CN106420331A - Multi-mode automatic massaging device - Google Patents
Multi-mode automatic massaging device Download PDFInfo
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- CN106420331A CN106420331A CN201611077181.3A CN201611077181A CN106420331A CN 106420331 A CN106420331 A CN 106420331A CN 201611077181 A CN201611077181 A CN 201611077181A CN 106420331 A CN106420331 A CN 106420331A
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- massage
- swing arm
- massaging
- massage head
- fixed plate
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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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (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 discloses a multi-mode automatic massaging device which comprises a massaging device and a mechanical arm driving the massaging device to perform motion. The massaging device comprises multiple massaging mechanisms and massaging mechanism fixing seats, wherein the multiple massaging mechanisms are arranged on the massaging mechanism fixing seats in the circumferential direction, each massaging mechanism comprises a massaging module and a massaging module driving mechanism driving the massaging module to perform single in-plane arc movement. The massaging module comprises a massaging head and a massaging head fixing plate. The mechanical arm comprises a mechanical arm fixing seat, a first rotating arm, a first swing arm, a second swing arm, a third swing arm, a second rotating arm and a fixing plate. The multi-mode automatic massaging device can simulate massaging actions of the fingers, can conduct acupoint massage on a human body and can also massage the human body in the multiple modes of 'grasping manipulation', 'pinching manipulation', 'pushing manipulation' and the like.
Description
Technical field
The present invention relates to health care field, and in particular to a kind of automatic massage equipment of Suresh Kumar.
Background technology
Physical therapy is to directly act on human body by artificial or nature physical factor, by the direct effect to body local
Cause human response with the indirect action of nerve, body fluid, blood circulation is adjusted, improve Nutrition and Metabolism, immunologic function is improved, adjust
Nervous function, promotion organization reparation, thus paathogenic factor is eliminated, improve pathological process, reach purpose of curing the disease.
Traditional physical therapy mode is Chinese traditional massage, i.e., patient is massaged to reach treatment disease by the maneuver of the traditional Chinese medical science
Purpose.But the development with science and technology, prior art occurs in that various physiotherapy equipmenies, such as Application No.
The application for a patent for invention of " CN201610281143.3 " discloses " physical therapeutic system with acupoint massage function ", and the system includes
Control device and physiotherapy equipment, wherein；The physiotherapy equipment includes the first therapeutic department, the first massage machine array, the second physical therapy
Portion, scanning means and the second massage machine array, second therapeutic department is arranged at predeterminable range above first therapeutic department,
The first massage machine array is arranged at the upper surface of first therapeutic department, the scanning means and the second massage machine battle array
Row may be contained within the lower surface of second therapeutic department, and the first massage machine array includes the first massage machine, and described the
The upper surface of one massage machine is provided with physical therapy Magnetitum, and the second massage machine array includes the second massage machine；Described
The second massage machine in the first massage machine, scanning means and the second massage machine array in one massage machine array is all electric
It is connected to the control device.During work, patient is lain low in the upper surface of first therapeutic department, and scanning means is to lying low first
It is scanned in the patient of the upper surface of first therapeutic department, to obtain the three-dimensional data of patient body；Then the patient
Three-dimensional information passes to control device, and the control device sets up the threedimensional model of the patient body according to the three-dimensional data, and
According to the acupoint information in the default human acupoint layout information acquisition threedimensional model and according in the threedimensional model
Acupoint information distinguishes the first acupuncture point and the second acupuncture point；Soniclizer is then passed through by medicine liquid spray in patient skin table
Face, subsequent control device controls the first massage machine array and the second massage dress according to the acupoint information in patient's threedimensional model
Put array to massage the acupuncture point of patient.The physical therapeutic system can be massaged to human acupoint, drastically increase reason
Therapeutic effect.
However, the existing above-mentioned physical therapeutic system with acupoint massage function also has following deficiency：
Massage machine in the above-mentioned physical therapeutic system with acupoint massage function is mainly made up of massage bar, by massage bar
The motion of in the vertical direction, reaches the purpose pressed by human acupoint, but, this massaging way can only achieve pressing
The effect at acupuncture point, for some other massage manipulations, such as grasping manipulation, lifting manipulation, pinching method, pushing manipulation etc., the physical therapeutic system cannot be complete
Become.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, a kind of automatic massage equipment of Suresh Kumar, the dress is provided
The massaging action by simulating finger is put, and both acupoint massage can be carried out to human body, and can be carried out " grasping manipulation " again to human body, " pinch
The massage of the various ways such as method ", " pushing manipulation ".
The present invention solves the technical scheme of above-mentioned technical problem：
A kind of automatic massage equipment of Suresh Kumar, including multiple massage mechanisms and massage mechanism fixed seat, wherein,
The plurality of massage mechanism is circumferentially arranged in massage mechanism fixed seat；Each massage mechanism bag
Include massage assembly and drive massage assembly that the massage assembly drive mechanism of movement in a curve in single plane is done, wherein, described press
The component that rubs includes massage head and massage head fixed plate, and the massage head is fixed in the massage head fixed plate, the massage
One end of head fixed plate is connected in massage mechanism fixed seat by the first rotational structure, and the other end is driven with the massage assembly
Mechanism connects；
The massage assembly drive mechanism includes that connecting plate and drive connection plate do the massage assembly of straight-line feed motion
Straight line driving mechanism；It is connected by the second rotational structure between the connecting plate and the massage head fixed plate, the massage group
The power output member of part straight line driving mechanism is connected with connecting plate, and the pedestal of the massage assembly straight line driving mechanism passes through the 3rd turn
Dynamic structure is connected in massage mechanism fixed seat；
The mechanical hand includes mechanical hand fixed seat, the first cursor, the first swing arm, the second swing arm, the 3rd swing
Arm, the second cursor and fixed plate, wherein, first cursor is connected to mechanical hand fixed seat by the 4th rotational structure
On, be provided between mechanical hand fixed seat and the first cursor drive the first cursor around the 4th rotational structure axis rotate the
One rotating drive mechanism；One end of first swing arm is connected on the first cursor by the first swinging structure, first turn
Be provided with the first wobble drive for the first swing arm being driven around the axis rotation of the first swinging structure between swing arm and the first swing arm
Mechanism；The other end of first swing arm is connected on one end of the second swing arm by the second swinging structure, and first swings
Be provided with the second wobble drive structure for the second swing arm being driven around the axis rotation of the second swinging structure between arm and the second swing arm；
The other end of second swing arm is connected on one end of the 3rd swing arm by the 3rd swinging structure, the second swing arm and
Be provided with the 3rd swing driving mechanism for the 3rd swing arm being driven around the axis rotation of the 3rd swinging structure between three swing arms；Described
The other end of the 3rd swing arm is connected by the 5th rotational structure on one end of the second cursor, and the 3rd swing arm and second is rotated
Being provided between arm drives the second cursor the second rotating drive mechanism to be rotated around the axis of the 5th rotational structure；The fixed plate sets
Put the second cursor around the other end.
One preferred version of the present invention, the massage assembly also includes to be arranged between massage head and massage head fixed plate
Massage head support bar, one end of the massage head support bar is fixedly connected with massage head, and the other end is passed through with massage head fixed plate
Slide construction connects, and is cased with compression spring on the massage head support bar, and one end of the compression spring is acted in massage head, another
End is acted in massage head fixed plate.The massage head by resilient force on the skin of the patient, improves comfortableness, and
Can adjustment effect power as needed size, it is to avoid the patient harm because dynamics is excessive.
Further, the massage head support bar is provided with force cell on the one end being connected with massage head fixed plate.
Can so detect that massage head acts on the power on human body, implement massage when the automatic massage equipment by the Suresh Kumar of the present invention and move
During the Based Intelligent Control massage of work, the active force that human body can be applied come adjusting massage head according to the active force for detecting, allow
Massage force is in most suitable state.
One preferred version of the present invention, the massage assembly straight line driving mechanism includes massage motor and lead screw transmission machine
Structure, wherein, the support of the massage motor is connected to massage mechanism fixed seat by the 3rd rotational structure, the master of the massage motor
Axle is connected with the leading screw in lead-screw drive mechanism by shaft coupling, and the feed screw nut in lead-screw drive mechanism is fixed even with connecting plate
Connect；The support of the massage motor constitutes the pedestal of the massage assembly straight line driving mechanism, the main shaft structure of the massage motor
Become the power output member of the massage assembly straight line driving mechanism.The massage motor is generally constituted using servomotor, so
The pendulum angle of massage assembly and the speed for swinging can be accurately controlled, meets variation massage needs.
One preferred version of the present invention, the massage mechanism fixed seat includes the connection for being connected with the fixed plate
Bar, one end of the connecting rod is provided with multiple extension mounting blocks for radially extending, and the extension mounting blocks are provided with towards away from massage
The motor mounting plate that the direction of head extends, the massage head fixed plate is connected to the extension mounting blocks by the first rotational structure
On, the support of the massage motor is connected on motor mounting plate by the 3rd rotational structure.By said structure, facilitate implementation
The massage machine is connected with the mechanical hand for driving the massage machine movement, simultaneously facilitates the massage head fixed plate and massage electricity
The connection of machine and massage mechanism fixed seat.
One preferred version of the present invention, the massage mechanism is four, to be circumferentially uniformly distributed.Using four
Massage mechanism can simulate conventional four fingers during staff massage, be allowed to have the function of more meeting staff massage effect.
The operation principle of the automatic massage equipment of the Suresh Kumar of the present invention is：
During work, due to, in the mechanical hand, being sequentially connected the first cursor with movable joint in mechanical hand fixed seat
One swing arm, the second swing arm, the 3rd swing arm, the second cursor, two of which is cradle head, and three is swinging joint,
Altogether there are five degree of freedom, therefore, it is possible to neatly drive massage machine to move in three dimensions, reach any cave of human body
Position position is massaged.In massage, in the massage machine, the straight line driving mechanism band of each massage mechanism is dynamically connected
Plate does straight-line feed motion, due to being connected between the connecting plate and massage head fixed plate, institute by second rotational structure
State and be connected by the first rotational structure between massage head fixed plate and the massage mechanism fixed seat, massage assembly straight line driving
The pedestal of structure is connected in massage mechanism fixed seat by the 3rd rotational structure, therefore, connecting plate drive for linear motion
Massage head fixed plate and the massage head being fixed in the massage head fixed plate do movement in a curve with the first rotational structure as the center of circle,
And the massage head in each massage mechanism can individually make above-mentioned circular motion, such that it is able to select certain amount of massage
Head completes the massage of specific action, for example, when being worked using single massage head, can complete to press, the massaging action such as rub, wipe,
When using two or more massage head work, the pressure at two or more acupuncture points can be completed simultaneously, the massaging action such as rub, wipe,
Can combine and the massaging actions such as " by ", " pinching " are completed, so as to rich and varied massaging action is obtained, and then obtain more preferable
Massage effect.Massage head in the present invention can adopt the existing massage device with massage effect.
The present invention has following beneficial effect compared with prior art：
1st, the automatic massage equipment of the Suresh Kumar of the present invention is due to multiple massage head, and each massage head can independent work
Make, it is also possible to associated working, so as to simulate the massaging action of staff, be not only able to realize single finger pressing, rub, wipe etc. by
Rub action, can also combine and complete the massaging actions such as " by ", " pinching ", so as to obtain rich and varied massaging action, enter
And obtain more preferable massage effect.
2nd, moved by mechanical hand automatic traction massage machine so that the massage machine is accurately arrived at will with patient
Where massage, massage machine is facilitated to implement different massage manipulations.
Description of the drawings
Fig. 1 is the perspective view of a specific embodiment of the automatic massage equipment of the Suresh Kumar of the present invention.
Fig. 2 is the perspective view of massage machine in Fig. 1.
Fig. 3 is the side view of massage machine in Fig. 1.
Fig. 4 is the partial sectional view of mechanical hand in Fig. 1.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Referring to Fig. 1～Fig. 4, the automatic massage equipment of the Suresh Kumar of the present invention, including massage machine B and drive massage dress
Put the mechanical hand A of B motion.Wherein,
Include multiple massage mechanisms 1 and massage mechanism fixed seat 2 referring to Fig. 2 and Fig. 3, the massage machine B, wherein,
The plurality of massage mechanism 1 is circumferentially arranged in massage mechanism fixed seat 2；Each massage mechanism 1 include by
Rub and component and drive massage assembly to do the massage assembly drive mechanism of movement in a curve in single plane, wherein, the massage group
Part includes massage head 1-8 and massage head fixed plate 1-5, and massage head 1-8 is fixed in massage head fixed plate 1-5,
One end of massage head fixed plate 1-5 is connected in massage mechanism fixed seat 2 by the first rotational structure 3, the other end and institute
State the connection of massage assembly drive mechanism；
Referring to Fig. 2 and Fig. 3, the massage assembly drive mechanism includes that connecting plate 1-4 and drive connection plate 1-4 do straight line
The massage assembly straight line driving mechanism of feed motion；Pass through second between the connecting plate 1-4 and massage head fixed plate 1-5
Rotational structure 4a connects, and the power output member of the massage assembly straight line driving mechanism is connected with connecting plate 1-4, the massage assembly
The pedestal of straight line driving mechanism is connected in massage mechanism fixed seat 2 by the 3rd rotational structure 5.
Referring to Fig. 4, the mechanical hand A include mechanical hand fixed seat 1a, the first cursor 2a, the first swing arm 3a, second
Swing arm 4a, the 3rd swing arm 6a, the second cursor 5a and fixed plate 10a, wherein, the first cursor 2a passes through the 4th
Rotational structure 2-2a is connected in mechanical hand fixed seat 1a, is provided with driving between mechanical hand fixed seat 1 and the first cursor 2a
One cursor 2a is around the first rotating drive mechanism 2-1a of the axis rotation of the 4th rotational structure 2-2a；The first swing arm 3a
One end be connected on the first cursor 2a by the first swinging structure 7-2a, between the first cursor 2a and the first swing arm 3a
Be provided with the first swing driving mechanism 7-1a for the first swing arm 3a being driven around the axis rotation of the first swinging structure 7-2a；Described
The other end of one swing arm 3a is connected to by the second swinging structure 8-2a on one end of the second swing arm 4a, the first swing arm 3a
And second be provided with the second swing that rotates of axis for driving the second swing arm 4a around the second swinging structure 8-2a between swing arm 4a
Drive mechanism 8-1a；The other end of the second swing arm 4a is connected to the 3rd swing arm 6a's by the 3rd swinging structure 9-2a
On one end, the 3rd swing arm 6a of driving is provided between the second swing arm 4a and the 3rd swing arm 6a around the 3rd swinging structure 9-2a's
The 3rd swing driving mechanism 9-1a that axis is rotated；The other end of the 3rd swing arm 6a is by the 5th rotational structure 5-2a even
Connecing on one end of the second cursor 5a, the second cursor 5a of driving is provided between the 3rd swing arm 6a and the second cursor 5a around the
The axis of five rotational structures 5-2a rotates the second rotating drive mechanism 5-1a；Fixed plate 10a is arranged on the second cursor 5a
Around the other end.The first described rotating drive mechanism 2-1a, the second rotating drive mechanism 5-1a, the first swing driving mechanism 7-
1a, the second swing driving mechanism 8-1a, the 3rd swing driving mechanism 9-1a are constituted by servomotor.
Referring to Fig. 2 and Fig. 3, the massage assembly also includes to be arranged between massage head 1-8 and massage head fixed plate 1-5
Massage head support bar 1-7, one end of massage head support bar 1-7 is fixedly connected with massage head 1-8, and the other end is fixed with massage head
Plate 1-5 is connected by slide construction, is cased with compression spring 1-6, one end of compression spring 1-6 on massage head support bar 1-7
Act in massage head 1-8, the other end is acted in massage head fixed plate 1-5.Massage head 1-8 is existed by resilient force
On the skin of patient, improve comfortableness, and can adjustment effect power as needed size, it is to avoid injure because dynamics is excessive
Patient.
Survey is provided with the one end being connected with massage head fixed plate 1-5 referring to Fig. 2 and Fig. 3, the massage head support bar 1-7
Force transducer.Can so detect that massage head 1-8 acts on the power on human body, when setting the automatic massage of the Suresh Kumar of the present invention
Standby implement massaging action Based Intelligent Control massage when, the active force that can be detected according to this is come adjusting massage head 1-8 to human body
The active force of applying, allows massage force in most suitable state.
Referring to Fig. 2 and Fig. 3, the massage assembly straight line driving mechanism includes massage motor 1-1 and lead-screw drive mechanism, its
In, the support of massage motor 1-1 is connected to massage mechanism fixed seat 2 by the 3rd rotational structure 5, massage motor 1-1
Main shaft be connected with the leading screw 1-3 in lead-screw drive mechanism by shaft coupling 1-2, the feed screw nut in lead-screw drive mechanism and company
Fishplate bar 1-4 is fixedly connected；The support of massage motor 1-1 constitutes the pedestal of the massage assembly straight line driving mechanism, described
The main shaft of massage motor 1-1 constitutes the power output member of the massage assembly straight line driving mechanism.Massage motor 1-1 is usual
Constituted using servomotor, the pendulum angle of massage assembly and the speed for swinging can be so accurately controlled, meets variation
Massage needs.
Referring to Fig. 2 and Fig. 3, the massage mechanism fixed seat 2 includes connecting rod 2- for being connected with fixed plate 10a
3, one end of connecting rod 2-3 is provided with multiple extension mounting blocks 2-1 for radially extending, extension mounting blocks 2-1 and is provided with court
Away from the motor mounting plate 2-2 that the direction of massage head 1-8 extends, massage head fixed plate 1-5 is by the first rotational structure 3 even
It is connected on the extension mounting blocks 2-1, the support of massage motor 1-1 is connected to motor installation by the 3rd rotational structure 5
On plate 2-2.By said structure, facilitate implementation the massage machine B and be connected with the mechanical hand A for driving massage machine B movement,
Simultaneously facilitate the connection of massage head fixed plate 1-5 and massage motor 1-1 and massage mechanism fixed seat 2.
Referring to Fig. 2 and Fig. 3, the massage mechanism 1 is four, to be circumferentially uniformly distributed.Using four massage appliances
Structure 1 can simulate conventional four fingers during staff massage, be allowed to have the function of more meeting staff massage effect.
Referring to Fig. 1～Fig. 4, below in conjunction with the accompanying drawings the operation principle of the automatic massage equipment of the Suresh Kumar of the present invention is made into
One step is described：
During work, due to, in the mechanical hand A, being sequentially connected the first cursor with movable joint in mechanical hand fixed seat 1a
2a, the first swing arm 3a, the second swing arm 4a, the 3rd swing arm 6a, the second cursor 5a, two of which is cradle head, three
Individual is swinging joint, has five degree of freedom altogether, therefore, it is possible to neatly drive massage machine B to move in three dimensions,
Reach any acupuncture point position of human body to be massaged.
In massage, in the massage machine B, the straight line driving mechanism of each massage mechanism 1 drives connecting plate 1-4 to do directly
Line feed motion, due to being connected by second rotational structure 4 between the connecting plate 1-4 and massage head fixed plate 1-5, institute
State between massage head fixed plate 1-5 and the massage mechanism fixed seat 2 and be connected by the first rotational structure 3, massage assembly straight line
The pedestal of drive mechanism is connected in massage mechanism fixed seat 2 by the 3rd rotational structure 5, and therefore, the connecting plate 1-4 makees straight
Line motion drives massage head fixed plate 1-5 and massage head 1-8 being fixed in massage head fixed plate 1-5 to rotate with first and tie
Massage head 1-8 that structure 3 is done for the center of circle in movement in a curve, and each massage mechanism 1 can individually make above-mentioned circular motion, from
And certain amount of massage head 1-8 can be selected to complete the massage of specific action, for example, when being worked using single massage head 1-8,
Can complete to press, the massaging action such as rub, wipe, when using the work of two or more massage head 1-8, can complete simultaneously two or
The pressure at multiple acupuncture points, the massaging action such as rub, wipe, it is also possible to combine and the massaging actions such as " by ", " pinching " are completed, so as to obtain
Rich and varied massaging action, obtains more preferable massage effect.Massage head 1-8 in the massage machine B can adopt existing
Massage device with massage effect.
It is above-mentioned that but embodiments of the present invention are not limited by the above for the present invention preferably embodiment, its
His any spirit without departing from the present invention and the change that is made under principle, modification, replacement, combine, simplify, all should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (6)
1. the automatic massage equipment of a kind of Suresh Kumar, it is characterised in that including massage machine and with electric massage device motion
Mechanical hand；
The massage machine includes multiple massage mechanisms and massage mechanism fixed seat, and the plurality of massage mechanism is circumferentially square
To being arranged in massage mechanism fixed seat；Each massage mechanism includes massage assembly and drives massage assembly to do single putting down
The massage assembly drive mechanism of movement in a curve in face, wherein, the massage assembly includes massage head and massage head fixed plate, institute
State massage head to be fixed in the massage head fixed plate, one end of the massage head fixed plate by the first rotational structure be connected to by
Rub in mechanism's fixed seat, the other end is connected with the massage assembly drive mechanism；
The massage assembly drive mechanism includes that connecting plate and drive connection plate do the massage assembly straight line of straight-line feed motion
Drive mechanism；It is connected by the second rotational structure between the connecting plate and the massage head fixed plate, the massage assembly is straight
The power output member of line drive mechanism is connected with connecting plate, and the pedestal of the massage assembly straight line driving mechanism rotates knot by the 3rd
Structure is connected in massage mechanism fixed seat；
The mechanical hand include mechanical hand fixed seat, the first cursor, the first swing arm, the second swing arm, the 3rd swing arm,
Two cursors and fixed plate, wherein, first cursor is connected in mechanical hand fixed seat by the 4th rotational structure, machine
Be provided with the first cursor is driven around the axis rotation of the 4th rotational structure first turn between tool handss fixed seat and the first cursor
Dynamic drive mechanism；One end of first swing arm is connected on the first cursor by the first swinging structure, the first cursor
And first be provided with the first swing driving mechanism that rotates of axis for driving the first swing arm around the first swinging structure between swing arm；
The other end of first swing arm is connected on one end of the second swing arm by the second swinging structure, the first swing arm and
Be provided with the second wobble drive structure for the second swing arm being driven around the axis rotation of the second swinging structure between two swing arms；Described
The other end of two swing arms is connected on one end of the 3rd swing arm by the 3rd swinging structure, and the second swing arm and the 3rd swings
Be provided with the 3rd swing driving mechanism for the 3rd swing arm being driven around the axis rotation of the 3rd swinging structure between arm；3rd pendulum
The other end of swing arm is connected by the 5th rotational structure on one end of the second cursor, between the 3rd swing arm and the second cursor
Being provided with drives the second cursor the second rotating drive mechanism to be rotated around the axis of the 5th rotational structure；The fixed plate is arranged on
Two cursors around the other end.
2. the automatic massage equipment of Suresh Kumar according to claim 1, it is characterised in that the massage assembly also includes to set
The massage head support bar between massage head and massage head fixed plate is put, one end of the massage head support bar is fixed even with massage head
Connect, the other end is connected by slide construction with massage head fixed plate, on the massage head support bar, compression spring is cased with, the compression bullet
One end of spring is acted in massage head, and the other end is acted in massage head fixed plate.
3. the automatic massage equipment of Suresh Kumar according to claim 2, it is characterised in that the massage head support bar with
One end of massage head fixed plate connection is provided with force cell.
4. the automatic massage equipment of Suresh Kumar according to claim 1, it is characterised in that the massage assembly linear drives
Mechanism includes massage motor and lead-screw drive mechanism, and wherein, the support of the massage motor is connected to by the 3rd rotational structure
Massage mechanism fixed seat, the main shaft of the massage motor is connected with the leading screw in lead-screw drive mechanism by shaft coupling, lead screw transmission
Feed screw nut in mechanism is fixedly connected with connecting plate；The support of the massage motor constitutes the massage assembly straight line driving
The pedestal of structure, the main shaft of the massage motor constitutes the power output member of the massage assembly straight line driving mechanism.
5. the automatic massage equipment of Suresh Kumar according to claim 1 and 2, it is characterised in that the massage mechanism is fixed
Seat includes the connecting rod for being connected with the fixed plate, and one end of the connecting rod is provided with multiple extensions for radially extending and installs
Block, the extension mounting blocks are provided with the motor mounting plate for extending towards the direction away from massage head, and the massage head fixed plate passes through
First rotational structure is connected on the extension mounting blocks, and the support of the massage motor is connected to electricity by the 3rd rotational structure
On machine installing plate.
6. the automatic massage equipment of Suresh Kumar according to claim 5, it is characterised in that the massage mechanism is four,
Circumferentially it is uniformly distributed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077181.3A CN106420331B (en) | 2016-11-30 | 2016-11-30 | A kind of automatic massage equipment of Suresh Kumar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077181.3A CN106420331B (en) | 2016-11-30 | 2016-11-30 | A kind of automatic massage equipment of Suresh Kumar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106420331A true CN106420331A (en) | 2017-02-22 |
| CN106420331B CN106420331B (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611077181.3A Expired - Fee Related CN106420331B (en) | 2016-11-30 | 2016-11-30 | A kind of automatic massage equipment of Suresh Kumar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107456378A (en) * | 2017-08-07 | 2017-12-12 | 于瑞晓 | A kind of Novel neurological clinical treatment device |
| CN108926470A (en) * | 2018-07-16 | 2018-12-04 | 李宗唐 | Portable bionics massage back pounding apparatus |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN112137855A (en) * | 2020-09-24 | 2020-12-29 | 昆明理工大学 | Rigidity-variable soft massage robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107456378A (en) * | 2017-08-07 | 2017-12-12 | 于瑞晓 | A kind of Novel neurological clinical treatment device |
| CN108926470A (en) * | 2018-07-16 | 2018-12-04 | 李宗唐 | Portable bionics massage back pounding apparatus |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN112137855A (en) * | 2020-09-24 | 2020-12-29 | 昆明理工大学 | Rigidity-variable soft massage robot |
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| CN106420331B (en) | 2019-04-19 |
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