CN113509369A - Profiling manipulator - Google Patents
Profiling manipulator Download PDFInfo
- Publication number
- CN113509369A CN113509369A CN202110398794.1A CN202110398794A CN113509369A CN 113509369 A CN113509369 A CN 113509369A CN 202110398794 A CN202110398794 A CN 202110398794A CN 113509369 A CN113509369 A CN 113509369A
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- shaft
- knocking
- swing arm
- massage
- driving
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- 230000033001 locomotion Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004898 kneading Methods 0.000 description 5
- 238000010009 beating Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007790 scraping Methods 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
- 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
- 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
- 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
- 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
- A61H2015/0028—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis disc-like, i.e. diameter substantially greater than width
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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)
- Massaging Devices (AREA)
Abstract
The invention relates to a profiling manipulator which comprises a base, a massage assembly and a knocking transmission assembly, wherein the massage assembly comprises a left swing arm and a right swing arm, a left massage part is arranged on the left swing arm, a right massage part is arranged on the right swing arm, the knocking transmission assembly comprises a knocking shaft, a crankshaft is rotatably arranged on the base, the left swing arm and the right swing arm are respectively and spherically hinged on the crankshaft, the profiling manipulator further comprises a driving device for driving the left swing arm and the right swing arm to realize double-concave swinging, the driving device comprises a left swinging shaft and a right swinging shaft, a left spiral sleeve, a right spiral sleeve, a left pull rod and a right pull rod, and the driving device further comprises a driving structure for driving the left spiral sleeve and the right spiral sleeve to move in opposite directions or opposite directions. By adopting the scheme, the upper left swing arm and the upper right swing arm can realize double-concave swing, and the left massage piece and the right massage piece can move along the outline of the back of a human body by slightly arranging a convex structure on two sides of the back of the human body, so that the massage chair is more comfortable.
Description
Technical Field
The invention relates to the field of massage manipulators, in particular to a profiling manipulator.
Background
The existing massage chair comprises a massage chair framework and a massage manipulator, a guide rail is arranged on the massage chair framework, the massage manipulator comprises a mounting seat, the mounting seat can slide up and down along the guide rail, a kneading component and a driving massage component which are used for kneading the massage component and the driving massage component are arranged on the mounting seat, the massage component is used for massaging the human body, the driving massage component is used for kneading the kneading component and the driving massage component for knocking, and a walking component which is used for driving the mounting seat to move along the guide rail is arranged between the mounting seat and the guide rail.
Massage subassembly includes left swing arm and right swing arm, be provided with left massage piece on the swing arm of a left side, be provided with right massage piece on the swing arm of a left side, left swing arm and right swing arm make left massage piece and right massage piece knead and beat the action under the drive of kneading subassembly or knocking the subassembly, the arc of swinging arm is "biconvex" arc about it, so when softly scraping with human back counterbalance, just inevitably appear the human body just too big from top to bottom, and two cheek centers department atress too big phenomenon at back, like such massage form, lie to old man or tie, invert the user of massage, just it is relatively poor with regard to the travelling comfort of not too practical or use, and still have potential harm nature risk etc., further this structural manipulator still can not realize the function that the fixed point was strikeed.
Disclosure of Invention
The profiling manipulator overcomes the defects of the prior art, and the upper left swing arm and the upper right swing arm of the profiling manipulator can realize double-concave swing, and can realize that the left massage part and the right massage part move along the contour of the back of a human body by aiming at the structure that two sides of the back of the human body are slightly protruded outwards, so that the profiling manipulator is more comfortable.
In order to achieve the purpose, the invention adopts the technical scheme that: a profiling manipulator comprises a base, a massage assembly and a knocking transmission assembly, wherein the massage assembly comprises a left swing arm and a right swing arm, a left massage part is arranged on the left swing arm, a right massage part is arranged on the right swing arm, the knocking transmission assembly comprises a knocking shaft, the knocking shaft is rotatably arranged on the base and can drive the left massage part and the right massage part to do knocking actions, a crankshaft is rotatably arranged on the base and is parallel to the knocking shaft, the left swing arm and the right swing arm are respectively and spherically hinged on the crankshaft, the profiling manipulator further comprises a driving device for driving the left swing arm and the right swing arm to realize double-concave swinging, the driving device comprises a left swinging shaft, a right swinging shaft, a left screw sleeve, a right screw sleeve, a left pull rod and a right pull rod, the left screw sleeve and the right screw sleeve are slidably arranged on the base along the axial direction of the knocking shaft, and the left swinging shaft and the right swinging shaft are arranged on the base along the axial swinging perpendicular to the knocking shaft, the tip of left swing axle and the tip that left swing arm kept away from left massage spare are articulated, and the one end of left pull rod is articulated with left swing axle, and the other end of left pull rod is articulated with left spiral shell, and the tip of right swing axle and the tip that right swing arm kept away from right massage spare are articulated, and the one end of right pull rod is articulated with right swing axle, and the other end of right pull rod is articulated with right spiral shell, and drive arrangement is still including the drive structure that drives left spiral shell and right spiral shell and move along opposite directions or back on the other hand.
By adopting the scheme, the massage part can be of a structure of a massage head or a massage wheel, the knocking shaft can be matched and rotated by an external motor so as to drive the left massage part and the right massage part to do knocking actions, and when the left spiral sleeve and the right spiral sleeve are driven by the driving component to move in opposite directions, one end of the left swinging shaft connected with the left swinging arm and one end of the right swinging shaft connected with the right swinging arm can be driven to move in opposite directions, so that the left massage part and the right massage part are driven to move in opposite directions; when carrying out back of the body and moving mutually under drive assembly's drive, left side spiral shell and right spiral shell can drive the one end that left swing arm and left swing arm are connected and the one end that right swing arm and right swing arm are connected and move in opposite directions, thereby drive left massage spare and right massage spare and move mutually, because left swing arm and right swing arm ball pivot respectively on the bent axle, consequently left side spiral shell and right spiral shell reciprocal move mutually or back of the body mutually, can drive left swing arm and right swing arm and can realize "two spill swings, slightly have the structure of" evagination "to human back both sides, it can realize left massage spare and right massage spare and move along human back profile, it is more comfortable, when the back only needs the fixed point massage, left side spiral shell and right spiral shell stop moving, only need drive the axle of striking, can realize the action of back fixed point striking.
The invention further provides that: the driving structure comprises a screw rod, the screw rod is rotatably arranged on the base, the screw rod is parallel to the knocking shaft, the crankshaft is positioned between the screw rod and the knocking shaft, two thread sections with opposite rotating directions are arranged on the screw rod, the left screw sleeve and the right screw sleeve are respectively sleeved on the screw rod in an outer mode, the left screw sleeve and the right screw sleeve are respectively in thread fit with the corresponding thread sections, and the left screw sleeve and the right screw sleeve can be driven to move in the opposite direction or in the opposite direction by rotating the screw rod.
Through adopting the above scheme, be provided with the guide bar on the frame, the guide bar sets up along the axial of knocking the axle, left side spiral shell and right spiral shell respectively with the guide bar cooperation of sliding, left side spiral shell and right spiral shell respectively with two screw thread section cooperations of lead screw, external drive motor can drive the lead screw and rotate, the lead screw can drive left spiral shell and right spiral shell and move in opposite directions or back on the other side, because screw-thread fit, the lead screw is not rotatory, left side spiral shell and right spiral shell can keep the current position always, the drive is knocked the axle and can be realized the fixed point and knock the action this moment, moreover, the steam generator is simple in structure, and reasonable design.
The invention further provides that: the knocking shaft comprises a left knocking shaft and a right knocking shaft, the left knocking shaft and the right knocking shaft are arranged in the same axial direction, the left knocking shaft drives the left massage part to do knocking action, the right knocking shaft drives the right massage part to do knocking action, the left knocking shaft and the right knocking shaft are connected through a clutch, and the clutch can realize synchronous knocking or asynchronous knocking of the left massage part and the right massage part.
By adopting the scheme, the clutch can realize synchronous knocking of the left massage part and the right massage part or staggered knocking action of 90-120 degrees.
The invention further provides that: still including mounting bracket and pendulum rod, the frame is passed respectively and the rotation sets up on the mounting bracket at the both ends of bent axle, and the articulated setting of one end of pendulum rod is on the bent axle, and the pendulum rod is connected with the frame linkage, and the frame can rotate around the bent axle along with the pendulum rod, be provided with the drive pendulum rod on the mounting bracket around bent axle pivoted control structure.
Through adopting above-mentioned scheme, the guide bar runs through the pendulum rod setting, therefore the pendulum rod rotates and to drive the frame and rotate along the bent axle together, and control structure establishes the drive gear on the mounting bracket including setting up rack and the rotation on the pendulum rod, drives gear and rack looks interlock, drives drive gear by external drive motor and rotates, can drive pendulum rod and frame and rotate along the bent axle, realizes that left massage spare and right massage spare outwards overturn or inwards overturn, the human massage of laminating more.
The invention further provides that: the left massage part is installed on the left swing arm through the left wheel carrier, and the left wheel carrier rotates and sets up on the left swing arm, and left massage part sets up the tip at the left wheel carrier, and left knocking shaft drives the left wheel carrier and rotates, is provided with left elastic buffer between left wheel carrier and the left swing arm, right massage part is installed on the right swing arm through the right wheel carrier, and right wheel carrier rotates and sets up on the right swing arm, and right massage part sets up the tip at the right wheel carrier, and right knocking shaft drives the right wheel carrier and rotates, is provided with right elastic buffer between right wheel carrier and the right swing arm.
Through adopting above-mentioned scheme, left elastic buffer is first wind spring, and right elastic buffer is the second wind spring, because human back non-standard "biconcave" circular arc profile, left wheel carrier and right wheel carrier can swing in the massage, can avoid the hard impact to the human body, and is more comfortable.
The invention further provides that: the middle position of the crankshaft is further sleeved with a supporting roller frame, the end part of the supporting roller frame is rotatably provided with a spine supporting roller, the middle position of the crankshaft is further provided with a positioning sleeve, the supporting roller frame is rotatably arranged on the positioning sleeve, and a supporting roller elastic buffer piece is arranged between the supporting roller frame and the positioning sleeve.
Through adopting above-mentioned scheme, because the massage piece of two swing arms of manipulator is because of must keeping 20mm safe spacing, the vertebra riding wheel can just in time compensate blank massage area, this vertebra riding wheel oppression vertebra both sides, just in time arrange 'sufficient bladder through', and comb 'governor vessel', so this cooking makes people feel comfortable very much, satisfied, elastic buffer spare is the structure of third wind spring, the holding power of vertebra riding wheel has just also had the adjustability, can not lead to powerful application and lead to the injury to the human body, the vertebra riding wheel can provide the judgement condition basis that 'the human body has leaned on' for manipulator shoulder detection, thereby provide reliable prerequisite for shoulder detection.
The invention further provides that: the end parts of the left knocking shaft and the right knocking shaft are respectively provided with a left eccentric part and a right eccentric part, the left eccentric part and the right eccentric part do eccentric motion along with the main bodies of the left knocking shaft and the right knocking shaft, a left knocking bearing seat is sleeved outside the left eccentric part of the left knocking shaft, a left knocking rod is hinged to the left knocking bearing seat, the end part of the left knocking rod is connected with the end part of the left wheel frame, far away from the left massage part, through a ball hinge, a right knocking bearing seat is sleeved outside the right eccentric part of the right knocking shaft, a right knocking rod is hinged to the right knocking bearing seat, and the end part of the right knocking rod is connected with the end part of the right wheel frame, far away from the right massage part, through a ball hinge.
Through adopting above-mentioned scheme, the left side is beaten the pole and is included first pole portion and set up the first bulb portion in first pole portion one end, and the articulated setting of first pole portion of beating the pole in a left side is beaten the bearing frame, is provided with the first bulb portion that supplies the left side to beat the pole on the left wheel carrier and inserts the first spherical chamber of establishing, the right side is beaten the pole and is included second pole portion and set up the second bulb portion in second pole portion one end, and the articulated setting of second pole portion that sets up on the right side of beating the pole is beated the bearing frame in the right side, is provided with the second bulb portion that supplies the right side to beat the pole on the right wheel carrier and inserts the second spherical chamber of establishing, and the structural design of beating the pole in a left side and beating the right side is reasonable, can avoid appearing the dead circumstances of lock, simple structure.
The invention further provides that: the bent axle is being provided with first ball portion corresponding left swing arm department is fixed, is provided with the first ball socket groove with first ball portion looks adaptation on the left swing arm, and first ball socket groove department is arranged in to first ball portion, the bent axle is being provided with the second ball portion corresponding right swing arm department is fixed, is provided with the second ball socket groove with second ball portion looks adaptation on the right swing arm, and second ball socket groove department is arranged in to the second ball portion.
Through adopting above-mentioned scheme, first bulb and first ball socket slot cooperation and second bulb and the cooperation of second ball socket slot can not influence the lead screw and drive left swing arm and right swing arm and swing simple structure, reasonable in design.
The invention further provides that: the clutch is a pneumatic clutch, the pneumatic clutch comprises a shell, a rotary rail shaft, an angular rotary moving shaft and an air bag, the rotary rail shaft is rotatably arranged in the shell, the angular rotary moving shaft is circumferentially and axially slidably arranged in the shell, a first rotary rail is arranged on the rotary rail shaft, the angular rotary moving shaft is sleeved on the rotary rail shaft, a first pressure torsion spring is arranged between the rotary rail shaft and the angular rotary moving shaft, the air bag is inflated and deflated to drive the angular rotary moving shaft to move along the first rotary rail of the rotary rail shaft and rotate for a certain angle, the rotary rail shaft is in linkage connection with the left knocking shaft or the right knocking shaft, and the corresponding angular rotary moving shaft is in linkage connection with the right knocking shaft or the left knocking shaft.
By adopting the scheme, the synchronous knocking action or the 90-120-degree staggered knocking action of the left massage part and the right massage part can be realized only by controlling the inflation or deflation of the air bag, the structure is simple, and the control is convenient.
The invention further provides that: the clutch is an electromagnetic clutch, the electromagnetic clutch comprises an outer cover, an electromagnetic coil, an electromagnetic chuck, a driving shaft and a driven shaft, the outer cover is fixedly connected with the driving shaft, the electromagnetic coil is installed in the outer cover in a positioning mode, the electromagnetic chuck is fixedly connected with the driven shaft, the driven shaft is sleeved outside the driving shaft, a second rotary rail is arranged on the driving shaft, a second pressure torsion spring is arranged between the driving shaft and the driven shaft, the electromagnetic coil is powered on and powered off and can drive the driven shaft to move along the second rotary rail of the driving shaft and rotate for a certain angle, the driving shaft is in linkage connection with the left knocking shaft or the right knocking shaft, and the driven shaft corresponding to the driving shaft is in linkage connection with the right knocking shaft or the left knocking shaft.
By adopting the scheme, the synchronous knocking action or the 90-120-degree staggered knocking action of the left massage part and the right massage part can be realized only by controlling the power-on or power-off of the electromagnetic coil, and the massage device has a simple structure and is convenient to control.
The invention is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the mounting structure of each component on the stand;
FIG. 3 is a schematic structural diagram of a driving device;
FIG. 4 is a schematic view of the matching structure of the knocking transmission assembly, the left wheel frame and the right wheel frame;
FIG. 5 is a schematic structural view of the left swing arm and the right swing arm;
FIG. 6 is a schematic structural view of a crankshaft;
FIG. 7 is a schematic sectional view of the pneumatic clutch;
FIG. 8 is an exploded view of the pneumatic clutch;
FIG. 9 is a schematic cross-sectional view of an electromagnetic clutch;
FIG. 10 is a schematic view of the engagement structure of the driving shaft and the driven shaft;
FIG. 11 is a schematic diagram of a center-forward method of double-concave swing;
FIG. 12 is a schematic diagram of another swing arm linkage forming method of double concave swing;
fig. 13 is another schematic structure diagram of the screw rod.
Detailed Description
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-13, a profiling manipulator comprises a base 1, a massage assembly and a knocking transmission assembly, the massage assembly comprises a left swing arm 21 and a right swing arm 31, the left swing arm 21 is provided with a left massage part 22, the right swing arm 31 is provided with a right massage part 32, the left massage part 22 and the right massage part 32 are of massage wheel structures, the left massage part 22 and the right massage part 32 are respectively and rotatably arranged at the end parts of the left swing arm 21 and the right swing arm 31, of course, the structure of a massage head can also be adopted, the knocking transmission assembly comprises a knocking shaft, the knocking shaft is rotatably arranged on the base 1, the knocking shaft can drive the left massage part 22 and the right massage part 32 to do knocking actions, the base 1 is rotatably provided with a crankshaft 5, the crankshaft 5 is parallel to the knocking shaft, the left swing arm 21 and the right swing arm 31 are respectively and spherically hinged on the crankshaft 5, and further comprises a driving device for driving the left swing arm 21 and the right swing arm 31 to realize double concave swinging, the driving device comprises a left swinging shaft 61, a right swinging shaft 62, a left spiral sleeve 63, a right spiral sleeve 64, a left pull rod 65 and a right pull rod 66, the left spiral sleeve 63 and the right spiral sleeve 64 are arranged on the machine base 1 in a sliding manner along the axial direction of the knocking shaft, the left swinging shaft 61 and the right swinging shaft 62 are arranged on the machine base 1 in a swinging manner along the axial direction perpendicular to the knocking shaft, the end part of the left swinging shaft 61 is hinged with the end part of the left swinging arm 21 far away from the left massage part 22, one end of the left pull rod 65 is hinged with the left swinging shaft 61, the other end of the left pull rod 65 is hinged with the left spiral sleeve 63, the end part of the right swinging shaft 62 is hinged with the end part of the right swinging arm 31 far away from the right massage part 32, one end of the right pull rod 66 is hinged with the right swinging shaft 62, the other end of the right pull rod 66 is hinged with the right spiral sleeve 64, and the driving structure for driving the left spiral sleeve 63 and the right spiral sleeve 64 to move in opposite directions or in opposite directions.
In this embodiment, the base 1 is provided with the guide rod 11, the guide rod 11 is arranged along the axial direction of the knocking shaft, the left screw sleeve 63 and the right screw sleeve 64 are respectively in guide sliding fit with the guide rod 11, the driving structure comprises a screw rod 67, the screw rod 67 is rotatably arranged on the base 1, the screw rod 67 is parallel to the knocking shaft, the crankshaft 5 is located between the screw rod 67 and the knocking shaft, two thread sections 671 with opposite rotation directions are arranged on the screw rod 67, the left screw sleeve 63 and the right screw sleeve 64 are respectively sleeved on the screw rod 67, the left screw sleeve 63 and the right screw sleeve 64 are respectively in thread fit with the corresponding thread sections 671, and the left screw sleeve 63 and the right screw sleeve 64 can be driven to move in the opposite direction or in the opposite direction by rotating the screw rod 67. As shown in fig. 13, of course, the screw rod may also adopt a closed bidirectional return thread structure, so that the driving motor only needs to drive the screw rod to rotate in one direction, thereby avoiding the impact caused by the forward and reverse rotation switching of the driving motor.
In this embodiment, the knocking shaft includes a left knocking shaft 41 and a right knocking shaft 42, the left knocking shaft 41 and the right knocking shaft 42 are arranged in the same axial direction, the left knocking shaft 41 drives the left massage member 22 to perform a knocking operation, the right knocking shaft 42 drives the right massage member 32 to perform a knocking operation, the left knocking shaft 41 and the right knocking shaft 42 are connected through a clutch 7, and the clutch 7 can realize synchronous knocking or asynchronous knocking of the left massage member 22 and the right massage member 32.
In this embodiment, still including mounting bracket 8 and pendulum rod 91, the both ends of bent axle 5 pass frame 1 respectively and rotate the setting on mounting bracket 8, the articulated centre department that sets up at bent axle 5 of one end of pendulum rod 91, guide bar 11 runs through the setting of pendulum rod 91, pendulum rod 91 rotates and to drive frame 1 frame and rotate along bent axle 5 together, be provided with drive pendulum rod 91 on the mounting bracket 8 around bent axle 5 pivoted control structure, control structure is including setting up rack 911 on pendulum rod 91 and rotating the drive gear 92 of establishing on mounting bracket 8, drive gear 92 and rack 911 interlock mutually, it rotates to drive gear 92 by external drive motor, can drive pendulum rod 91 and frame 1 and rotate along bent axle 5, realize that left massage piece 22 and right massage piece 32 outwards overturn or inwards, the human massage of laminating more.
In this embodiment, the left massage element 22 is mounted on the left swing arm 21 through the left wheel frame 23, the left wheel frame 23 is rotatably disposed on the left swing arm 21, the left massage element 22 is disposed at an end portion of the left wheel frame 23, the left knocking shaft 41 drives the left wheel frame 23 to rotate, a left elastic buffer is disposed between the left wheel frame 23 and the left swing arm 21, the left elastic buffer is a first coil spring 24, the right massage element 32 is mounted on the right swing arm 31 through the right wheel frame 33, the right wheel frame 33 is rotatably disposed on the right swing arm 31, the right massage element 32 is disposed at an end portion of the right wheel frame 33, the right knocking shaft 42 drives the right wheel frame 33 to rotate, a right elastic buffer is disposed between the right wheel frame 33 and the right swing arm 31, and the right elastic buffer is a second coil spring 34.
In this embodiment, a carrier 101 is further sleeved at a middle position of the crankshaft 5, a spine carrier 102 is rotatably disposed at an end of the carrier 101, a positioning sleeve 103 is further disposed at the middle position of the crankshaft 5, the carrier 101 is rotatably disposed on the positioning sleeve 103, and a carrier elastic buffer member is disposed between the carrier 101 and the positioning sleeve 103, and is a third coil spring 104.
In this embodiment, the end portions of the left knocking shaft 41 and the right knocking shaft 42 are respectively provided with a left eccentric portion and a right eccentric portion, the left eccentric portion and the right eccentric portion respectively perform eccentric motion with the main bodies of the left knocking shaft 41 and the right knocking shaft 42, the left eccentric portion of the left knocking shaft 41 is externally sleeved with a left knocking bearing seat 43, the left knocking bearing seat 43 is hinged with a left knocking rod 44, the end portion of the left knocking rod 44 is in spherical hinge connection with the end portion of the left wheel frame 23 far away from the left massage part 22, the right eccentric portion of the right knocking shaft 42 is externally sleeved with a right knocking bearing seat 45, the right knocking bearing seat 45 is hinged with a right knocking rod 46, and the end portion of the right knocking rod 46 is in spherical hinge connection with the end portion of the right wheel frame 33 far away from the right massage part 32.
In this embodiment, the crankshaft 5 is fixedly provided with a first ball portion 51 corresponding to the left swing arm 21, the left swing arm 21 is provided with a first ball socket 211 adapted to the first ball portion 51, the first ball portion 51 is disposed in the first ball socket 211, the crankshaft 5 is fixedly provided with a second ball portion 52 corresponding to the right swing arm 31, the right swing arm 31 is provided with a second ball socket 311 adapted to the second ball portion 52, and the second ball portion 52 is disposed in the second ball socket 311.
In this embodiment, the clutch 7 is a pneumatic clutch, the pneumatic clutch includes a housing 71, a rotating rail shaft 72, an angular rotation moving shaft 73, and an air bag 74, the rotating rail shaft 72 is rotatably disposed in the housing 71, the angular rotation moving shaft 73 is circumferentially and axially slidably disposed in the housing 71, a first rotating rail is disposed on the rotating rail shaft 72, the angular rotation moving shaft 73 is externally sleeved on the rotating rail shaft 72, a first pressure torsion spring 75 is disposed between the rotating rail shaft 72 and the angular rotation moving shaft 73, the air bag 74 is inflated and deflated to drive the angular rotation moving shaft 73 to move along the first rotating rail of the rotating rail shaft 72 and rotate a certain angle, the rotating rail shaft 72 is linked with the left knocking shaft 41 or the right knocking shaft 42, and the corresponding angular rotation moving shaft 73 is linked with the right knocking shaft 42 or the left knocking shaft 41.
Another arrangement of the clutch is as follows: the clutch is an electromagnetic clutch, the electromagnetic clutch comprises an outer cover 71 ', an electromagnetic coil 72', an electromagnetic suction cup 73 ', a driving shaft 74' and a driven shaft 75 ', the outer cover 71' is fixedly connected with the driving shaft 74 ', the electromagnetic coil 72' is positioned and installed in the outer cover 71 ', the electromagnetic suction cup 73' is fixedly connected with the driven shaft 75 ', the driven shaft 75' is sleeved on the driving shaft 74 ', a second rotary rail is arranged on the driving shaft 74', a second pressure torsion spring 76 'is arranged between the driving shaft 74' and the driven shaft 75 ', the electromagnetic coil 72' is powered on and powered off and can drive the driven shaft 75 'to move along the second rotary rail of the driving shaft 74' and rotate for a certain angle, the driving shaft 74 'is in linkage connection with the left knocking shaft 41 or the right knocking shaft 42, and the driven shaft 75' corresponding to the driving shaft is in linkage connection with the right knocking shaft 42 or the left knocking shaft 41.
In the embodiment, the crab-shaped structure of the manipulator can reduce the width of the machine core under the condition that the massage width is the same as that of the existing manipulator; or the crab-shaped structure of the manipulator, under the condition that the machine core is as wide as the existing manipulator, the massage width is increased, which is beneficial to finishing the back pulling action, and the back pulling action is unique.
As shown in fig. 11: the double-concave swing adopts a center-forward deflection method, and the degree of freedom of the mechanism is calculated as follows:
since A, B is a ball hinge, the mechanism is a space motion mechanism. B, A constrain 3 degrees of freedom of horizontal movement, so P3=2, C is composite hinge, 3 horizontal movement and 2 rotation directions are constrained, so P5=1, the degree of freedom of the space mechanism is as follows F due to 2 motion levers
Computing［2］And it is expanded as: f = 6n-5P5-4 P4-3P3-2 P2- P1Due to P4 = P2 = P1 =0, so:
F = 6*2-5*1-3*2=1
it can be determined that the mechanism of fig. 11 has a unique motion trajectory, namely: input terminaliWhen there is a rotary pendulum movement, the output endOThere is a unique motion profile output. Analyzed byiThe motion can only be convex arc swing, thenOOutput in the form of concave arc swing, thus meeting the requirement.
The above embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a profiling manipulator, includes frame, massage subassembly and strikes the drive assembly, and the massage subassembly includes left swing arm and right swing arm, is provided with left massage piece in the left swing arm, is provided with right massage piece in the right swing arm, strikes the drive assembly including knocking the axle, strikes the axle and rotates and set up on the frame, strikes the axle and can drive left massage piece and right massage piece and do and strike action, its characterized in that: the machine base is rotatably provided with a crankshaft, the crankshaft is parallel to the knocking shaft, the left swing arm and the right swing arm are respectively hinged on the crankshaft in a spherical manner, the machine base further comprises a driving device for driving the left swing arm and the right swing arm to realize double-concave swing, the driving device comprises a left swing shaft and a right swing shaft, a left spiral sleeve, a right spiral sleeve, a left pull rod and a right pull rod, the left spiral sleeve and the right spiral sleeve are arranged on the machine base in a sliding manner along the axial direction of the knocking shaft, the left swing shaft and the right swing shaft are arranged on the machine base in a swinging manner along the axial direction perpendicular to the knocking shaft, the end part of the left swing shaft is hinged with the end part of the left swing arm far away from the left massage piece, one end of the left pull rod is hinged with the left swing shaft, the other end of the left pull rod is hinged with the left spiral sleeve, the end part of the right swing shaft is hinged with the end part of the right swing arm far away from the right massage piece, one end of the right pull rod is hinged with the right swing shaft, and the other end of the right pull rod is hinged with the right spiral sleeve, the driving device also comprises a driving structure which drives the left spiral sleeve and the right spiral sleeve to move towards or away from each other.
2. The profiling robot of claim 1, wherein: the driving structure comprises a screw rod, the screw rod is rotatably arranged on the base, the screw rod is parallel to the knocking shaft, the crankshaft is positioned between the screw rod and the knocking shaft, two thread sections with opposite rotating directions are arranged on the screw rod, the left screw sleeve and the right screw sleeve are respectively sleeved on the screw rod in an outer mode, the left screw sleeve and the right screw sleeve are respectively in thread fit with the corresponding thread sections, and the left screw sleeve and the right screw sleeve can be driven to move in the opposite direction or in the opposite direction by rotating the screw rod.
3. A profiling robot as claimed in claim 1 or claim 2, wherein: the knocking shaft comprises a left knocking shaft and a right knocking shaft, the left knocking shaft and the right knocking shaft are arranged in the same axial direction, the left knocking shaft drives the left massage part to do knocking action, the right knocking shaft drives the right massage part to do knocking action, the left knocking shaft and the right knocking shaft are connected through a clutch, and the clutch can realize synchronous knocking or asynchronous knocking of the left massage part and the right massage part.
4. A profiling robot as claimed in claim 1 or claim 2, wherein: still including mounting bracket and pendulum rod, the frame is passed respectively and the rotation sets up on the mounting bracket at the both ends of bent axle, and the articulated setting of one end of pendulum rod is on the bent axle, and the pendulum rod is connected with the frame linkage, and the frame can rotate around the bent axle along with the pendulum rod, be provided with the drive pendulum rod on the mounting bracket around bent axle pivoted control structure.
5. A profiling robot as claimed in claim 3, wherein: the left massage part is installed on the left swing arm through the left wheel carrier, and the left wheel carrier rotates and sets up on the left swing arm, and left massage part sets up the tip at the left wheel carrier, and left knocking shaft drives the left wheel carrier and rotates, is provided with left elastic buffer between left wheel carrier and the left swing arm, right massage part is installed on the right swing arm through the right wheel carrier, and right wheel carrier rotates and sets up on the right swing arm, and right massage part sets up the tip at the right wheel carrier, and right knocking shaft drives the right wheel carrier and rotates, is provided with right elastic buffer between right wheel carrier and the right swing arm.
6. A profiling robot as claimed in claim 1 or claim 2, wherein: the middle position of the crankshaft is further sleeved with a supporting roller frame, the end part of the supporting roller frame is rotatably provided with a spine supporting roller, the middle position of the crankshaft is further provided with a positioning sleeve, the supporting roller frame is rotatably arranged on the positioning sleeve, and a supporting roller elastic buffer piece is arranged between the supporting roller frame and the positioning sleeve.
7. The profiling robot of claim 5, wherein: the end parts of the left knocking shaft and the right knocking shaft are respectively provided with a left eccentric part and a right eccentric part, the left eccentric part and the right eccentric part do eccentric motion along with the main bodies of the left knocking shaft and the right knocking shaft, a left knocking bearing seat is sleeved outside the left eccentric part of the left knocking shaft, a left knocking rod is hinged to the left knocking bearing seat, the end part of the left knocking rod is connected with the end part of the left wheel frame, far away from the left massage part, through a ball hinge, a right knocking bearing seat is sleeved outside the right eccentric part of the right knocking shaft, a right knocking rod is hinged to the right knocking bearing seat, and the end part of the right knocking rod is connected with the end part of the right wheel frame, far away from the right massage part, through a ball hinge.
8. A profiling robot as claimed in claim 1 or claim 2, wherein: the bent axle is being provided with first ball portion corresponding left swing arm department is fixed, is provided with the first ball socket groove with first ball portion looks adaptation on the left swing arm, and first ball socket groove department is arranged in to first ball portion, the bent axle is being provided with the second ball portion corresponding right swing arm department is fixed, is provided with the second ball socket groove with second ball portion looks adaptation on the right swing arm, and second ball socket groove department is arranged in to the second ball portion.
9. A profiling robot as claimed in claim 3, wherein: the clutch is a pneumatic clutch, the pneumatic clutch comprises a shell, a rotary rail shaft, an angular rotary moving shaft and an air bag, the rotary rail shaft is rotatably arranged in the shell, the angular rotary moving shaft is circumferentially and axially slidably arranged in the shell, a first rotary rail is arranged on the rotary rail shaft, the angular rotary moving shaft is sleeved on the rotary rail shaft, a first pressure torsion spring is arranged between the rotary rail shaft and the angular rotary moving shaft, the air bag is inflated and deflated to drive the angular rotary moving shaft to move along the first rotary rail of the rotary rail shaft and rotate for a certain angle, the rotary rail shaft is in linkage connection with the left knocking shaft or the right knocking shaft, and the corresponding angular rotary moving shaft is in linkage connection with the right knocking shaft or the left knocking shaft.
10. A profiling robot as claimed in claim 3, wherein: the clutch is an electromagnetic clutch, the electromagnetic clutch comprises an outer cover, an electromagnetic coil, an electromagnetic chuck, a driving shaft and a driven shaft, the outer cover is fixedly connected with the driving shaft, the electromagnetic coil is installed in the outer cover in a positioning mode, the electromagnetic chuck is fixedly connected with the driven shaft, the driven shaft is sleeved outside the driving shaft, a second rotary rail is arranged on the driving shaft, a second pressure torsion spring is arranged between the driving shaft and the driven shaft, the electromagnetic coil is powered on and powered off and can drive the driven shaft to move along the second rotary rail of the driving shaft and rotate for a certain angle, the driving shaft is in linkage connection with the left knocking shaft or the right knocking shaft, and the driven shaft corresponding to the driving shaft is in linkage connection with the right knocking shaft or the left knocking shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110398794.1A CN113509369B (en) | 2021-04-14 | 2021-04-14 | Profiling manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110398794.1A CN113509369B (en) | 2021-04-14 | 2021-04-14 | Profiling manipulator |
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| CN113509369B CN113509369B (en) | 2023-12-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20230079597A1 (en) * | 2019-05-07 | 2023-03-16 | Therabody, Inc. | Chair including percussive massage therapy |
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| CN113509369B (en) | 2023-12-01 |
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Effective date of registration: 20220921 Address after: No.18 Xinglong Road, furniture garden, Wanquan light industry base, Pingyang County, Wenzhou City, Zhejiang Province 325000 Applicant after: ZHEJIANG HAOZHONGHAO HEALTH PRODUCT Co.,Ltd. Address before: 315100 1st floor, podium building, science and Technology Bureau, 298 bachelor Road, Yinzhou District, Ningbo City, Zhejiang Province Applicant before: Yin Gang |
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