CN215459941U

CN215459941U - Three-dimensional manipulator

Info

Publication number: CN215459941U
Application number: CN202121202380.9U
Authority: CN
Inventors: 周国海; 陈清; 周嘉辰
Original assignee: Zhejiang Haozhonghao Health Product Co Ltd
Current assignee: Zhejiang Haozhonghao Health Product Co Ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2022-01-11
Anticipated expiration: 2031-05-31
Also published as: KR20220002889U

Abstract

The utility model relates to a three-dimensional manipulator which comprises a rack, a massage mechanism and a traveling mechanism, wherein the traveling mechanism comprises a driving traveling shaft and a driven traveling shaft, the driving traveling shaft and the driven traveling shaft are rotatably arranged on the rack, the massage mechanism comprises a mounting seat, the mounting seat rotates around the driving traveling shaft, an opening for the mounting seat to move is formed in the rack, a push-out mechanism for driving the mounting seat to rotate is arranged between the rack and the mounting seat, the push-out mechanism comprises a push-out motor, a fan-shaped rack and a push-out gear, the push-out motor is fixedly arranged on the rack, the push-out motor drives the driven traveling shaft to rotate, the fan-shaped rack is arranged on the mounting seat along the rotating track of the mounting seat, the push-out gear is circumferentially arranged on the driven traveling shaft in a linkage manner, and the push-out gear is meshed with the fan-shaped rack. By adopting the scheme, the position of the massage mechanism can be adjusted, the massage mechanism is more fit with a human body, and the massage effect is better.

Description

Three-dimensional manipulator

Technical Field

The utility model relates to the technical field of massage chairs, in particular to a three-dimensional 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 for kneading the massage wheel component and a driving massage wheel component for knocking the human body are mounted on the mounting seat, and a walking component for driving the mounting seat to move along the guide rail is arranged between the mounting seat and the guide rail.

General massage wheel subassembly can't move to the direction of being close to or keeping away from the human body, can't adjust the position of massage wheel subassembly like this, and the human body of laminating inadequately also probably has the massage wheel subassembly too outstanding to push up the human body, massage experience is relatively poor.

SUMMERY OF THE UTILITY MODEL

The three-dimensional manipulator overcomes the defects of the prior art, can adjust the position of the massage mechanism, is more fit with a human body, and has better massage effect.

In order to achieve the purpose, the utility model adopts the technical scheme that: the utility model provides a three-dimensional manipulator, includes frame, massage mechanism and running gear, and running gear includes initiative walking axle and driven walking axle, and initiative walking axle and driven walking axle rotate to set up in the frame, massage mechanism includes the mount pad, and the mount pad rotates around initiative walking axle, is provided with the opening that supplies the mount pad activity in the frame, is provided with drive mount pad pivoted ejecting mechanism between frame and the mount pad, ejecting mechanism is including ejecting motor, fan-shaped rack and ejecting gear, and ejecting motor is fixed to be set up in the frame, and ejecting motor drives driven walking axle and rotates, and fan-shaped rack sets up on the mount pad along the rotation orbit of mount pad, and ejecting gear circumference links and sets up on driven walking axle, and ejecting gear and fan-shaped rack interlock mutually.

Through adopting above-mentioned scheme, the mount pad is as rotating the fulcrum with initiative walking axle, the mount pad can rotate around initiative walking axle, the release motor drives driven walking axle and release gear revolve, release gear forms the meshing with sector gear, thereby it rotates around initiative walking axle to drive massage mechanism, realize massage mechanism's release motion, the structure of axle and driven walking axle can fully initiatively walk like this, need not to add the drive shaft that new axis of rotation and drive massage mechanism released, can adjust massage mechanism's position, the human body of laminating more, massage effect is better.

The utility model further provides that: the massage mechanism also comprises a swing arm and a massage wheel, the massage wheel is arranged on the swing arm, and a kneading transmission mechanism and a knocking transmission mechanism which drive the swing arm to be matched with the massage wheel to act are arranged on the mounting seat.

Through adopting above-mentioned scheme, the massage wheel passes through the wheel carrier and installs on the swing arm, and the massage wheel is installed on the wheel carrier, and the wheel carrier is fixed or the activity sets up on the swing arm, can specifically set up according to actual need, kneads drive mechanism and strikes drive mechanism and can drive swing arm and massage wheel and do the kneading, strike the action to the human body, and massage effect is better.

The utility model further provides that: the frame is provided with a first detection assembly for detecting the maximum rotation angle of the mounting seat, and the frame is provided with a second detection assembly for detecting the rotation number of output shafts of the push-out motor.

By adopting the scheme, the first detection assembly comprises the magnet, the first Hall switch and the second Hall switch, the magnet is synchronously and rotatably arranged on the driven travelling shaft, the first Hall switch and the second Hall switch are arranged on the rack at intervals along the rotating track of the magnet, the first Hall switch and the second Hall switch can respectively detect the magnet, when the first Hall switch or the second Hall switch detects the magnet, a signal for the mounting base to rotate to the limit position can be given at the moment, the operation of the push-out motor can be stopped, and the push-out gear is prevented from rotating away from the sector rack; the second detection assembly comprises an annular magnet, a third Hall switch and a fourth Hall switch, the push-out motor is a motor with double output shafts, the annular magnet synchronously rotates and is arranged on an output shaft of one side, far away from the driven walking shaft, of the push-out motor, the third Hall switch and the fourth Hall switch are fixedly arranged on the rack at intervals, the third Hall switch and the fourth Hall switch can respectively detect the S pole and the N pole of the annular magnet, and therefore the number of rotation turns of the output shaft of the push-out motor is counted, the detection is used for body type detection, and the massage mechanism is pushed out to a proper position.

The utility model further provides that: the fan-shaped rack is characterized in that a protection structure for limiting the push-out gear to rotate away from the fan-shaped rack is arranged on the mounting seat, the protection structure is a first lug and a second lug which are arranged on the mounting seat, the first lug and the second lug are arranged on the rotating track of the mounting seat and are positioned on two sides of the driven walking shaft, and the first lug and the second lug can respectively stop the driven walking shaft.

Through adopting above-mentioned scheme, when the detection subassembly became invalid, can avoid pushing out the gear and rotate away from fan-shaped rack, simple structure, reasonable in design.

The utility model further provides that: the output shaft of the push-out motor is perpendicular to the driven walking shaft, a push-out worm is arranged on the output shaft of the push-out motor in a synchronous rotating mode, a push-out transmission shaft is arranged on the rack in a rotating mode, the push-out transmission shaft and the driven walking shaft are parallel to each other, a push-out worm wheel meshed with the push-out worm is arranged on the push-out transmission shaft in a synchronous rotating mode, a first push-out transmission gear is further arranged on the push-out transmission shaft in a synchronous rotating mode, and a second push-out transmission gear meshed with the first push-out transmission gear is arranged on the driven walking shaft in a synchronous rotating mode at the position corresponding to the first push-out transmission gear.

Through adopting above-mentioned scheme, the cooperation of release worm and release worm wheel not only can play the switching-over effect, can also play the auto-lock effect when the release motor stops to move, the position reasonable in design of release motor to through gear drive, the operation is more stable.

The utility model further provides that: knead drive mechanism including kneading the axle and kneading the motor, knead the axle and rotate the setting on the mount pad, knead the motor and fix the setting on the mount pad, knead motor drive and knead the axle and rotate, swing arm and massage wheel symmetry are provided with two sets ofly to be located the both sides of mount pad, knead the axle and do not be provided with eccentric cover corresponding two swing arm punishments, be provided with the swing arm bearing on two swing arms respectively, swing arm bearing overcoat is in the eccentric cover that corresponds, kneads the axle and drives the swing arm swing.

Through adopting above-mentioned scheme, the eccentric cover that kneads the axle and drive it makes eccentric motion, and eccentric cover is located to swing arm bearing overcoat to drive the swing arm and do up-and-down, horizontal hunting, simple structure, the transmission is more stable.

The utility model further provides that: the mount pad includes half left shell and half right shell, half left shell and half right shell fixed connection, kneads the motor and presss from both sides and locate between half left shell and the half right shell, kneads the output shaft perpendicular to of motor and kneads the axle, synchronous rotation is provided with the kneading worm on the output shaft of kneading the motor, rotates on the mount pad and is provided with the transmission shaft of kneading, kneads the transmission shaft and kneads the axle and be parallel to each other, kneads the worm wheel that synchronous rotation is provided with and kneads the worm interlock on the transmission shaft, kneads and still synchronous rotation is provided with first kneading drive gear on the transmission shaft, kneads epaxially and is provided with the second kneading drive gear with first kneading drive gear interlock in the synchronous rotation of transmission gear department corresponding.

Through adopting above-mentioned scheme, the setting of half shell on the left side and half shell on the right side is convenient for assemble, it sets up two to release the rack, and respectively an organic whole sets up on the lateral surface of half shell on the left side and half shell on the right side, knead worm and the cooperation of kneading the worm wheel, not only can play the switching-over effect, can also play the auto-lock effect when kneading the motor stop operation, the position reasonable in design of kneading the motor, make full use of half shell on the left side and the right half between the shell installation space, and through gear drive, the operation is more stable.

The utility model further provides that: the knocking transmission mechanism comprises a knocking shaft and a knocking motor, the knocking shaft and the kneading shaft are parallel to each other, the knocking shaft is rotatably arranged on the mounting seat, the knocking motor is fixedly arranged on the mounting seat, an output shaft of the knocking motor drives the knocking shaft to rotate, an eccentric part is arranged on the knocking shaft and eccentrically moves along with a main body of the knocking shaft, a knocking bearing seat is sleeved outside the eccentric part of the knocking shaft and is universally connected with the swing arm through a ball head connecting rod, and the knocking shaft drives the swing arm to knock.

Through adopting above-mentioned scheme, the eccentric portion that the axle drives on it of knocking is eccentric motion, thereby it makes eccentric motion to drive the bearing frame of knocking, knock bearing frame and the cooperation of knocking the axle, make the bulb connecting rod produce the vibration, thereby it realizes the action of knocking to drive the swing arm vibration, the bulb connecting rod includes the body of rod and sets up the bulb at body of rod tip, be equipped with the spherical chamber with the bulb shape adaptation of bulb connecting rod in the swing arm, the articulated setting of one end that the bulb was kept away from to the body of rod is on knocking the bearing frame, the bulb and the spherical chamber cooperation of bulb connecting rod, can avoid appearing the dead circumstances of lock, moreover, the steam generator is simple in structure, and reasonable design.

The utility model further provides that: the massage wheel is installed on the swing arm through the wheel carrier, and the massage wheel is fixed or rotate and set up on the wheel carrier, and the wheel carrier is articulated to be set up on the swing arm, fixed or integrative being provided with the projection on the wheel carrier, the swing arm is provided with the spacing groove on the rotation orbit of projection, and the projection can be inconsistent with the tip of spacing groove, is provided with the extension spring that the drive wheel carrier resets between swing arm and the wheel carrier, and extension spring one end is hooked and is established on the swing arm, and the other end is hooked and is established on the wheel carrier.

Through adopting above-mentioned scheme, the wheel carrier articulates and sets up on the swing arm, and when human and massage wheel supported and lean on, the wheel carrier can rotate thereupon, avoids the massage head to withstand the human body always, can not cause the discomfort to the human body, and the extension spring can drive the wheel carrier again and rotate and reset to the rotation angle of wheel carrier can be restricted to the tip backstop projection of spacing groove, simple structure, reasonable in design.

The utility model further provides that: the walking mechanism further comprises a walking motor, driving walking wheels are arranged at two ends of the driving walking shaft respectively, driven walking wheels are arranged at two ends of each driven walking shaft respectively, the walking motor is fixedly arranged on the rack, an output shaft of the walking motor is perpendicular to the driving walking shaft, a walking worm is arranged on the output shaft of the walking motor in a synchronous rotating mode, and a walking worm wheel meshed with the walking worm is arranged on the driving walking shaft in a synchronous rotating mode.

By adopting the scheme, the whole mechanical arm can walk on the massage chair frame, the walking worm is matched with the walking worm wheel, the reversing effect can be achieved, the self-locking effect can be achieved when the walking motor stops running, and the position design of the walking motor is reasonable.

The utility model is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic front view of an embodiment of the present invention;

FIG. 2 is a schematic view of a reverse structure of an embodiment of the present invention;

FIG. 3 is a schematic view of the mounting structure of each component on the mounting base;

FIG. 4 is a schematic view of the matching structure of the frame, the pushing mechanism and the traveling mechanism;

FIG. 5 is an enlarged view of portion A of FIG. 4;

FIG. 6 is a schematic structural view of the ejector mechanism;

FIG. 7 is a schematic structural view of the kneading transmission mechanism;

FIG. 8 is a schematic view of the knocking transmission mechanism;

figure 9 is a schematic view of the massage assembly;

FIG. 10 is a schematic view of the structure of the walking motor and the driving walking shaft;

FIG. 11 is a schematic view of the mating arrangement of the left and right housing halves;

FIG. 12 is a schematic structural view of a knocking shaft;

FIG. 13 is a schematic view of the mounting structure of the components on the rack;

fig. 14 is an enlarged schematic view of a portion B of fig. 13.

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. 1-14, a three-dimensional manipulator comprises a frame 1, a massage mechanism and a traveling mechanism, wherein the traveling mechanism comprises a driving traveling shaft 21 and a driven traveling shaft 22, the driving traveling shaft 21 and the driven traveling shaft 22 are rotatably arranged on the frame 1, the massage mechanism comprises a mounting seat 3, the mounting seat 3 rotates around the driving traveling shaft 21, the driving traveling shaft 21 is rotatably matched with the mounting seat 3 through a shaft sleeve, an opening 11 for the mounting seat 3 to move is arranged on the frame 1, a push-out mechanism for driving the mounting seat 3 to rotate is arranged between the frame 1 and the mounting seat 3, the push-out mechanism comprises a push-out motor 41, a sector rack 42 and a push-out gear 43, the push-out motor 41 is fixedly arranged on the frame 1, the push-out motor 41 drives the driven traveling shaft 22 to rotate, the sector rack 42 is fixedly or integrally arranged on the mounting seat 3 along the rotating track of the mounting seat 3, the push-out gear 43 is circumferentially arranged on the driven traveling shaft 22 in a linkage manner, the push-out gear 43 engages with the sector rack 42.

In this embodiment, the massage mechanism further includes a swing arm 51 and a massage wheel 52, the massage wheel 52 is mounted on the swing arm 51, and the mounting base 3 is provided with a kneading transmission mechanism and a knocking transmission mechanism for driving the swing arm 51 and the massage wheel 52 to cooperate.

In this embodiment, the rack 1 is provided with a first detection assembly for detecting the maximum rotation angle of the mounting base 3, the first detection assembly includes a magnet 81, a first hall switch 82 and a second hall switch 83, the magnet 81 is synchronously rotated and arranged on the driven traveling shaft 22, the first hall switch and the

second hall switch

82 and 83 are fixedly arranged on the rack 1 along the rotation track of the magnet at intervals, the first hall switch 82 and the second hall switch 83 can respectively detect the magnet 81, when the first hall switch 82 or the second hall switch 83 detects the magnet 81, a signal that the mounting base 3 rotates to the limit position can be given at this time, the operation of the push-out motor 41 can be stopped, and the push-out gear 43 is prevented from rotating away from the sector rack 42.

In this embodiment, the frame 1 is provided with a second detection component for detecting the number of turns of the output shaft of the pushing motor 41, the second detection component includes an annular magnet 91, a third hall switch 92 and a fourth hall switch 93, the pushing motor 41 is a dual-output-shaft motor, the annular magnet 91 is synchronously and rotatably disposed on the output shaft of the pushing motor 41 on the side away from the driven travelling shaft 22, the third hall switch 92 and the fourth hall switch 93 are fixedly disposed on the frame at intervals, and the third hall switch 92 and the fourth hall switch 93 can respectively detect the S pole and the N pole of the annular magnet, so as to count the number of turns of the output shaft of the pushing motor, and the number of turns of the output shaft can be used for detecting the body type, so that the massage mechanism can be pushed to a proper position.

In this embodiment, the mounting base 3 is provided with a protection structure for limiting the rotation of the push-out gear 43 away from the sector-shaped rack 42, the protection structure is a first protrusion 31 and a second protrusion 32 which are arranged on the mounting base 3, the first protrusion 31 and the second protrusion 32 are arranged on the rotation track of the mounting base 3 and are located on two sides of the driven traveling shaft 22, and the first protrusion 31 and the second protrusion 32 can respectively stop the driven traveling shaft 22, so as to prevent the push-out gear 43 from rotating away from the sector-shaped rack 42.

In this embodiment, the output shaft of the pushing motor 41 is perpendicular to the driven traveling shaft 22, a pushing worm 44 is synchronously and rotatably disposed on the output shaft of the pushing motor 41, a pushing transmission shaft 45 is rotatably disposed on the frame 1, the pushing transmission shaft 45 is parallel to the driven traveling shaft 22, a pushing worm gear 46 meshed with the pushing worm 44 is synchronously and rotatably disposed on the pushing transmission shaft 45, a first pushing transmission gear 47 is further synchronously and rotatably disposed on the pushing transmission shaft 45, and a second pushing transmission gear 48 meshed with the first pushing transmission gear 47 is synchronously and rotatably disposed on the driven traveling shaft 22 at a position corresponding to the first pushing transmission gear 47.

In this embodiment, the kneading transmission mechanism includes a kneading shaft 61 and a kneading motor 62, the kneading shaft 61 is rotatably disposed on the mounting base 3 through a bearing, the kneading motor 62 is fixedly disposed on the mounting base 3, the kneading motor 62 drives the kneading shaft 61 to rotate, the swing arms 51 and the massage wheels 52 are symmetrically disposed in two sets, and are located on two sides of the mounting base 3, the kneading shaft 61 is respectively provided with an eccentric sleeve 68 at positions corresponding to the two swing arms 51, the two swing arms 51 are respectively provided with a swing arm bearing 69, the swing arm bearing 69 is externally sleeved on the corresponding eccentric sleeve 68, and the kneading shaft 61 drives the swing arms 51 to swing.

In the present embodiment, the mounting base 3 includes a left half shell 33 and a right half shell 34, the left half shell 33 and the right half shell 34 are fixedly connected, the kneading motor 62 is sandwiched between the left half shell 33 and the right half shell 34, an output shaft of the kneading motor 62 is perpendicular to the kneading shaft 61, a kneading worm 63 is synchronously and rotatably disposed on the output shaft of the kneading motor 62, a kneading transmission shaft 64 is rotatably disposed on the mounting base 3, the kneading transmission shaft 64 and the kneading shaft 61 are parallel to each other, a kneading worm gear 65 engaged with the kneading worm 63 is synchronously and rotatably disposed on the kneading transmission shaft 64, a first kneading transmission gear 66 is further synchronously and rotatably disposed on the kneading transmission shaft 64, and a second kneading transmission gear 67 engaged with the first kneading transmission gear 66 is synchronously and rotatably disposed on the kneading shaft 61 at a position corresponding to the first kneading transmission gear 66.

In this embodiment, the knocking transmission mechanism includes a knocking shaft 71 and a knocking motor 72, the knocking shaft 71 and the kneading shaft 61 are parallel to each other, the knocking shaft 71 is rotatably disposed on the mounting base 3 through a bearing, the knocking motor 72 is fixedly disposed on the mounting base 3, an output shaft of the knocking motor 72 drives the knocking shaft 71 to rotate, two ends of the knocking shaft 71, which extend out of the mounting base 3, are respectively provided with an eccentric portion 711, the eccentric portion 711 performs eccentric motion along with a main body of the knocking shaft 71, a knocking bearing seat 73 is sleeved outside the eccentric portion 711 of the knocking shaft 71, the knocking bearing seat 73 is in universal connection with the swing arm 51 through a ball head connecting rod 74, the ball head connecting rod 74 includes a rod body 741 and a ball head 742 disposed at an end of the rod body 741, the swing arm 51 is provided with a spherical cavity 511 adapted to a shape of the ball head 742 of the ball head connecting rod 74, one end of the rod body 741, which is far away from the ball head 742, is hinged to the knocking bearing seat 73, and the knocking shaft 71 drives the swing arm 51 to perform a knocking action.

In this embodiment, the output shaft of the knocking motor 72 and the knocking shaft 71 are parallel to each other, the knocking motor 72 is fixedly arranged on the left half shell 33 or the right half shell 34, the right half shell 34 or the left half shell 33 corresponding to the knocking motor 72 is provided with a yielding structure, the output shaft of the knocking motor 72 is synchronously provided with a first wedge pulley 75 in a rotating manner, the knocking shaft 71 is synchronously provided with a second wedge pulley 76 at a position corresponding to the first wedge pulley 75 in a rotating manner, and the first wedge pulley 75 and the second wedge pulley 76 are driven by a multi-wedge belt 77.

In this embodiment, the massage wheel 52 is mounted on the swing arm 51 through the wheel frame 53, the massage wheel 52 is fixedly or rotatably disposed on the wheel frame 53, the wheel frame 53 is hinged on the swing arm 51 through the hinge shaft, the wheel frame 53 is fixedly or integrally provided with the convex pillar 531, the swing arm 51 is provided with the limit groove 512 on the rotation track of the convex pillar 531, the convex pillar 531 can be abutted against the end of the limit groove 512, the tension spring 10 for driving the wheel frame 53 to reset is disposed between the swing arm 51 and the wheel frame 53, one end of the tension spring 10 is hooked on the swing arm 51, and the other end is hooked on the wheel frame 53. Of course, the structure of the torsion spring can also be adopted to drive the wheel carrier to reset.

In this embodiment, the traveling mechanism further includes a traveling motor 23, two ends of the driving traveling shaft 21 are respectively provided with a driving traveling wheel 24, two ends of the driven traveling shaft 22 are respectively provided with a driven traveling wheel 25, the traveling motor 23 is fixedly arranged on the frame 1, an output shaft of the traveling motor 23 is perpendicular to the driving traveling shaft 21, an output shaft of the traveling motor 23 is synchronously rotatably provided with a traveling worm 26, and the driving traveling shaft 21 is synchronously rotatably provided with a traveling worm wheel 27 engaged with the traveling worm 26.

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

1. The utility model provides a three-dimensional manipulator, includes frame, massage mechanism and running gear, and running gear is including initiative walking axle and driven walking axle, and initiative walking axle and driven walking axle rotate to set up in the frame its characterized in that: massage mechanism includes the mount pad, and the mount pad rotates around initiative walking axle, is provided with the opening that supplies the mount pad activity in the frame, is provided with drive mount pad pivoted ejecting mechanism between frame and the mount pad, ejecting mechanism is including ejecting motor, fan-shaped rack and ejecting gear, and ejecting motor is fixed to be set up in the frame, and ejecting motor drives driven walking axle and rotates, and fan-shaped rack sets up on the mount pad along the rotation orbit of mount pad, and ejecting gear circumference links and sets up on driven walking axle, and ejecting gear and fan-shaped rack interlock mutually.

2. The three-dimensional manipulator according to claim 1, characterized in that: the massage mechanism also comprises a swing arm and a massage wheel, the massage wheel is arranged on the swing arm, and a kneading transmission mechanism and a knocking transmission mechanism which drive the swing arm to be matched with the massage wheel to act are arranged on the mounting seat.

3. A three-dimensional robot as claimed in claim 1 or 2, characterized by: the frame is provided with a first detection assembly for detecting the maximum rotation angle of the mounting seat, and the frame is provided with a second detection assembly for detecting the rotation number of output shafts of the push-out motor.

4. A three-dimensional robot as claimed in claim 1 or 2, characterized by: the fan-shaped rack is characterized in that a protection structure for limiting the push-out gear to rotate away from the fan-shaped rack is arranged on the mounting seat, the protection structure is a first lug and a second lug which are arranged on the mounting seat, the first lug and the second lug are arranged on the rotating track of the mounting seat and are positioned on two sides of the driven walking shaft, and the first lug and the second lug can respectively stop the driven walking shaft.

5. A three-dimensional robot as claimed in claim 1 or 2, characterized by: the output shaft of the push-out motor is perpendicular to the driven walking shaft, a push-out worm is arranged on the output shaft of the push-out motor in a synchronous rotating mode, a push-out transmission shaft is arranged on the rack in a rotating mode, the push-out transmission shaft and the driven walking shaft are parallel to each other, a push-out worm wheel meshed with the push-out worm is arranged on the push-out transmission shaft in a synchronous rotating mode, a first push-out transmission gear is further arranged on the push-out transmission shaft in a synchronous rotating mode, and a second push-out transmission gear meshed with the first push-out transmission gear is arranged on the driven walking shaft in a synchronous rotating mode at the position corresponding to the first push-out transmission gear.

6. The three-dimensional manipulator according to claim 2, wherein: knead drive mechanism including kneading the axle and kneading the motor, knead the axle and rotate the setting on the mount pad, knead the motor and fix the setting on the mount pad, knead motor drive and knead the axle and rotate, swing arm and massage wheel symmetry are provided with two sets ofly to be located the both sides of mount pad, knead the axle and do not be provided with eccentric cover corresponding two swing arm punishments, be provided with the swing arm bearing on two swing arms respectively, swing arm bearing overcoat is in the eccentric cover that corresponds, kneads the axle and drives the swing arm swing.

7. The three-dimensional manipulator according to claim 6, wherein: the mount pad includes half left shell and half right shell, half left shell and half right shell fixed connection, kneads the motor and presss from both sides and locate between half left shell and the half right shell, kneads the output shaft perpendicular to of motor and kneads the axle, synchronous rotation is provided with the kneading worm on the output shaft of kneading the motor, rotates on the mount pad and is provided with the transmission shaft of kneading, kneads the transmission shaft and kneads the axle and be parallel to each other, kneads the worm wheel that synchronous rotation is provided with and kneads the worm interlock on the transmission shaft, kneads and still synchronous rotation is provided with first kneading drive gear on the transmission shaft, kneads epaxially and is provided with the second kneading drive gear with first kneading drive gear interlock in the synchronous rotation of transmission gear department corresponding.

8. A three-dimensional manipulator according to claim 6 or 7, characterized in that: the knocking transmission mechanism comprises a knocking shaft and a knocking motor, the knocking shaft and the kneading shaft are parallel to each other, the knocking shaft is rotatably arranged on the mounting seat, the knocking motor is fixedly arranged on the mounting seat, an output shaft of the knocking motor drives the knocking shaft to rotate, an eccentric part is arranged on the knocking shaft and eccentrically moves along with a main body of the knocking shaft, a knocking bearing seat is sleeved outside the eccentric part of the knocking shaft and is universally connected with the swing arm through a ball head connecting rod, and the knocking shaft drives the swing arm to knock.

9. A three-dimensional robot as claimed in claim 2, 6 or 7, wherein: the massage wheel is installed on the swing arm through the wheel carrier, and the massage wheel is fixed or rotate and set up on the wheel carrier, and the wheel carrier is articulated to be set up on the swing arm, fixed or integrative being provided with the projection on the wheel carrier, the swing arm is provided with the spacing groove on the rotation orbit of projection, and the projection can be inconsistent with the tip of spacing groove, is provided with the extension spring that the drive wheel carrier resets between swing arm and the wheel carrier, and extension spring one end is hooked and is established on the swing arm, and the other end is hooked and is established on the wheel carrier.

10. A three-dimensional robot as claimed in claim 1, 2, 6 or 7, wherein: the walking mechanism further comprises a walking motor, driving walking wheels are arranged at two ends of the driving walking shaft respectively, driven walking wheels are arranged at two ends of each driven walking shaft respectively, the walking motor is fixedly arranged on the rack, an output shaft of the walking motor is perpendicular to the driving walking shaft, a walking worm is arranged on the output shaft of the walking motor in a synchronous rotating mode, and a walking worm wheel meshed with the walking worm is arranged on the driving walking shaft in a synchronous rotating mode.