CN113456461B - Artificial physical therapy massage robot - Google Patents
Artificial physical therapy massage robot Download PDFInfo
- Publication number
- CN113456461B CN113456461B CN202110818510.XA CN202110818510A CN113456461B CN 113456461 B CN113456461 B CN 113456461B CN 202110818510 A CN202110818510 A CN 202110818510A CN 113456461 B CN113456461 B CN 113456461B
- Authority
- CN
- China
- Prior art keywords
- support
- beating
- plate
- telescopic
- wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2015/0021—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 multiple on the same axis
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
-
- 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
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to a massage robot, in particular to an artificial physical therapy massage robot which comprises a leg support, a traversing mechanism, a lifting mechanism, a beating part, a limiting mechanism, a bottom support, an adjusting screw rod and a supporting support.
Description
Technical Field
The invention relates to a massage robot, in particular to an artificial physical therapy massage robot.
Background
CN108073729A in the prior art is a design method of humanoid massage robot, said method comprising the following steps: firstly, analyzing the development condition of the robot; secondly, establishing a mechanical model of five massage manipulations; thirdly, introducing the composition and classification of the robot vision system, and designing a monocular vision system according to the actual working condition of the massage robot; fourthly, completing the establishment of the kinematic equation of the massage robot; fifthly, designing a force sensor for feeding back massage force information; the prior art has the disadvantage that the legs cannot be massaged according to different use requirements.
Disclosure of Invention
The invention aims to provide an artificial physiotherapy massage robot which can massage legs according to different use requirements.
The purpose of the invention is realized by the following technical scheme:
an artificial physical therapy massage robot comprises a leg support, a transverse moving mechanism, a lifting mechanism, a beating part, a limiting mechanism, a bottom support, an adjusting screw rod and a supporting support, wherein the leg support comprises a leg arc plate and a leg bottom plate, and the leg arc plate is fixedly connected with the leg bottom plate;
the transverse moving mechanism comprises a transverse moving screw rod and transverse moving sliding blocks, the transverse moving screw rod is connected with the transverse moving sliding blocks through threads, a power mechanism I for driving the transverse moving screw rod to rotate is arranged on the transverse moving screw rod, the power mechanism I is preferably a servo motor, the two leg supports are arranged, the two leg supports are connected with the transverse moving mechanism respectively, the two transverse moving screw rods are respectively connected to the two leg bottom plates in a rotating mode, and the two transverse moving sliding blocks are respectively connected to the two leg bottom plates in a sliding mode;
the lifting mechanism comprises a telescopic mechanism I, a sliding support, a threaded rod, wave trough plates and a beating support, wherein the sliding support is connected to the telescopic end of the telescopic mechanism I in a sliding mode, the threaded rod is connected to the sliding support through threads, the threaded rod is rotatably connected to the telescopic end of the telescopic mechanism I, the wave trough plates are connected to the sliding support in a sliding mode, a reciprocating mechanism capable of driving the wave trough plates to do reciprocating transverse motion is arranged on the wave trough plates, the reciprocating mechanism can be a crank connecting rod and other mechanisms, the beating support is fixedly connected to the telescopic end of the telescopic mechanism I, the lifting mechanism is provided with four lifting mechanisms, and two telescopic mechanisms I are fixedly connected to two transverse sliding blocks;
the beating support is rotatably connected with a plurality of beating parts, and a reset torsion spring is fixedly connected between each beating part and the beating support;
the limiting mechanisms comprise telescopic mechanisms II and limiting bottom plates, the limiting bottom plates are fixedly connected to the telescopic ends of the telescopic mechanisms II, the telescopic ends of the four telescopic mechanisms I are fixedly connected with the telescopic mechanisms II, and the four limiting bottom plates are respectively contacted with the four wave groove plates;
the bottom support is rotatably connected with an adjusting screw rod, the adjusting screw rod is provided with a power mechanism II capable of driving the adjusting screw rod to rotate, the power mechanism II is preferably a servo motor, the rotating directions of threads at two ends of the adjusting screw rod are opposite, the two leg bottom plates are respectively connected to two ends of the adjusting screw rod through threads, and the two leg bottom plates are both connected to the bottom support in a sliding manner;
the supporting bracket comprises a supporting cylinder and a supporting bottom plate, the supporting cylinder is rotatably connected to the middle part of the adjusting screw rod, the supporting cylinder is fixedly connected with the supporting bottom plate, and the left side and the right side of the supporting bottom plate are both connected with leg arc plates in a sliding manner;
artifical physiotherapy massage robot still includes back mechanism, back mechanism is including promoting the support, promote the lead screw, telescopic machanism III, back support and back runner, promote support sliding connection on the support of bottom, there is the promotion lead screw through threaded connection on the promotion support, the promotion lead screw rotates to be connected on the support of bottom, it has telescopic machanism III to articulate on the promotion support, telescopic machanism III's flexible end articulates on the support of back, it is connected with a plurality of back runners to rotate on the support of back, the support of back articulates on supporting baseplate.
The artificial physical therapy massage robot has the beneficial effects that:
according to the artificial physical therapy massage robot, the position of the lifting mechanism can be adjusted through the traversing mechanism, the positions of the plurality of beating parts are adjusted through the lifting mechanism, the positions of the plurality of beating parts for beating the legs are further adjusted, the beating amplitude of the plurality of beating parts can be adjusted, different use requirements are further met, meanwhile, the beating mode of the plurality of beating parts is a wave beating mode, a hand massage mode is further simulated, meanwhile, the relative distance between the two leg supports can be adjusted, different use requirements are further met, the inclination angle of the back mechanism can be adjusted, and different use requirements are further met.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the connection structure of the leg support, the traversing mechanism, the lifting mechanism, the beating part and the limiting mechanism of the invention;
FIG. 2 is a schematic view of the connection structure of the lifting mechanism, the beating part and the limiting mechanism of the invention;
FIG. 3 is a schematic view of a leg support structure of the present invention;
FIG. 4 is a schematic structural view of the traversing mechanism of the present invention;
FIG. 5 is a schematic view of the lift mechanism of the present invention;
FIG. 6 is a schematic view of the construction of the striking member of the present invention;
FIG. 7 is a schematic structural view of a spacing mechanism of the present invention;
FIG. 8 is a schematic view of the bottom bracket, adjustment screw, support bracket and leg bracket connection of the present invention;
FIG. 9 is a schematic view of the bottom bracket, adjustment screw and back mechanism connection of the present invention;
FIG. 10 is a schematic view of the bottom bracket and support bracket connection of the present invention;
FIG. 11 is a schematic view of the back mechanism of the present invention;
fig. 12 is a schematic view of the overall structure of the manual physiotherapy massage robot of the present invention.
In the figure: a leg support 10; a leg arc plate 11; a leg bottom plate 12; a traversing mechanism 20; a traversing screw rod 21; a traverse slide 22; a lifting mechanism 30; a telescoping mechanism I31; a sliding bracket 32; a threaded rod 33; a wave groove plate 34; a tapping stand 35; the striking member 40; a limiting mechanism 50; a telescoping mechanism II 51; a retainer shoe 52; a bottom bracket 60; adjusting the screw rod 70; a support bracket 80; a support cylinder 81; a support base plate 82; a back mechanism 90; pushing the bracket 91; the lead screw 92 is pushed; a telescoping mechanism III 93; a back support 94; a back runner 95.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment will be described with reference to fig. 1 to 12, wherein the robot for artificial physical therapy and massage comprises a leg support 10, a traversing mechanism 20, a lifting mechanism 30, a beating part 40, a limiting mechanism 50, a bottom support 60, an adjusting screw rod 70 and a support bracket 80, the leg support 10 comprises a leg arc plate 11 and a leg bottom plate 12, and the leg arc plate 11 is fixedly connected with the leg bottom plate 12;
the transverse moving mechanism 20 comprises a transverse moving screw rod 21 and transverse moving slide blocks 22, the transverse moving screw rod 21 is connected with the transverse moving slide blocks 22 through threads, the transverse moving screw rod 21 is provided with a power mechanism I for driving the transverse moving screw rod to rotate, the power mechanism I is preferably a servo motor, the two leg supports 10 are provided, the two leg supports 10 are connected with the transverse moving mechanism 20, the two transverse moving screw rods 21 are respectively and rotatably connected to the two leg bottom plates 12, and the two transverse moving slide blocks 22 are respectively and slidably connected to the two leg bottom plates 12;
the lifting mechanism 30 comprises a telescopic mechanism I31, a sliding support 32, a threaded rod 33, a wave groove plate 34 and a beating support 35, the sliding support 32 is connected to the telescopic end of the telescopic mechanism I31 in a sliding mode, the threaded rod 33 is connected to the sliding support 32 through threads, the threaded rod 33 is connected to the telescopic end of the telescopic mechanism I31 in a rotating mode, the wave groove plate 34 is connected to the sliding support 32 in a sliding mode, a reciprocating mechanism capable of driving the wave groove plate 34 to do reciprocating transverse motion is arranged on the wave groove plate 34, the reciprocating mechanism can be a crank connecting rod or other mechanism, the beating support 35 is fixedly connected to the telescopic end of the telescopic mechanism I31, four lifting mechanisms 30 are arranged, and two telescopic mechanisms I31 are fixedly connected to two transverse sliding blocks 22;
the plurality of beating parts 40 are rotatably connected to the beating support 35, and a reset torsion spring is fixedly connected between each beating part 40 and the beating support 35;
when in use, a leg to be massaged is placed on the leg arc plate 11, as shown in fig. 1, the leg arc plate 11 is in an L shape, an arc-shaped arc plate is arranged at the front side of the leg arc plate 11, the bending part of the leg arc plate 11 is also in a cheering shape, and further conforms to the shape of a human leg, when knocking massage is needed, the threaded rod 33 is rotated, the threaded rod 33 drives the sliding support 32 to transversely move through threads when rotating, the sliding support 32 drives the wave groove plate 34 to transversely move, as shown in fig. 5, the wave groove plate 34 is provided with wave-shaped grooves, the knocking components 40 are not vertically arranged as shown in fig. 1 and 2, the knocking components 40 are obliquely arranged, the knocking components 40 are contacted with the corresponding wave groove plate 34 under the action of the reset torsion spring, and the reset torsion spring has a tendency of pushing the knocking components 40 to move, when the position of the sliding bracket 32 is adjusted transversely, the sliding bracket 32 drives the wave trough plate 34 to move and contact the plurality of beating parts 40, so that the plurality of beating parts 40 all fall on the wave trough plate 34;
the wave trough plate 34 is provided with a reciprocating mechanism capable of driving the wave trough plate 34 to perform reciprocating transverse motion, the reciprocating mechanism may be a crank-link mechanism or other mechanism structure capable of driving components to perform transverse reciprocating motion in the prior art, the reciprocating mechanism drives the wave trough plate 34 to perform transverse reciprocating motion, the wave trough plate 34 pushes a plurality of corresponding beating components 40 to perform motion, the beating components 40 overcome the elastic force of a reset torsion spring under the pushing of the wave trough plate 34, the beating components 40 perform motion towards the outside, the beating components 40 sequentially slide on the wave trough plate 34 and pass through the peak and the valley of the wave trough on the wave trough plate 34, so that the beating components 40 perform reciprocating swing inside and outside to beat the legs of a person, and meanwhile, the motion trail of the beating components 40 is waves, thereby simulating the knocking massage mode of human fingers and achieving better massage effect;
further, when the striking positions of the plurality of striking components 40 need to be adjusted, as shown in fig. 12, a power mechanism i for driving the power mechanism i to rotate is arranged on the traverse screw 21, the power mechanism i is preferably a servo motor, the power mechanism i can be fixedly connected to the leg bottom plate 12, an output shaft of the power mechanism i is in transmission connection with the traverse screw 21, the output shaft of the power mechanism i drives the traverse screw 21 to rotate when rotating, the traverse screw 21 drives the traverse slide block 22 to move transversely through threads when rotating, the traverse slide block 22 drives the telescoping mechanism i 31 to move transversely, the telescoping mechanism i 31 drives the corresponding sliding support 32, the threaded rod 33, the wave slot plate 34 and the striking support 35 to move, the positions of the plurality of beating parts 40 are adjusted, so that the beating positions of the beating parts 40 on the legs of the human body are adjusted, and different use requirements are met;
further, in order to adjust the beating heights of the plurality of beating components 40, the telescopic mechanism I31 is started, the telescopic mechanism I31 can be a hydraulic cylinder or an electric push rod, the telescopic end of the telescopic mechanism I31 drives the sliding support 32, the threaded rod 33, the wave groove plate 34 and the beating support 35 to move, further the heights of the plurality of beating components 40 are adjusted, the beating heights of the beating components 40 are adjusted, and different use requirements are met;
the limiting mechanism 50 comprises a telescopic mechanism II 51 and limiting bottom plates 52, the limiting bottom plates 52 are fixedly connected to telescopic ends of the telescopic mechanism II 51, the telescopic ends of the four telescopic mechanisms I31 are fixedly connected with the telescopic mechanisms II 51, and the four limiting bottom plates 52 are respectively contacted with the four wave trough plates 34;
furthermore, in order to adjust the amplitude of the oscillation of the beating members 40, a limiting mechanism 50 is provided, as shown in fig. 2, when the oscillation amplitudes of the plurality of beating members 40 need to be adjusted, a telescopic mechanism ii 51 is started, the telescopic mechanism ii 51 can be a hydraulic cylinder or an electric push rod, the telescopic end of the telescopic mechanism ii 51 drives the limiting bottom plate 52 to move, so that the limiting bottom plate 52 moves on the corresponding wave slot plate 34, and further, when the plurality of beating members 40 slide in the wave slots on the wave slot plate 34, the limiting bottom plate 52 limits the lowest position of the wave slot plate 34, so that the beating members 40 firstly contact the limiting bottom plate 52 during oscillation, further the distance between the peak and the low peak of the wave slots is shortened, further, the oscillation amplitude of the beating members 40 is controlled, further, the beating amplitudes of the plurality of beating members 40 are adjusted according to different use requirements, different use requirements are met;
the bottom bracket 60 is rotatably connected with an adjusting screw rod 70, the adjusting screw rod 70 is provided with a power mechanism II capable of driving the adjusting screw rod 70 to rotate, the power mechanism II is preferably a servo motor, the rotating directions of threads at two ends of the adjusting screw rod 70 are opposite, the two leg bottom plates 12 are respectively connected with two ends of the adjusting screw rod 70 through threads, and the two leg bottom plates 12 are both connected to the bottom bracket 60 in a sliding manner;
furthermore, in order to meet different leg width requirements, an adjusting screw rod 70 is arranged, a power mechanism II capable of driving the adjusting screw rod 70 to rotate is arranged on the adjusting screw rod 70, the power mechanism II is preferably a servo motor and can be fixedly connected to the bottom support 60, an output shaft of the power mechanism II is in transmission connection with the adjusting screw rod 70, the output shaft of the power mechanism II drives the adjusting screw rod 70 to rotate, the adjusting screw rod 70 drives the two leg supports 10 to be close to or far away from each other through threads when rotating, and then the relative distance between the two leg supports 10 is adjusted, so that different leg width requirements are met;
the supporting bracket 80 comprises a supporting cylinder 81 and a supporting bottom plate 82, the supporting cylinder 81 is rotatably connected to the middle part of the adjusting screw rod 70, the supporting bottom plate 82 is fixedly connected to the supporting cylinder 81, and the left side and the right side of the supporting bottom plate 82 are both slidably connected with the leg arc plates 11;
the manual physical therapy massage robot further comprises a back mechanism 90, the back mechanism 90 comprises a pushing support 91, a pushing screw rod 92, a telescopic mechanism III 93, a back support 94 and a back rotating wheel 95, the pushing support 91 is connected to the bottom support 60 in a sliding mode, the pushing support 91 is connected to the pushing screw rod 92 through threads, the pushing screw rod 92 is connected to the bottom support 60 in a rotating mode, the pushing support 91 is hinged to the telescopic mechanism III 93, the telescopic end of the telescopic mechanism III 93 is hinged to the back support 94, the back support 94 is connected with the back rotating wheels 95 in a rotating mode, and the back support 94 is hinged to the supporting bottom plate 82;
further, in order to support the back of the person according to different use requirements, a back mechanism 90 capable of adjusting the support angle is provided, as shown in fig. 9, a plurality of back rotating wheels 95 are rotatably connected to a back support 94, and the plurality of back rotating wheels 95 can be in contact with the back of the person, so that when the back of the person reciprocates up and down, a certain massage effect can be achieved;
when the inclination angle of the back support 94 needs to be adjusted, the telescopic mechanism III 93 is started, the telescopic mechanism III 93 can be a hydraulic cylinder or an electric push rod, and the telescopic end of the telescopic mechanism III 93 drives the back support 94 to move, so that the inclination angle of the back support 94 is adjusted;
furthermore, in order to adjust the transverse position of the telescopic mechanism III 93, a push screw rod 92 is arranged, the push screw rod 92 is rotated, the push support 91 is driven to move through threads when the push screw rod 92 rotates, and then the transverse position of the telescopic mechanism III 93 is adjusted; it should be noted that the above embodiments may be spliced with each other or all may be combined together for use.
Claims (4)
1. The utility model provides an artifical physiotherapy massage robot, includes shank support (10), sideslip mechanism (20), elevating system (30) and beats part (40), its characterized in that: the leg support (10) is connected with a transverse moving mechanism (20), the transverse moving mechanism (20) is fixedly connected with two lifting mechanisms (30), and each lifting mechanism (30) is connected with a plurality of beating parts (40);
the lifting mechanism (30) comprises a telescopic mechanism I (31), a sliding support (32) is connected to the telescopic end of the telescopic mechanism I (31) in a sliding mode, a wave groove plate (34) is connected to the sliding support (32) in a sliding mode, and a beating support (35) is fixedly connected to the telescopic end of the telescopic mechanism I (31);
the beating support (35) is rotatably connected with a plurality of beating parts (40), and a reset torsion spring is fixedly connected between each beating part (40) and the beating support (35);
the sliding support (32) is connected with a threaded rod (33) through threads, and the threaded rod (33) is rotatably connected to the telescopic end of the telescopic mechanism I (31);
the method comprises the following steps that a threaded rod (33) is rotated, the threaded rod (33) drives a sliding support (32) to move transversely through threads when rotating, the sliding support (32) drives a wave groove plate (34) to move transversely, wave-shaped grooves are formed in the wave groove plate (34), a plurality of beating components (40) are in contact with the corresponding wave groove plate (34) under the action of a reset torsion spring, the reset torsion spring has a tendency of pushing the beating components (40) to move inwards, and when the position of the sliding support (32) is adjusted transversely, the sliding support (32) drives the wave groove plate (34) to move and the beating components (40) to contact, so that the beating components (40) fall on the wave groove plate (34);
the wave trough plate (34) is provided with a reciprocating mechanism capable of driving the wave trough plate (34) to reciprocate transversely, the reciprocating mechanism drives the wave trough plate (34) to move, the wave trough plate (34) is enabled to reciprocate transversely, the wave trough plate (34) pushes a plurality of corresponding beating components (40) to move, the plurality of beating components (40) overcome the elastic force of a reset torsion spring under the pushing of the wave trough plate (34), the plurality of beating components (40) move outwards, the plurality of beating components (40) slide on the wave trough plate (34) in sequence and pass through the high peak and the low peak of the wave trough on the wave trough plate (34), and then the plurality of beating components (40) swing in and out in a reciprocating manner;
the transverse moving mechanism (20) comprises transverse moving screw rods (21), transverse moving sliding blocks (22) are connected to the transverse moving screw rods (21) through threads, two leg supports (10) are arranged, the two transverse moving screw rods (21) are respectively and rotatably connected to the two leg supports (10), and the two transverse moving sliding blocks (22) are respectively and slidably connected to the two leg supports (10);
two telescoping mechanisms I (31) are fixedly connected to the two transverse moving sliding blocks (22);
the device is characterized by further comprising a limiting mechanism (50), wherein the limiting mechanism (50) comprises a telescopic mechanism II (51), a limiting bottom plate (52) is fixedly connected to the telescopic end of the telescopic mechanism II (51), telescopic ends of four telescopic mechanisms I (31) are fixedly connected with telescopic mechanisms II (51), and the four limiting bottom plates (52) are respectively contacted with four wave trough plates (34);
when the plurality of beating components (40) slide in the wave grooves on the wave groove plate (34), the limiting bottom plate (52) limits the lowest position of the wave groove plate (34), so that the beating components (40) are firstly contacted with the limiting bottom plate (52) when swinging, the distance between the peak and the low peak of the wave groove is further shortened, and the swinging amplitude of the beating components (40) is controlled.
2. The artificial physiotherapy massage robot according to claim 1, wherein: still include bottom support (60), rotate on bottom support (60) and be connected with adjustment lead screw (70), the screw thread turning at adjustment lead screw (70) both ends is opposite, and two shank support (10) are respectively through threaded connection at the both ends of adjustment lead screw (70), and two equal sliding connection of shank support (10) are on bottom support (60).
3. The artificial physiotherapy massage robot according to claim 2, wherein: the leg adjusting mechanism is characterized by further comprising a supporting bracket (80), the supporting bracket (80) comprises a supporting cylinder (81), the supporting cylinder (81) is rotatably connected to the middle of the adjusting screw rod (70), a supporting base plate (82) is fixedly connected to the supporting cylinder (81), and leg supports (10) are slidably connected to the left side and the right side of the supporting base plate (82).
4. The artificial physiotherapy massage robot according to claim 2, wherein: the back mechanism (90) comprises a back support (94), the back support (94) is hinged to the supporting bottom plate (82), and the inclination angle of the back support (94) can be adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110818510.XA CN113456461B (en) | 2021-07-20 | 2021-07-20 | Artificial physical therapy massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110818510.XA CN113456461B (en) | 2021-07-20 | 2021-07-20 | Artificial physical therapy massage robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113456461A CN113456461A (en) | 2021-10-01 |
| CN113456461B true CN113456461B (en) | 2022-07-12 |
Family
ID=77881536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110818510.XA Active CN113456461B (en) | 2021-07-20 | 2021-07-20 | Artificial physical therapy massage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113456461B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137074B (en) * | 2021-11-24 | 2023-12-19 | 苏州市建设工程质量检测中心有限公司 | Glass curtain wall detection device based on bionic wall climbing robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004242707A (en) * | 2003-02-10 | 2004-09-02 | Sanyo Electric Co Ltd | Massage machine |
| JP2004261391A (en) * | 2003-02-28 | 2004-09-24 | Sanyo Electric Co Ltd | Method for condition judgment, and massaging machine |
| BRPI0605947A (en) * | 2006-11-22 | 2008-07-08 | Marcelo Pecanha De Paula | electromechanical equipment for alternate or simultaneous bilateral synesthetic stimulation |
| CN106619035A (en) * | 2017-02-08 | 2017-05-10 | 合肥图腾龙医疗用品开发有限公司 | Hammer type leg bidirectional massaging device for nursing department |
| CN106799012A (en) * | 2017-03-24 | 2017-06-06 | 合肥图腾龙医疗用品开发有限公司 | A kind of massage bed with body-building function |
| CN108309745A (en) * | 2018-03-15 | 2018-07-24 | 李习勇 | A kind of leg massager |
| CN108498307A (en) * | 2018-04-08 | 2018-09-07 | 张华勋 | It is a kind of based on the leg medical nursing equipment for highly having grade Principles of Regulation |
| CN111012643A (en) * | 2019-12-16 | 2020-04-17 | 吉林大学 | Distributed type local muscle spasm physical therapy device |
| CN111529941A (en) * | 2020-05-29 | 2020-08-14 | 哈尔滨市全科医疗技术发展有限责任公司 | Medical vertical physiotherapy equipment |
| CN211675338U (en) * | 2019-11-02 | 2020-10-16 | 张艳梅 | Meridian beating device for traditional Chinese medicine rehabilitation |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000093477A (en) * | 1998-09-25 | 2000-04-04 | Shibaura Mechatronics Corp | Massager |
| CN111821659A (en) * | 2020-07-30 | 2020-10-27 | 马子贺 | Meridian beating device for traditional Chinese medicine rehabilitation |
| CN112057287A (en) * | 2020-09-17 | 2020-12-11 | 哈尔滨市全科医疗技术发展有限责任公司 | Cervical vertebra treatment chair for medical care |
-
2021
- 2021-07-20 CN CN202110818510.XA patent/CN113456461B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004242707A (en) * | 2003-02-10 | 2004-09-02 | Sanyo Electric Co Ltd | Massage machine |
| JP2004261391A (en) * | 2003-02-28 | 2004-09-24 | Sanyo Electric Co Ltd | Method for condition judgment, and massaging machine |
| BRPI0605947A (en) * | 2006-11-22 | 2008-07-08 | Marcelo Pecanha De Paula | electromechanical equipment for alternate or simultaneous bilateral synesthetic stimulation |
| CN106619035A (en) * | 2017-02-08 | 2017-05-10 | 合肥图腾龙医疗用品开发有限公司 | Hammer type leg bidirectional massaging device for nursing department |
| CN106799012A (en) * | 2017-03-24 | 2017-06-06 | 合肥图腾龙医疗用品开发有限公司 | A kind of massage bed with body-building function |
| CN108309745A (en) * | 2018-03-15 | 2018-07-24 | 李习勇 | A kind of leg massager |
| CN108498307A (en) * | 2018-04-08 | 2018-09-07 | 张华勋 | It is a kind of based on the leg medical nursing equipment for highly having grade Principles of Regulation |
| CN211675338U (en) * | 2019-11-02 | 2020-10-16 | 张艳梅 | Meridian beating device for traditional Chinese medicine rehabilitation |
| CN111012643A (en) * | 2019-12-16 | 2020-04-17 | 吉林大学 | Distributed type local muscle spasm physical therapy device |
| CN111529941A (en) * | 2020-05-29 | 2020-08-14 | 哈尔滨市全科医疗技术发展有限责任公司 | Medical vertical physiotherapy equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113456461A (en) | 2021-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204468616U (en) | Three-freedom-degree hybrid formula Chinese massage robot | |
| CN104606035A (en) | Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage | |
| CN113456461B (en) | Artificial physical therapy massage robot | |
| CN105943353B (en) | A kind of medical arm-massage machine people based on parallel institution | |
| CN105832508A (en) | Medical leg massage robot | |
| CN103010327A (en) | Single-motor driven climbing jumping robot | |
| CN211658703U (en) | Orthopedic nursing massage rehabilitation equipment | |
| CN102697621A (en) | Rehabilitative apparatus for lower limbs | |
| CN210138296U (en) | Clinical stomach massage device | |
| CN207722051U (en) | A kind of ankle device for rehabilitation of the prismatic pair of branch containing flexural pivot | |
| CN209500193U (en) | A kind of motor control assembly suitable for flexible restoring gloves | |
| CN212547595U (en) | Novel upper limb rehabilitation robot | |
| CN113576842A (en) | Rheumatoid arthritis rehabilitation training device and training method | |
| CN211634250U (en) | Crank rocker type massager | |
| CN111589058A (en) | Upper limb rehabilitation robot with force feedback function | |
| CN210963778U (en) | Arm moving device for patient rehabilitation | |
| CN215308172U (en) | Sputum excretion device based on bionic arm application | |
| CN208492660U (en) | A kind of massage recovering apparatus of facial neuritis | |
| CN219896305U (en) | Auxiliary exercise device after knee joint operation | |
| CN112155999A (en) | Traditional chinese medical science nursing is with acupuncture point pressure device | |
| CN214632887U (en) | Thrombus prevention and rehabilitation device | |
| CN213697785U (en) | Scapulohumeral periarthritis rehabilitation training device | |
| CN106038219B (en) | A kind of arm-massage machine people for medical neurology department | |
| CN114100067B (en) | Postoperative rehabilitation training device for patient in thoracic surgery | |
| CN215962014U (en) | Basketball core strength training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |