CN208770334U - A kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation - Google Patents
A kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation Download PDFInfo
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- CN208770334U CN208770334U CN201721374816.6U CN201721374816U CN208770334U CN 208770334 U CN208770334 U CN 208770334U CN 201721374816 U CN201721374816 U CN 201721374816U CN 208770334 U CN208770334 U CN 208770334U
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Abstract
The utility model discloses a kind of pneumatic actuation masters in medical robot technical field, the hybrid Massage Manipulator of passive joint, including master controller, bed body, stationary track in a pair, traversing seat, vertical shift seat, massage executing agency, pitching driving mechanism, flat turn mechanism, elevating mechanism, massage executing agency includes massage head rack, drive connecting rod, follower link, intermediate connecting rod, it further include the rotary drive mechanism controlled by master controller, it further include the metacarpus for rubbing human body, it further include the finger portion for finger pressure, it further include being built in metacarpus, the vibrating motor controlled by master controller, metacarpus is fixed on intermediate connecting rod side, finger portion is fixed on the intermediate connecting rod other side and is disposed opposite to each other with metacarpus.Cost is easily controllable, and easily operated.
Description
Technical field
The utility model relates to medical robot technical field, in particular to a kind of Massage Manipulator.
Background technique
Currently, massage robot is all being developed in countries in the world as demand of the medical market for massage increasingly increases.
Currently, the more mature massage robot of application includes following structure in the market: further including lying down for people including master controller
Bed body, further include immobilizing foundation frame, further include a pair of fixed rail be fixed on immobilizing foundation frame, horizontal-extending
Road, further include can along the traversing seat of upper stationary track carry out level sliding, further include be movably arranged on it is on traversing seat and
The vertical shift seat that can be slided on traversing seat with the direction perpendicular to upper stationary track, further includes massage executing agency,
Further include the pitching driving mechanism for driving massage executing agency to carry out vertical direction rotation, further includes for driving pitching to be driven
Motivation structure carries out the flat turn mechanism of horizontal direction rotation, further include for control flat turn mechanism height position, match with vertical shift seat
The elevating mechanism being fitted together, massage executing agency are mounted on the output end of pitching driving mechanism, and pitching driving mechanism is mounted on
The output end of flat turn mechanism, flat turn mechanism are mounted on the output end of elevating mechanism, elevating mechanism, flat turn mechanism, pitching driving machine
Structure, massage executing agency are controlled by master controller.
Current massage robot is gathered around there are five freedom degree, controls very flexible, can be well adapted for the life of human body complexity
Manage structure.The massage executing agency of massage robot sets there are four massage station, and four massage stations need to switch repeatedly, is arranged
It is at high cost and not easy to operate.
Utility model content
The purpose of the utility model is to provide a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation, at
This is easily controllable and easily operated.
Purpose of the utility model is realized as follows: a kind of hybrid traditional Chinese massage machine in the active and passive joint of pneumatic actuation
Device people, including master controller further include the bed body to lie down for people, further include immobilizing foundation frame, further include being fixed on immobilizing foundation
On frame, horizontal-extending a pair of upper stationary track, further including can be along the traversing of upper stationary track carry out level sliding
Seat, further includes being movably arranged on traversing seat and capable of being carried out on traversing seat with the direction perpendicular to upper stationary track
The vertical shift seat of sliding further includes massage executing agency, further includes for driving massage executing agency to carry out vertical direction rotation
Pitching driving mechanism further includes the flat turn mechanism for driving pitching driving mechanism to carry out horizontal direction rotation, further includes being used for
Flat turn mechanism height position and vertical shift seat matched together elevating mechanism is controlled, the massage executing agency, which is mounted on, bows
The output end of driving mechanism is faced upward, the pitching driving mechanism is mounted on the output end of flat turn mechanism, and the flat turn mechanism is mounted on
The output end of elevating mechanism, the elevating mechanism, flat turn mechanism, pitching driving mechanism, massage executing agency are by master controller
Control, it further includes by master control that the massage executing agency, which includes massage head rack, drive connecting rod, follower link, intermediate connecting rod,
The rotary drive mechanism of device control, further includes the metacarpus for rubbing human body, further includes the finger portion for finger pressure, further includes built-in
Vibrating motor in metacarpus, being controlled by master controller, the drive connecting rod and follower link are isometric, the drive connecting rod one
End, follower link one end are hinged in massage head rack, and the drive connecting rod other end, the follower link other end are respectively in
Between connecting rod two end be hinged so that drive connecting rod, follower link, intermediate connecting rod formed a crank link mechanism, the active
The output end of one end and rotary drive mechanism for being hinged on connecting rod with massage head rack is sequentially connected, during the metacarpus is fixed on
Between connecting rod side, the finger portion is fixed on the intermediate connecting rod other side and is disposed opposite to each other with metacarpus.
Compared with prior art, the utility model has the beneficial effects that: first, easily operated, and can in conjunction with rub,
It pats, refer to and pinch in one, when being rubbed, drive massage head rack to be rotated using pitching driving mechanism, make
Metacarpus face human body is obtained, then can use the height of elevating mechanism control massage executing agency, so that control rubs power, this
When, drive connecting rod can be driven to rotate by rotary drive mechanism, drive connecting rod drives intermediate connecting rod, follower link to carry out together instead
Multiple rotation can drive the vibration of vibrating motor output certain frequency when needing to pat human body, so that rubbing, patting and can tie
It closes onto a station, when needing to carry out finger pressure, drives massage head rack to be rotated using pitching driving mechanism, so that
Finger portion face human body, then drives drive connecting rod to rotate by rotary drive mechanism, and drive connecting rod drives intermediate connecting rod, driven company
Bar refers to that portion is rotated repeatedly together, to realize finger pressure motion；Second, cost is relatively low, since finger portion and metacarpus are installed in
On one intermediate connecting rod, installation difficulty is reduced, as long as driving massage head rack to be rotated using pitching driving mechanism
Switch massage station, operates more convenient.
The traversing seat is equipped with the locking mechanism for latched position as a further improvement of the utility model,.It can
Prevent traversing seat from generating deviation phenomenon in massage.
The locking mechanism includes the piston rod that can be directly used for locking, institute as a further improvement of the utility model,
It states and is equipped with movable chamber in traversing seat, the piston rod is retractably installed in movable chamber, and described piston rod one end is pierced by
Stationary track in traversing seat and face is additionally provided with the hydraulic oil channel being connected with movable chamber in the traversing seat, the massage
Robot be additionally provided with can by controlled to hydraulic oil channel fuel feeding or oil return piston rod in movable chamber shift action it is hydraulic
Device, the hydraulic device are controlled by master controller.Locking is convenient, when needing the position to traversing seat to lock, can lead to
It crosses hydraulic device control piston rod to stretch out and against upper stationary track, can be completed to the locking of the position of traversing seat.
The hydraulic oil channel is equipped with two as a further improvement of the utility model, wherein a hydraulic oil channel
Have a bar part and hydraulic device for be connected to movable chamber, another hydraulic oil channel be used to be connected to movable chamber without bar part and
Hydraulic device.
The hydraulic oil channel is equipped with one as a further improvement of the utility model, and the hydraulic oil channel is used for
Connection movable chamber has bar part and hydraulic device, also, the inner wall of the movable chamber is equipped with reset spring, the reset bullet
The position of spring correspond to movable chamber without bar part, the reset spring both ends are connected with the inner wall of piston rod, movable chamber respectively, institute
State reset spring it is not loaded when, the piston rod abuts against stationary track.When traversing seat is moved, can pass through
Hydraulic device has bar part fuel feeding to movable chamber, to drive piston rod compression reseting spring, so that piston rod pine is from upper fixation
Formula track, when the position of traversing seat needs to obtain locking, the detachable hydraulic oil for having bar part for going movable chamber, in reset spring
Elastic restoring force effect lower piston rod abut against stationary track again.
The immobilizing foundation frame is mounted on ground base horizontally slidablely as a further improvement of the utility model,
On, and when massaging, the position of the immobilizing foundation frame is corresponding with bed body；It is mating on the immobilizing foundation frame to be provided with foot
Portion's nursing unit, being additionally provided with can drive footcare unit to carry out mobile horizontal dislodgment feature with bed body length direction, also set
There is the gag lever post of a pair of of limit levels shift mechanism moving range, is additionally provided with for guiding footcare unit to carry out horizontal linear
Mobile translation guiding mechanism；The footcare unit includes the movable block being coupled with horizontal dislodgment feature, the shifting
Motion block is equipped with merging chamber that one end is hatch frame, protruding into convenient for foot, and the footcare unit includes being mounted on merging
Foot massages mechanism intracavitary, for massaging foot, the footcare unit further include be built in it is in movable block, be used for
The heating sheet of warming by fire foot further includes for heating controller controlling heating sheet heated condition, being controlled by master controller；Institute
Stating foot massages mechanism includes massage bracket, further include it is multiple vertically be arranged in massage bracket face foot side and can be rotated
Ground is mounted on the contact wheel in massage bracket, further includes the side sliding block being mounted in merging chamber horizontally slidablely, further includes
Controllable side sliding block carry out level sliding, the side that control by master controller pushes away electric pushrod, further include screw, further include and
Screw rod that screw matches, being vertically arranged, being installed in rotation on side sliding block further includes that screw rod can be driven to turn around axis
Height adjustment motor that is dynamic, being controlled by master controller, described screw one end are mutually fixed with massage bracket, the screw other end
It can be mounted on to vertical sliding on side sliding block；The foot massages mechanism further include be built in it is in massage bracket, for feeling
Answer pressure between foot and contact wheel, pressure sensor with master controller communication connection.Due to being provided with footcare list
Member, so that human body, while receiving massage, foot will not suffer from cold, because human body is generally required when in bed body lying down
It takes off one's shoes, heating sheet can heat the air in merging chamber, foot is warmed, meanwhile, it can star foot massages mechanism and foot carried out
Massage, massages foot while warming foot, can be greatly promoted foot's blood circulation, and auxiliary improves the effect massaged
Fruit；Foot massages mechanism when in use, pushes away electric pushrod using side and pushes side sliding block and contact wheel to foot direction, so that
Contact wheel can contact foot, can according to circumstances control the extension elongation that side pushes away electric pushrod, and to control massage power, pressure is passed
Sensor can timely feedback pressure value so that healthcare givers refers to, and then drive screw rod to rotate using height adjustment motor, with
Screw, massage bracket, contact wheel is driven to carry out the reciprocating on vertical direction, to realize the massage to foot.
The horizontal dislodgment feature includes being mounted on fixation horizontally slidablely as a further improvement of the utility model,
Displacement sliding seat on the upside of foundation frame further includes being mounted on displacement motor on displacement sliding seat, being controlled by master controller, also
It further include being horizontally mounted on immobilizing foundation frame and displacement including the profile modified gear being sleeved on displacement motor output shaft
The displacement rack gear that gear is meshed further includes the lifting electric putter controlled by master controller, further includes stretching for hollow nested structure
Contract soft set, and the telescopic end of the lifting electric putter is mutually fixed with movable block, and the other end of the lifting electric putter is mounted on
It conjugates on sliding seat, the soft set upper side of stretching is connected with displacement sliding seat, and the soft set lower end of stretching is connected with movable block, institute
Lifting electric putter is stated to be in soft set inner cavity of stretching.Height and position and the horizontal position of footcare unit can be adjusted flexibly；
When needing to adjust the height and position of footcare unit, the height and position of movable block can be controlled using lifting electric putter；
When needing to adjust the horizontal position of footcare unit, profile modified gear can be driven in displacement rack gear uplink using displacement motor
The adjusting, it can be achieved that horizontal position to movable block is walked, foot is inserted in comfortably in the merging chamber of movable block very much.
It is above-mentioned for guiding footcare unit to carry out horizontal linear movement as a further improvement of the utility model,
The guiding mechanism that is translatable includes horizontally disposed guide rod, further includes the guide sleeve being actively socketed on guide rod, on the immobilizing foundation frame
Equipped with the lift span extended vertically, movably through lift span, the guide rod is connected the guide rod with movable block, described
The guide rod other end is coated with the spacer pin for preventing guide sleeve from slipping.When movable block carries out height and position and horizontal position is adjusted, rise
It drops hole and guide rod cooperates, so that the motion profile of movable block has good straightness, move more accurate.
The walking controlled by master controller is installed on the immobilizing foundation frame as a further improvement of the utility model,
Motor is also rotatably mounted with walking gear, and the output shaft of the movable motor and the transmission of rotary axis of walking gear connect,
Horizontally be fixed with the bottom walking rack being meshed with walking gear on ground, the length direction of the bottom walking rack with
The length direction of bed body is consistent and close to bed body.In use, walking gear can be driven to walk in bottom by movable motor
It walks on rack gear, can drive immobilizing foundation frame that can automatically move.
Detailed description of the invention
Fig. 1 is the overall layout chart of the utility model.
Fig. 2 is the structure principle chart of massage executing agency.
Fig. 3 is the schematic diagram of locking mechanism in the first embodiment.
Fig. 4 is the schematic diagram of locking mechanism in second of embodiment.
Fig. 5 is the schematic layout pattern of footcare unit.
Fig. 6 is the A-A cross-sectional view in Fig. 5.
Fig. 7 is the portion the B enlarged drawing in Fig. 5.
Fig. 8 is the control planning schematic diagram of the utility model.
Wherein, 1 traversing seat, 101 movable chambers, 102 piston rods, 103 reset springs, 104 hydraulic oil channels are fixed on 2
Track, 3 vertical shift seats, 4 elevating mechanisms, 5 flat turn mechanisms, 6 pitching driving mechanisms, 7 massage executing agencies, 701 massage head racks,
702 rotary drive mechanisms, 703 drive connecting rods, 704 follower links, 705 intermediate connecting rods, 706 metacarpus, 707 vibrating motors, 708 refer to
Portion, 8 immobilizing foundation framves, 8a lift span, 9 hydraulic devices, 10 bed bodies, 11 displacement motors, 12 profile modified gears, 13 displacement rack gears, 14
Sliding seat is conjugated, 15 lifting electric putters, 16 stretch soft set, 17 gag lever posts, 18 footcare units, 19 heating controllers, and 20
Heating sheet, 21 movable blocks, 21a are placed in chamber, 22 foot massages mechanisms, and 2201 sides push away electric pushrod, and 2202 side sliding blocks, 2203 is high
Degree adjusting motor, 2204 screws, 2205 screw rods, 2206 massage brackets, 2207 pressure sensors, 2208 contact wheels, 23 guide sleeves, 24
Guide rod, 25 spacer pins, 26 movable motors, 27 walking gears, 28 bottom walking racks, 29 foots, 30 master controllers.
Specific embodiment
As shown in Fig. 1,2,8, a kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation, including master control
Device 30 further includes the bed body 10 to lie down for people, further includes immobilizing foundation frame 8, further includes being fixed on immobilizing foundation frame 8, water
Stationary track 2 in flat a pair extended, further includes that can also wrap along the traversing seat 1 of upper 2 carry out level sliding of stationary track
It includes being movably arranged on traversing seat 1 and can be slided on traversing seat 1 with the direction perpendicular to upper stationary track 2
Vertical shift seat 3, further include massage executing agency 7, further include bowing for driving massage executing agency 7 to carry out vertical direction rotation
Driving mechanism 6 is faced upward, further includes the flat turn mechanism 5 for driving pitching driving mechanism 6 to carry out horizontal direction rotation, further includes being used for
5 height and position of flat turn mechanism and 3 matched together of vertical shift seat elevating mechanism 4 is controlled, massage executing agency 7, which is mounted on, bows
The output end of driving mechanism 6 is faced upward, pitching driving mechanism 6 is mounted on the output end of flat turn mechanism 5, and flat turn mechanism 5 is mounted on lifting
The output end of mechanism 4, elevating mechanism 4, flat turn mechanism 5, pitching driving mechanism 6, massage executing agency 7 are controlled by master controller 30
System, massage executing agency 7 include massage head rack 701, drive connecting rod 703, follower link 704, intermediate connecting rod 705, further include
Further include the metacarpus 706 for rubbing human body by the rotary drive mechanism 702 that master controller 30 controls, further includes for finger pressure
Finger portion 708, further include be built in it is in metacarpus 706, by master controller 30 control vibrating motor 707,703 He of drive connecting rod
Follower link 704 is isometric, and 703 one end of drive connecting rod, 704 one end of follower link are hinged in massage head rack 701, actively connects
703 other end of bar, 704 other end of follower link are hinged with 705 both ends of intermediate connecting rod respectively, so that drive connecting rod 703, driven
Connecting rod 704, intermediate connecting rod 705 form a crank link mechanism, are hinged in drive connecting rod 703 with massage head rack 701
The output end of one end and rotary drive mechanism 702 is sequentially connected, and metacarpus 706 is fixed on 705 side of intermediate connecting rod, refers to that portion 708 is solid
It is scheduled on 705 other side of intermediate connecting rod and is disposed opposite to each other with metacarpus 706.
When being rubbed, massage head rack 701 is driven to be rotated using pitching driving mechanism 6, so that the palm
Then 706 face human body of portion can use the height that elevating mechanism 4 controls massage executing agency 7, so that control rubs power,
At this point, drive connecting rod 703 can be driven to rotate by rotary drive mechanism 702, drive connecting rod 703 drives intermediate connecting rod 705, driven
Connecting rod 704 is rotated repeatedly together, and vibrating motor 707 can be driven to export the vibration of certain frequency when needing to pat human body
It is dynamic, so that rubbing, patting and can be integrated on a station, when needing to carry out finger pressure, driven using pitching driving mechanism 6
Massage head rack 701 is rotated, so that referring to 708 face human body of portion, then drives drive connecting rod by rotary drive mechanism 702
703 rotations, drive connecting rod 703 drive intermediate connecting rod 705, follower link 704, refer to that portion 708 is rotated repeatedly together, thus real
Existing finger pressure motion.
As shown in Fig. 5,7,8, above-mentioned immobilizing foundation frame 8 is mounted in ground base horizontally slidablely, and is being massaged
When, the position of immobilizing foundation frame 8 is corresponding with bed body 10；It is mating on immobilizing foundation frame 8 to be provided with footcare unit 18, also set
Having can drive footcare unit 18 to carry out mobile horizontal dislodgment feature with 10 length direction of bed body, be additionally provided with a pair of of limitation water
The gag lever post 17 of translational shifting mechanism moving range is additionally provided with for guiding footcare unit 18 to carry out the flat of horizontal linear movement
Action-oriented mechanism；Footcare unit 18 includes the movable block 21 being coupled with horizontal dislodgment feature, and movable block 21 is equipped with one
Merging chamber 21a that end is hatch frame, protruding into convenient for foot 29, footcare unit 18 include being mounted in merging chamber 21a
, foot massages mechanism 22 for massaging foot 29, footcare unit 18 further include be built in it is in movable block 21, be used for
The heating sheet 20 of warming by fire foot 29 further includes for heating controlling 20 heated condition of heating sheet, being controlled by master controller 30
Controller 19；Foot massages mechanism 22 includes massage bracket 2206, further includes multiple being arranged in massage bracket 2206 vertically and facing foot
29 side of portion and the contact wheel 2208 that is installed in rotation in massage bracket 2206, further include installing horizontally slidablely
Side sliding block 2202 in merging chamber 21a, further include controllable 2202 carry out level sliding of side sliding block, by master controller
30 control sides push away electric pushrod 2201, further include screw 2204, further include matched with screw 2204, it is being vertically arranged,
The screw rod 2205 being installed in rotation on side sliding block 2202, further include can drive 2205 pivoting of screw rod, by master control
The height adjustment motor 2203 that device 30 processed controls, 2204 one end of screw are fixed with 2206 phase of massage bracket, 2204 other end of screw
It can be mounted on to vertical sliding on side sliding block 2202；Foot massages mechanism 22 further include be built in it is in massage bracket 2206,
For incuding pressure between foot 29 and contact wheel 2208, pressure sensor 2207 with 30 communication connection of master controller.People
Body is while receiving massage, and in order to allow foot 29 not suffer from cold, heating sheet 20 can heat the air in merging chamber 21a, dries
Hot foot 29, meanwhile, it can star foot massages mechanism 22 and foot 29 massaged, to foot while warming foot 29
29 are massaged, and 29 blood circulation of foot can be greatly promoted, and auxiliary improves the effect massaged；Foot massages mechanism 22 is using
When, electric pushrod 2201 is pushed away using side and pushes side sliding block 2202 and contact wheel 2208 to 29 direction of foot, so that contact wheel
2208 can contact foot 29, can according to circumstances control the extension elongation that side pushes away electric pushrod 2201, to control massage power, pressure
Force snesor 2207 can timely feedback pressure value so that healthcare givers refers to, and then be driven using height adjustment motor 2203
Screw rod 2205 rotates, to drive screw 2204, massage bracket 2206, contact wheel 2208 to carry out the reciprocating fortune on vertical direction
It is dynamic, to realize the massage to foot 29.
In conjunction with shown in Fig. 5,6, above-mentioned horizontal dislodgment feature includes being mounted on 8 upside of immobilizing foundation frame horizontally slidablely
Sliding seat 14 is conjugated, further includes being mounted on displacement motor 11 on displacement sliding seat 14, being controlled by master controller 30, further includes
The profile modified gear 12 being sleeved on displacement 11 output shaft of motor further includes being horizontally mounted on immobilizing foundation frame 8 and displacement
The displacement rack gear 13 that gear 12 is meshed further includes the lifting electric putter 15 controlled by master controller 30, further includes hollow sleeve
The soft set 16 that stretches of structure, telescopic end and 21 phase of movable block of lifting electric putter 15 are fixed, lifting electric putter 15 it is another
End is mounted on displacement sliding seat 14, and soft 16 upper end of set of stretching is connected with displacement sliding seat 14, stretch soft 16 lower end of set and movement
Block 21 is connected, and lifting electric putter 15 is in soft 16 inner cavity of set of stretching.The height position of footcare unit 18 can be adjusted flexibly
It sets and horizontal position；When needing to adjust the height and position of footcare unit 18, can be controlled using lifting electric putter 15
The height and position of movable block 21；When needing to adjust the horizontal position of footcare unit 18, can be driven using displacement motor 11
So that profile modified gear 12 is walked on displacement rack gear 13, it can be achieved that the horizontal position to movable block 21 adjusting, enable foot 29
It is enough to be inserted in comfortably very much in the merging chamber 21a of movable block 21.
As shown in figure 5, above-mentioned for guiding footcare unit 18 to carry out the mobile translation guiding mechanism packet of horizontal linear
Horizontally disposed guide rod 24 is included, further includes the guide sleeve 23 being actively socketed on guide rod 24, immobilizing foundation frame 8 is equipped with vertical extend
Lift span 8a, guide rod 24 is connected movably through lift span 8a, 24 one end of guide rod with movable block 21, and 24 other end of guide rod is worn
Equipped with the spacer pin 25 for preventing guide sleeve 23 from slipping.When movable block 21 carries out height and position and horizontal position is adjusted, lift span 8a
It cooperates with guide rod 24, so that the motion profile of movable block 21 has good straightness.
The movable motor 26 controlled by master controller 30 is installed on above-mentioned immobilizing foundation frame 8, is also rotatably mounted with
The output shaft of walking gear 27, movable motor 26 is connect with the transmission of rotary axis of walking gear 27, is horizontally fixed on ground
The bottom walking rack 28 being meshed with walking gear 27, the length direction of bottom walking rack 28 and the length direction of bed body 10
Consistent and close bed body 10.In use, can drive walking gear 27 on bottom walking rack 28 by movable motor 26
Walking, can drive immobilizing foundation frame 8 that can automatically move.
In conjunction with shown in Fig. 3,4, above-mentioned traversing seat 1 is equipped with the locking mechanism for latched position, above-mentioned locking mechanism packet
The piston rod 102 that can be directly used for locking is included, is equipped with movable chamber 101 in traversing seat 1, piston rod 102 is retractably installed at work
In dynamic chamber 101, and 102 one end of piston rod is pierced by stationary track 2 in traversing seat 1 and face, is additionally provided with and lives in traversing seat 1
The hydraulic oil channel 104 that dynamic chamber 101 is connected, which is additionally provided with can be by 104 fuel feeding of hydraulic oil channel or returning
Oil controls the hydraulic device 9 of the shift action in movable chamber 101 of piston rod 102, and hydraulic device 9 controlled by master controller 30.
As shown in figure 3, hydraulic oil channel 104 is equipped with two, wherein a hydraulic oil channel in the first embodiment
104 have a bar part and hydraulic device 9 for be connected to movable chamber 101, and another hydraulic oil channel 104 is for being connected to movable chamber
101 without bar part and hydraulic device 9.Its working principle is equivalent to Normal hydraulic cylinder.
As shown in figure 4, hydraulic oil channel 104 is equipped with one, and hydraulic oil channel 104 is for connecting in second of embodiment
Logical movable chamber 101 has bar part and hydraulic device 9, also, the inner wall of movable chamber 101 is equipped with reset spring 103, resets bullet
The position of spring 103 correspond to movable chamber 101 without bar part, 103 both ends of reset spring respectively with piston rod 102, movable chamber 101
Inner wall is connected, and when reset spring 103 is not loaded, piston rod 102 abuts against stationary track 2.When traversing seat 1 is moved
When dynamic, there can be bar part fuel feeding to movable chamber 101 by hydraulic device 9, to drive 102 compression reseting spring 103 of piston rod,
So that 102 pine of piston rod is from upper stationary track 2, it is detachable to go movable chamber 101 when the position of traversing seat 1 needs to obtain locking
The hydraulic oil for having bar part, reset spring 103 elastic restoring force effect lower piston rod 102 abut against again it is upper fixed
Track 2, to realize the purpose of traversing 1 position of seat of quick lock in.
The utility model is not limited to above-described embodiment, on the basis of technical solution disclosed by the utility model, this
For the technical staff in field according to disclosed technology contents, not needing creative labor can be special to some of which technology
Sign makes some replacements and deformation, these replacements and deformation are within the protection scope of the present utility model.
Claims (9)
1. a kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation, including master controller (30), further include for people
The bed body (10) to lie down further includes immobilizing foundation frame (8), further include be fixed on it is on immobilizing foundation frame (8), horizontal-extending one
To upper stationary track (2), further includes the traversing seat (1) that can carry out horizontal sliding along upper stationary track (2), further include living
It is dynamic to be mounted on traversing seat (1) and be slided on traversing seat (1) with the direction perpendicular to upper stationary track (2)
Dynamic vertical shift seat (3) further includes massage executing agency (7), further includes for driving massage executing agency (7) to carry out vertical direction
The pitching driving mechanism (6) of rotation further includes the flat turn mechanism for driving pitching driving mechanism (6) to carry out horizontal direction rotation
It (5), further include for controlling flat turn mechanism (5) height and position and vertical shift seat (3) matched together elevating mechanism (4), institute
The output end that massage executing agency (7) is mounted on pitching driving mechanism (6) is stated, the pitching driving mechanism (6) is mounted on flat turn
The output end of mechanism (5), the flat turn mechanism (5) are mounted on the output end of elevating mechanism (4), the elevating mechanism (4), flat turn
Mechanism (5), pitching driving mechanism (6), massage executing agency (7) are controlled by master controller (30), it is characterised in that: described to push away
Include massage head rack (701), drive connecting rod (703), follower link (704), intermediate connecting rod (705) by executing agency (7), goes back
It further include also being wrapped for rubbing the metacarpus of human body (706) including the rotary drive mechanism (702) controlled by master controller (30)
The finger portion (708) for finger pressure is included, further includes being built in vibrating motor in metacarpus (706), being controlled by master controller (30)
(707), the drive connecting rod (703) and follower link (704) are isometric, described drive connecting rod (703) one end, follower link
(704) one end is hinged in massage head rack (701), and drive connecting rod (703) other end, follower link (704) are another
End is hinged with intermediate connecting rod (705) both ends respectively, so that drive connecting rod (703), follower link (704), intermediate connecting rod (705)
A crank link mechanism is formed, the one end being hinged on the drive connecting rod (703) with massage head rack (701) and rotation are driven
The output end of motivation structure (702) is sequentially connected, and the metacarpus (706) is fixed on intermediate connecting rod (705) side, the finger portion
(708) it is fixed on intermediate connecting rod (705) other side and is disposed opposite to each other with metacarpus (706).
2. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 1, feature exist
In: the traversing seat (1) is equipped with the locking mechanism for latched position.
3. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 2, feature exist
In: the locking mechanism includes the piston rod (102) that can be directly used for locking, is equipped with movable chamber in the traversing seat (1)
(101), the piston rod (102) is retractably installed in movable chamber (101), and the piston rod (102) one end is pierced by
Stationary track (2) in traversing seat (1) and face, be additionally provided in the traversing seat (1) be connected with movable chamber (101) it is hydraulic
Oily channel (104), which is additionally provided with can be by controlling piston rod to hydraulic oil channel (104) fuel feeding or oil return
(102) in the hydraulic device (9) of movable chamber (101) interior shift action, the hydraulic device (9) is controlled by master controller (30).
4. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 3, feature exist
In: the hydraulic oil channel (104) is equipped with two, wherein a hydraulic oil channel (104) is for being connected to having for movable chamber (101)
Bar part and hydraulic device (9), another hydraulic oil channel (104) be used to be connected to movable chamber (101) without bar part and hydraulic
Device (9).
5. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 3, feature exist
One is equipped in: the hydraulic oil channel (104), and what the hydraulic oil channel (104) was used to be connected to movable chamber (101) has bar portion
Point and hydraulic device (9), also, the inner wall of the movable chamber (101) be equipped with reset spring (103), the reset spring
(103) position correspond to movable chamber (101) without bar part, reset spring (103) both ends respectively with piston rod (102),
The inner wall of movable chamber (101) is connected, and when the reset spring (103) is not loaded, the piston rod (102) abuts against fixed
Track (2).
6. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 1, feature exist
In: the immobilizing foundation frame (8) is mounted in ground base horizontally slidablely, and when massaging, the immobilizing foundation frame
(8) position is corresponding with bed body (10)；It is mating on the immobilizing foundation frame (8) to be provided with footcare unit (18), also set
Having can drive footcare unit (18) to carry out mobile horizontal dislodgment feature with bed body (10) length direction, be additionally provided with a pair of of limit
The gag lever post (17) of horizontal dislodgment feature moving range processed is additionally provided with for guiding footcare unit (18) to carry out horizontal linear
Mobile translation guiding mechanism；The footcare unit (18) includes the movable block being coupled with horizontal dislodgment feature
(21), the movable block (21) is equipped with merging chamber (21a) that one end is hatch frame, protruding into convenient for foot (29), the foot
Portion's nursing unit (18) includes being mounted on foot massages mechanism (22) in merging chamber (21a), for massaging foot (29), institute
Stating footcare unit (18) further includes being built in heating sheet (20) in movable block (21), being used for warming by fire foot (29), also
Including for heating controller (19) controlling heating sheet (20) heated condition, being controlled by master controller (30)；The vola
Massage mechanism (22) includes massage bracket (2206), further includes multiple being arranged in massage bracket (2206) vertically and facing foot (29) one
Side and the contact wheel (2208) that is installed in rotation on massage bracket (2206), further include being mounted on horizontally slidablely
The side sliding block (2202) being placed in chamber (21a), further include controllable side sliding block (2202) carry out horizontal sliding, by master control
The side of device (30) processed control pushes away electric pushrod (2201), further includes screw (2204), further include matched with screw (2204),
Screw rod (2205) being vertically arranged, being installed in rotation on side sliding block (2202), further includes that can drive screw rod (2205)
Pivoting, by master controller (30) control height adjustment motor (2203), described screw (2204) one end and massage branch
Frame (2206) is mutually fixed, and screw (2204) other end can be mounted on to vertical sliding on side sliding block (2202)；The foot
Bottom massage mechanism (22) further include be built in it is in massage bracket (2206), for incude foot (29) and contact wheel (2208) it
Between pressure, with the pressure sensor (2207) of master controller (30) communication connection.
7. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 6, feature exist
In: the horizontal dislodgment feature includes the displacement sliding seat (14) being mounted on the upside of immobilizing foundation frame (8) horizontally slidablely, also
It further include being sleeved on change including being mounted on displacement motor (11) in displacement sliding seat (14), being controlled by master controller (30)
Profile modified gear (12) on motor (11) output shaft of position, further includes being horizontally mounted on immobilizing foundation frame (8) and profile shifted gear
The displacement rack gear (13) that wheel (12) is meshed further includes the lifting electric putter (15) controlled by master controller (30), further includes
Hollow nested structure stretches soft set (16), and telescopic end and the movable block (21) of the lifting electric putter (15) are mutually fixed, described
The other end of lifting electric putter (15) is mounted in displacement sliding seat (14), stretch soft set (16) upper end and the displacement sliding
Seat (14) is connected, and soft set (16) lower end of stretching is connected with movable block (21), and the lifting electric putter (15) is in flexible
In soft set (16) inner cavity.
8. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 6, feature exist
In: the above-mentioned translation guiding mechanism for guiding footcare unit (18) to carry out horizontal linear movement includes horizontally disposed leads
Bar (24), further includes the guide sleeve (23) being actively socketed on guide rod (24), and the immobilizing foundation frame (8) is equipped with to be extended vertically
Lift span (8a), the guide rod (24) is movably through lift span (8a), described guide rod (24) one end and movable block (21) phase
Even, guide rod (24) other end is coated with the spacer pin (25) for preventing guide sleeve (23) from slipping.
9. a kind of hybrid Massage Manipulator in the active and passive joint of pneumatic actuation according to claim 6, feature exist
In: the movable motor (26) controlled by master controller (30) is installed on the immobilizing foundation frame (8), is also rotatably mounted with
The output shaft of walking gear (27), the movable motor (26) is connect with the transmission of rotary axis of walking gear (27), water on ground
Level land is fixed with the bottom walking rack (28) being meshed with walking gear (27), the length side of the bottom walking rack (28)
To consistent with the length direction of bed body (10) and close to bed body (10).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721374816.6U CN208770334U (en) | 2017-10-24 | 2017-10-24 | A kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721374816.6U CN208770334U (en) | 2017-10-24 | 2017-10-24 | A kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation |
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| CN208770334U true CN208770334U (en) | 2019-04-23 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107582348A (en) * | 2017-10-24 | 2018-01-16 | 镇江康乐服务机器人有限公司 | A kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation |
| CN110101561A (en) * | 2019-05-09 | 2019-08-09 | 浙江中医药大学 | A kind of simulation, which refers to, dial/to be referred to and rubs manual massage device |
| CN110251382A (en) * | 2019-07-04 | 2019-09-20 | 南通大学附属医院 | A kind of children's Neurology clinic training massage machine and its application method |
| CN110279983A (en) * | 2019-07-29 | 2019-09-27 | 河南瑞禾医疗器械有限责任公司 | A kind of leg muscular strength strengthens and detection device |
| CN112353662A (en) * | 2020-10-11 | 2021-02-12 | 彭祖祥 | Sliding type massage physiotherapy bed for medical care |
| CN113925754A (en) * | 2021-10-22 | 2022-01-14 | 常州纺织服装职业技术学院 | Low-energy-consumption comb head type massager |
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2017
- 2017-10-24 CN CN201721374816.6U patent/CN208770334U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107582348A (en) * | 2017-10-24 | 2018-01-16 | 镇江康乐服务机器人有限公司 | A kind of hybrid Massage Manipulator in active and passive joint of pneumatic actuation |
| CN110101561A (en) * | 2019-05-09 | 2019-08-09 | 浙江中医药大学 | A kind of simulation, which refers to, dial/to be referred to and rubs manual massage device |
| CN110251382A (en) * | 2019-07-04 | 2019-09-20 | 南通大学附属医院 | A kind of children's Neurology clinic training massage machine and its application method |
| CN110279983A (en) * | 2019-07-29 | 2019-09-27 | 河南瑞禾医疗器械有限责任公司 | A kind of leg muscular strength strengthens and detection device |
| CN110279983B (en) * | 2019-07-29 | 2024-01-02 | 河南瑞禾医疗器械有限责任公司 | Leg muscle strength strengthening and detecting device |
| CN112353662A (en) * | 2020-10-11 | 2021-02-12 | 彭祖祥 | Sliding type massage physiotherapy bed for medical care |
| CN113925754A (en) * | 2021-10-22 | 2022-01-14 | 常州纺织服装职业技术学院 | Low-energy-consumption comb head type massager |
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