CN101856298B - Massage head with variable structure - Google Patents
Massage head with variable structure Download PDFInfo
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- CN101856298B CN101856298B CN2009100111130A CN200910011113A CN101856298B CN 101856298 B CN101856298 B CN 101856298B CN 2009100111130 A CN2009100111130 A CN 2009100111130A CN 200910011113 A CN200910011113 A CN 200910011113A CN 101856298 B CN101856298 B CN 101856298B
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Abstract
The invention relates to a massage robot structure, in particular to a massage head with a variable structure; the massage head comprises an electrical machine, a door-shaped frame and a T-shaped shaft, wherein both ends at one side of the T-shaped shaft are arranged on the door-shaped frame and are respectively penetrated out from both sides of the door-shaped frame; the two penetrating ends at one side of the T-shaped shaft are symmetrically provided with finger-shaped massage hands which can realize the two-hand pinching and pushing massage mode; the other side of the T-shaped shaft is articulated with a palm-shaped massage hand which can be expanded, folded and rotate along with the T-shaped shaft; and the electrical machine is arranged on the door-shaped frame, is connected with the T-shaped shaft by a driving device and drives the T-shaped shaft to rotate. The massage head is driven by a single motor, realizes the pinching and pushing massage by the transmission of a belt wheel and a gear train, has simple and practical structure, does not occupy more space, can achieve the working purpose by the simple structure, has multiple massage modes such as rubbing, rolling, pressing, shocking, pinching and pushing and the like, improves the massage efficiency and lightens the labor burden of doctors.
Description
Technical field
The present invention relates to the massage robot structure, specifically a kind of massage head with variable structure.
Background technology
The Chinese traditional massage robotics is the emerging technology that development in recent years is got up, and having started with the naturopathy theory is the medical field noinvasive diagnosis and treatment surgery branch of guidance.But present Chinese traditional massage robotics still belongs to the primary stage, though various simple push takes massage manipulation tentatively to satisfy action need, still has many defectives in accurate operation.Electromechanical integration technology, control technology, human-computer interaction technology are combined with traditional Chinese traditional massage means, develop motion positions accurate, easy to operate, have the interactive power perception and the effective massage robot equipment of monitor therapy overall process, significant for the great community service problem that promotes to bring with traditional Chinese medical science means solution aged tendency of population, be the trend of modern noinvasive diagnosis and treatment technical development.
In existing Chinese traditional massage robot, the structure of massage head all is changeless, and massaging way is single, and this has just restricted the application of Chinese traditional massage robot.
Summary of the invention
In order to solve the single problem of massaging way that existing massage head causes owing to structure immobilizes, the object of the present invention is to provide a kind of massage head with variable structure with multiple massaging way, expanded the application of Chinese traditional massage robot.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes motor, door shape frame and T profile shaft, described T profile shaft two ends on one side are installed on the shape frame, and passed by the both sides of door shape frame respectively, and T profile shaft two traversing through end on one side are arranged with can realize that both hands pinch the finger type massage hands of massaging way; The another side of described T profile shaft be hinged with deployable or close up, with the palm type massage hands of T profile shaft rotation; Described motor is installed on the shape frame, is connected with the T profile shaft by actuating device, drives the rotation of T profile shaft.
Wherein: described actuating device comprises first and second belt wheel and belt, and motor is installed on the shape frame by support, and first belt pulley is installed on the output shaft of motor, and second belt wheel is fixed on one side of T profile shaft, links to each other by belt between first and second belt wheel; Described palm type massage hands comprises first and second palm type massage hands, and first and second palm type massage hands is the semicircle sphere, is articulated in the another side of T profile shaft by connecting axle; First and second palm type massage hands can launch to form palm type massage head around connecting axle maybe can close up composition ball-type massage head around connecting axle; Described T profile shaft is established axle on one side, and second belt wheel is fixed on the axle, drive its rotation; The two ends of axle pass, also are connected with respectively first and third pinion by the both sides of door shape frame respectively, are arranged with first and second fixing head on the axle between first and second pinion and the door shape frame, and two fixing heads are connected to respectively on the shape frame; Rotating first and second is installed on first fixing head refers to type massage hands, rotating third and fourth is installed on second fixing head refers to type massage hands; Be respectively equipped with first and second axle on first fixing head, be connected with the first gear and first finger type massage hands on first, be connected with second largest gear and second finger type massage hands on second, first and second gear wheel is meshed; On second, also be connected with second pinion that is meshed with first pinion; Be respectively equipped with third and fourth axle on second fixing head, be connected with the third-largest gear and the 3rd finger type massage hands on the 3rd, be connected with the fourth-largest gear and the 4th finger type massage hands on the 4th, third and fourth gear wheel is meshed; On the 4th, also be connected with the fourth pinion that is meshed with third pinion; Described the first～four finger type massage hands can turn to the operating position synchronously or rotate synchronously and break away from the operating position.
Advantage of the present invention and good effect are:
1. simple in structure, compact.The present invention adopts single motor-driven, and the transmission by belt wheel and gear train realizes pinching massage, and is simple and practical, do not take more spaces, can reach the work purpose by simple structure.
2. massaging way is many.Massage head with variable structure of the present invention have rub, roll, by, multiple massaging way such as shake, pinch, improved massage efficient, alleviated doctor's work burden.
3. be easy to install.The present invention by door shape frame be connected with external moving cell can realize rubbing up by or the massaging way that rolls and shake, install simple.
Description of drawings
Fig. 1 for the present invention rub, by mode massage head perspective view;
Fig. 2 rolls, shakes mode massage head perspective view for the present invention;
Fig. 3 pinches mode massage head perspective view for both hands of the present invention;
Fig. 4 pinches the transmission sketch map of massaging way for realizing both hands;
Fig. 5 pinches the whole transmission sketch map of massaging way for both hands;
Wherein: 1 is motor, and 2 is support, and 3 is the T profile shaft, 4 is belt, and 5 is second belt wheel, and 6 is connecting axle, 7 is first palm type massage hands, and 8 is second palm type massage hands, and 9 is first finger type massage hands, 10 is second finger type massage hands, and 11 is the 3rd finger type massage hands, and 12 is the 4th finger type massage hands, 13 is first gear, and 14 is first, and 15 is first fixing head, 16 is first pinion, 17 is second fixing head, and 18 is the 4th, and 19 is fourth pinion, 20 is the fourth-largest gear, 21 is the third-largest gear, and 22 is the 3rd, and 23 is third pinion, 24 is axle, 25 is second, and 26 is second pinion, and 27 is second largest gear, 28 is first belt wheel, and 29 is door shape frame.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Shown in Fig. 1～5, the present invention includes motor 1, door shape frame 29 and T profile shaft 3, described T profile shaft 3 two ends on (long limit) on one side is installed on the shape frame 29, and is passed by the both sides of door shape frame 29 respectively by bearing, is arranged with on this T profile shaft 3 two traversing through end on one side and can realizes that both hands pinch the finger type massage hands of massaging way; The another side of described T profile shaft 3 (minor face) be hinged with deployable or close up, with the palm type massage hands of T profile shaft 3 rotation; Door shape frame 29 is provided with support 2, and motor 1 is fixedly mounted on the support 2, is connected with T profile shaft 3 by actuating device, drives 3 rotations of T profile shaft.
Actuating device comprises first and second belt wheel 28,5 and belt 4, and wherein first belt pulley, 28 keys are connected on the output shaft of motor 1, and T profile shaft 3 is established axle 24, the second belt wheels 5 on one side and is fixed on the axle 24, links to each other by belt 4 between first and second belt wheel 28,5.Actuating device also can be the meshed transmission gear structure, promptly is being provided with intermeshed gear on the output shaft of motor and on the axle, makes the rotation of motor-driven axle by two gear meshing.
Palm type massage hands comprises first and second palm type massage hands 7,8, and first and second palm type massage hands 7,8 is the semicircle sphere, is articulated in the another side of T profile shaft 3 by connecting axle 6 respectively; First and second palm type massage hands 7,8 can launch to form palm type massage head around connecting axle 6 maybe can close up composition ball-type massage head around connecting axle 6.
Operation principle of the present invention is:
When rub up by massaging way the time, as shown in Figure 1, the first～four finger type massage hands 9～12 breaks away from operating position (promptly the massage end of four finger type massage handss up), first and second palm type massage hands 7,8 is in operating position (promptly two palm type massage handss down), manually first and second palm type massage hands 7,8 is opened around connecting axle 6, by be installed in external moving cell on the shape frame 29 can realize massage head rub up by massaging way.
When the massaging way that rolls and shake, as shown in Figure 2, the first～four finger type massage hands 9～12 breaks away from the operating position, first and second palm type massage hands 7,8 is in the operating position, manually first and second palm type is massaged hands 7,8 around connecting axle 6 closures, it is spherical that two palm types massage handss are formed, and can realize the massaging way that rolls and shake of massage head by being installed in external moving cell on the shape frame 29.
When carrying out both hands when pinching massaging way, shown in Fig. 3～5, the motor 1 that is fixed on the support 2 drives 28 rotations of first belt wheel by output shaft, first belt wheel 28 drives second belt wheel 5 by belt 4 again and rotates, because axle 24 fixedlys connected with second belt wheel 5, so axle 24 and second belt wheel 5 rotate synchronously; And first and third pinion 16,23 at axle 24 two ends is also fixedlyed connected with axle 24, and therefore second belt wheel 5 drives axle 24 rotations, and axle 24 drives first and third pinion 16,23 again and rotates.Second pinion 26, second largest gear 27 and second finger type massage hands 10 all are fixed on second 25, first pinion 16 rotates under the drive of axle 24, meshing and drive second pinion 26 with second pinion 26 rotates, second pinion 26 drives second 25 and rotates, and second 25 promptly drives second largest gear 27 and 10 rotations of second finger type massage hands; Second largest gear 27 is with first gear 13 engagements and drive first gear 13 rotations, first gear 13 and first finger type massage hands 9 are fixed on first 14, first gear 13 drives first 14 and rotates, driving first finger type massage hands 10 for first 14 rotates, like this, motor 1 can drive first and second and refer to that type massage hands 9,10 turns to the operating position by the position that breaks away from work, realizes that first and second refers to opening of type massage hands 9,10 or closed, and then realizes the massage process that pinches.If motor 1 counter-rotating can drive first and second by aforesaid operations and refer to that type massage hands 9,10 opens, and breaks away from the operating position.
Simultaneously, fourth pinion 19, the fourth-largest gear 20 and the 4th finger type massage hands 12 all are fixed on the 4th 18, third pinion 23 rotates under the drive of axle 24, rotate with fourth pinion 19 engagements and drive fourth pinion 19, fourth pinion 19 drives the 4th 18 and rotates, and the 4th 18 promptly drives the fourth-largest gear 20 and 12 rotations of the 4th finger type massage hands; The fourth-largest gear 20 is with the third-largest gear 21 engagements and drive the third-largest gear 21 rotations, the third-largest gear 21 and the 3rd finger type massage hands 11 are fixed on the 3rd 22, the third-largest gear 21 drives the 3rd 22 and rotates, driving the 3rd finger type massage hands 11 for the 3rd 22 rotates, like this, motor 1 can drive third and fourth and refer to that type massage hands 11,12 turns to the operating position by the position that breaks away from work, realize that third and fourth refers to opening of type massage hands 11,12 or closed, and then realize the massage process that pinches.If motor 1 counter-rotating can drive third and fourth by aforesaid operations and refer to that type massage hands 11,12 opens, and breaks away from the operating position.
The present invention by a kind of massage head with variable structure can realize rubbing, roll, by, multiple massaging way such as shake, pinch.
Claims (7)
1. massage head with variable structure, it is characterized in that: comprise motor (1), door shape frame (29) and T profile shaft (3), described T profile shaft (3) two ends on one side are installed in a shape frame (29) and go up, and passed by the both sides of door shape frame (29) respectively, and T profile shaft (3) two traversing through end on one side are arranged with can realize that both hands pinch the finger type massage hands of massaging way; The another side of described T profile shaft (3) be hinged with deployable or close up, with the palm type massage hands of T profile shaft (3) rotation; Described motor (1) is installed on the shape frame (29), is connected with T profile shaft (3) by actuating device, drives T profile shaft (3) rotation.
2. by the described massage head with variable structure of claim 1, it is characterized in that: described actuating device comprises first and second belt wheel (28,5) and belt (4), motor (1) is installed on the shape frame (29) by support (2), first belt pulley (28) is installed on the output shaft of motor (1), second belt wheel (5) is fixed on one side of T profile shaft (3), links to each other by belt (4) between first and second belt wheel (28,5).
3. by the described massage head with variable structure of claim 1, it is characterized in that: described palm type massage hands comprises first and second palm type massage hands (7,8), and first and second palm type massage hands (7,8) is the semicircle sphere, is articulated in the another side of T profile shaft (3) by connecting axle (6); First and second palm type massage hands (7,8) can launch to form palm type massage head around connecting axle (6) maybe can close up composition ball-type massage head around connecting axle (6).
4. by the described massage head with variable structure of claim 2, it is characterized in that: described T profile shaft (3) is established axle (24) on one side, and second belt wheel (5) is fixed in axle (24) and goes up, drives its rotation; The two ends of axle pass, also are connected with respectively first and third pinion (16,23) by the both sides of door shape frame (29) respectively, be arranged with first and second fixing head (15,17) on the axle between first and second pinion (16,23) and the door shape frame (29), two fixing heads are connected to respectively on the shape frame (29); Rotating first and second is installed on first fixing head (15) refers to type massage hands (9,10), rotating third and fourth is installed on second fixing head (17) refers to type massage hands (11,12).
5. by the described massage head with variable structure of claim 4, it is characterized in that: be respectively equipped with first and second axle (14,25) on described first fixing head (15), be connected with the first gear (13) and first finger type massage hands (9) on first (14), be connected with the second largest gear (27) and second finger type massage hands (10) on second (25), first and second gear wheel (13,27) is meshed; On second (25), also be connected with second pinion (26) that is meshed with first pinion (16).
6. by the described massage head with variable structure of claim 4, it is characterized in that: be respectively equipped with third and fourth axle (22,18) on described second fixing head (17), be connected with the third-largest gear (21) and the 3rd finger type massage hands (11) on the 3rd (22), be connected with the fourth-largest gear (20) and the 4th finger type massage hands (12) on the 4th (18), third and fourth gear wheel (21,20) is meshed; On the 4th (18), also be connected with the fourth pinion (19) that is meshed with third pinion (23).
7. by the described massage head with variable structure of claim 4, it is characterized in that: described the first～four finger type massage hands (9～12) can turn to the operating position synchronously or rotate synchronously and break away from the operating position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100111130A CN101856298B (en) | 2009-04-10 | 2009-04-10 | Massage head with variable structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100111130A CN101856298B (en) | 2009-04-10 | 2009-04-10 | Massage head with variable structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101856298A CN101856298A (en) | 2010-10-13 |
| CN101856298B true CN101856298B (en) | 2011-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100111130A Expired - Fee Related CN101856298B (en) | 2009-04-10 | 2009-04-10 | Massage head with variable structure |
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| Country | Link |
|---|---|
| CN (1) | CN101856298B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539672B (en) * | 2016-12-07 | 2019-01-18 | 安吉富和家具有限公司 | A kind of thing to sit on multi-mode message structure |
| TW201922195A (en) * | 2017-11-15 | 2019-06-16 | 乙威科技國際有限公司 | Massage machine |
| CN109939306A (en) * | 2019-04-24 | 2019-06-28 | 杭州良辰电子商务有限公司 | A kind of Portable face beauty instrument device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4718408A (en) * | 1986-04-29 | 1988-01-12 | Armando Barreiro | Variable massage apparatus having a clutch selectively engaging alternate gears |
| CN1170568A (en) * | 1996-05-27 | 1998-01-21 | 三洋电机株式会社 | Massage machine of chair type |
| CN201379765Y (en) * | 2009-04-10 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Massage head with changeable structure |
-
2009
- 2009-04-10 CN CN2009100111130A patent/CN101856298B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4718408A (en) * | 1986-04-29 | 1988-01-12 | Armando Barreiro | Variable massage apparatus having a clutch selectively engaging alternate gears |
| CN1170568A (en) * | 1996-05-27 | 1998-01-21 | 三洋电机株式会社 | Massage machine of chair type |
| CN201379765Y (en) * | 2009-04-10 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Massage head with changeable structure |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平9-140759A 1997.06.03 |
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| CN101856298A (en) | 2010-10-13 |
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Granted publication date: 20110817 Termination date: 20130410 |