish 81 is fixed to be set up on initiative walking axle 71, the second detection piece 82 is fixed to be set up on the mounting bracket 1, still be equipped with the fourth detection subassembly on the mounting bracket 1, the fourth detection subassembly includes the third detection piece 92 of the second detection dish 91 and the second detection dish 91 rotation angle of response, the second detection dish 91 is fixed to be set up on kneading axle 31, the third detection piece 92 is fixed to be set up on the mounting bracket 1, wherein first detection piece 52, second detection piece 82, third detection piece 92 are photoelectric sensor.
The above embodiment is only one of the preferred embodiments of the present invention, and common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention are included in the scope of the present invention.
Claims (6)
1. The utility model provides a massage manipulator of adjustable angle, includes mounting bracket and massage head subassembly, the massage head subassembly is including bent arm and massage head, the massage head sets up on bent arm, still be equipped with the kneading subassembly of drive bent arm and the action of massage head on the mounting bracket, kneading subassembly is including rotating the kneading axle that sets up on the mounting bracket, its characterized in that: the crank arm is rotationally arranged on the kneading shaft, the mounting frame is provided with an adjusting mechanism capable of adjusting the rotation angle of the crank arm, the adjusting mechanism comprises a rotating seat, the rotating seat is rotationally arranged on the mounting frame, the rotating seat can drive the crank arm to rotate to realize the angle adjustment of the crank arm, a driving component capable of driving the rotating seat to rotate is arranged on the mounting frame, the rotating seat is rotationally arranged on the kneading shaft, the driving component comprises a sliding block, a screw rod and a first motor, the sliding block is in guiding sliding fit with the mounting frame, the sliding block is provided with a rack along the axial direction perpendicular to the kneading shaft, the peripheral surface of the rotating seat is provided with a rotary gear meshed with the rack, the first motor is fixedly arranged on the mounting frame, the screw rod is rotationally arranged on the mounting frame, the output shaft of the first motor is in linkage with the screw rod, the screw rod is in threaded fit with the sliding block, the rotating screw rod can drive the sliding block to move so as to drive the rotating seat to rotate, the rotating seat rotates to drive the crank arm to adjust the angle, the rack can be arranged on the sliding block in a sliding manner, a buffer piece is arranged between the rack and the sliding block, two sides of the buffer piece are respectively fixedly connected with the rack and the sliding block, a first detection assembly is arranged on the sliding block and comprises a first detection block and a first detection piece for sensing the position of the first detection block, the first detection block is arranged on the rack, the first detection piece is fixedly arranged on the sliding block, when the massage head is stressed, the rotating seat can drive the rack to slide and compress the buffer piece, and the first detection piece detects the first detection block; when the massage head is not stressed, the rack resets under the action of the elastic force of the buffer piece, the first detection piece is not detected by the first detection piece, the rotating seat comprises a connecting part and a rotating part, the rotating part is rotationally arranged on a kneading shaft, the rotary gear is arranged on the outer peripheral surface of the connecting part, the connecting part is further extended along the axial direction of the kneading shaft to form an extending part, the length of the extending part is larger than that of the rotating part, two groups of crank arms are arranged on the two groups of crank arms and are respectively positioned on two sides of the rotating part, the crank arms are correspondingly arranged on the extending part, a slot or an inserting block is arranged on the crank arms, the inserting block is inserted in the slot to realize that the rotating seat drives the crank arms to rotate, the kneading assembly comprises a kneading motor, the kneading motor is fixedly arranged on a mounting frame, an output shaft of the kneading motor is perpendicular to the kneading shaft, a kneading worm is rotationally arranged on the mounting frame, a worm wheel is fixedly or integrally arranged on the kneading driving gear, the worm wheel is correspondingly arranged on the kneading shaft, the driving gear is correspondingly arranged on the driving gear, and the driving gear is correspondingly meshed with the driving gear, and the driving gear is correspondingly arranged on the driving gear.
2. The angle-adjustable massage manipulator of claim 1, wherein: the first detection block is arranged at one end of the rack, which is far away from the rotating seat, the first detection piece is fixedly arranged at one end of the sliding block, which is far away from the rotating seat, the buffer piece is provided with a first through hole for the first detection block to pass through, the end part of the sliding block is provided with a second through hole for the first detection block to pass through, when the massage head is stressed, the rotating seat can drive the rack to slide and compress the buffer piece, the first detection block extends out of the second through hole, and the first detection piece detects the first detection block; when the massage head is not stressed, the rack is reset under the action of the elastic force of the buffer piece, the first detection block is retracted into the second through hole, and the first detection block is not detected by the first detection piece.
3. The angle-adjustable massage manipulator of claim 1 or 2, wherein: still be equipped with the second on the mounting bracket and detect the subassembly, the second detects the piece including setting up the second on the mounting bracket and detects the piece, the second detects the piece and is located the one end that the sliding block kept away from the rotation seat, and when the crank arm rotated to completely accomodate the state, first detection piece moved to second detection piece department along with the sliding block, and first detection piece detects the second detection piece.
4. The angle-adjustable massage manipulator of claim 1 or 2, wherein: still be equipped with the walking subassembly on the mounting bracket, the walking subassembly is including rotating the initiative walking axle that sets up on the mounting bracket, initiative walking axle and kneading axle are parallel to each other and the interval sets up, the both ends of initiative walking axle are equipped with first gyro wheel respectively, the both ends of kneading axle are equipped with the second gyro wheel respectively, are equipped with the pivoted second motor of drive initiative walking axle on the mounting bracket, the fixed setting of second motor is on the mounting bracket, the output shaft perpendicular to initiative walking axle of second motor is provided with the walking worm on the output shaft of second motor, rotate on the mounting bracket and be equipped with the walking worm wheel with the meshing of walking worm, fixed or integrative being provided with on the walking worm wheel first drive gear, still rotate on the mounting bracket be equipped with first drive gear engaged with second drive gear, fixed or integrative being provided with first bevel gear on the second drive gear, be equipped with on the initiative walking axle with first bevel gear engaged with second bevel gear.
5. The angle-adjustable massage manipulator of claim 4, wherein: still be equipped with the third on the mounting bracket and detect the subassembly, the third detects the subassembly and detects the second that the dish turned angle including first detection dish and response first detection, and first detection dish is fixed to be set up on initiative walking axle, and the second detects the fixed setting of piece on the mounting bracket.
6. The angle-adjustable massage manipulator of claim 1 or 2, wherein: still be equipped with the fourth on the mounting bracket and detect the subassembly, the fourth detects the subassembly and detects the third that the dish turned angle including the second and detect the dish including the second, and the second detects the dish and fixedly sets up on kneading the axle, and the third detects the fixed setting of piece on the mounting bracket.
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| CN201910073583.3A CN109620673B (en) | 2019-01-25 | 2019-01-25 | Angle-adjustable massage manipulator |
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| CN201910073583.3A CN109620673B (en) | 2019-01-25 | 2019-01-25 | Angle-adjustable massage manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110812154B (en) * | 2019-11-28 | 2022-04-12 | 温州市坤元电气制造有限公司 | 3D manipulator for massage |
| CN111631930B (en) * | 2020-04-21 | 2023-01-31 | 恒林家居股份有限公司 | Massage chair and massage machine core thereof |
| CN111388299A (en) * | 2020-04-21 | 2020-07-10 | 恒林家居股份有限公司 | Massage chair and massage machine core thereof |
| CN112545866A (en) * | 2020-11-26 | 2021-03-26 | 未来穿戴技术有限公司 | Massage device, control method thereof, electronic apparatus, and computer-readable storage medium |
| CN112617812B (en) * | 2020-12-04 | 2022-10-28 | 重庆医药高等专科学校 | Application evaluation device of paclitaxel liposome |
| CN113397941A (en) * | 2021-07-05 | 2021-09-17 | 豪中豪健康科技有限公司 | Massage manipulator with front-mounted shaft seat and rotatable arm for collection |
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| CN209645383U (en) * | 2019-01-25 | 2019-11-19 | 艾力斯特健康科技有限公司 | A kind of massaging manipulator of angle adjustable |
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| JP3099297U (en) * | 2003-07-17 | 2004-04-02 | 陳 科伯 | Masseter device of the masseter |
| CN203389061U (en) * | 2013-04-23 | 2014-01-15 | 上海荣泰健身科技发展有限公司 | Multi-crank-arm massaging mechanical hand |
| CN103860364B (en) * | 2014-03-20 | 2016-01-20 | 厦门蒙发利科技（集团）股份有限公司 | A kind of massager core of compact conformation and Portable massage device |
| CN106236536A (en) * | 2016-09-06 | 2016-12-21 | 上海荣泰健康科技股份有限公司 | A kind of take on neck share massager core |
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| CN209645383U (en) * | 2019-01-25 | 2019-11-19 | 艾力斯特健康科技有限公司 | A kind of massaging manipulator of angle adjustable |
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