CN102319168A - Massaging device with multiple massaging manipulations - Google Patents

Massaging device with multiple massaging manipulations Download PDF

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Publication number
CN102319168A
CN102319168A CN201110218130A CN201110218130A CN102319168A CN 102319168 A CN102319168 A CN 102319168A CN 201110218130 A CN201110218130 A CN 201110218130A CN 201110218130 A CN201110218130 A CN 201110218130A CN 102319168 A CN102319168 A CN 102319168A
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China
Prior art keywords
assembly
worm
row
wrist
massage
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Granted
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CN201110218130A
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Chinese (zh)
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CN102319168B (en
Inventor
康正
刘福利
宋胜捷
王伟生
栾好恒
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Shandong Kangtai Industry Co Ltd
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Shandong Kangtai Industry Co Ltd
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Priority to CN 201110218130 priority Critical patent/CN102319168B/en
Publication of CN102319168A publication Critical patent/CN102319168A/en
Application granted granted Critical
Publication of CN102319168B publication Critical patent/CN102319168B/en
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Abstract

The invention relates to a massaging device, in particular relates to a massaging device with pinching, finger kneading, finger pressing, palm kneading, palm massaging, palm pressing, tapping, thermotherapy and other various Chinese medical massaging manipulations, and belongs to the technical field of massaging device structures. The device comprises an arm part 1, a wrist part and a hand part which is capable of carrying out operations of pinching, finger kneading, finger pressing, palm kneading, palm massaging, palm pressing, tapping and thermotherapy. According to the device with multiple massaging manipulations, multiple Chinese medical massaging manipulations, such as pinching, finger kneading, finger pressing, palm kneading, palm massaging, palm pressing, tapping, thermotherapy and the like can be realized, and five fingers of the hand part can move independently, so that the massaging can be more flexible, and the problem of poor massaging comfort is improved.

Description

Massage machine with multiple massage manipulation
Technical field
The present invention relates to a kind of massage machine, particularly a kind ofly have pinching, refer to rub, refer to by, the palm rub, slap push away, slap by, kowtow hit, the massage machine of multiple Chinese traditional massage maneuver such as thermotherapy, belong to the massage machine technical field of structures.
Background technology
At present, existing massage machine, like No. 201020245427.5 disclosed massage machines of patent, the disclosed massage machine of this patent, it pinches action and drives thumb assembly and four row's finger assembly motion realization by pinching motor through interlinked mechanism.Realize kneading, open action through the forward and reverse motion that pinches motor, this pinches mechanism and realizes through a motor-driven, and four rows refer to be connected as a single entity through frame for movement; Can only mass motion and can not independently moving, four rows refer to contact simultaneously human body and pinch the position when therefore pinching, even the row who has refer to that the dynamics that pinches is very big and row's abutment of having less than pinching the position; Greatly reduce the comfort level of massage; Therefore, though said apparatus can be realized the massage manipulation that pinches of the traditional Chinese medical science, because structural limitations; The comfort level that pinches is reduced greatly, can not satisfy the requirement of Chinese traditional massage.
Summary of the invention
The objective of the invention is to solve the weak point that above-mentioned prior art exists; Provide a kind of and can satisfy the theoretical and Chinese traditional massage maneuver requirement of traditional Chinese massage; 5 fingers can single movement; Make the comfort level that pinches be able to significantly promote, can realize pinching, refer to rub, refer to by, the palm rub, slap push away, slap by, kowtow hit, the massage machine of Chinese traditional massage maneuver such as thermotherapy.
The present invention realizes through following technical scheme:
Massage machine with multiple massage manipulation, its special character be to comprise successively arm parts 1, the wrist parts 2 that link to each other and can pinch, refer to rub, refer to by, the palm rub, slap push away, slap by, kowtow hit, the hand member 3 of thermotherapy operation;
Said arm parts 1 comprise that being installed on intravital the kowtowing of shell hits eccentric shaft 4, kowtows and hit motor 5, kowtow and hit turning cylinder 7; Kowtow and hit eccentric shaft 4 and be provided with co-axial big belt pulley 11; Kowtow the output shaft that hits motor 5 and be provided with between co-axial small belt pulley 9, two belt pulleys through driving belt 10 and connect, kowtow and hit eccentric shaft 4 and be connected with link assembly 6; The other end of link assembly 6 and kowtowing hits turning cylinder 7 and all hits connecting plate 8 and link to each other with kowtowing, and kowtows to hit connecting plate 8 and link to each other with wrist parts 2;
Said wrist parts 2 comprise wrist rest part 17; The wrist rotating shaft 15 that wrist motor 16 is installed in the wrist rest part 17, links to each other with hand member 3; The output shaft of wrist motor 16 is provided with co-axial pinion 12; Wrist rotating shaft 15 is provided with co-axial gear wheel 13, and pinion 12 is connected with a joggle with gear wheel 13, drives wrist rotating shaft 15 after wrist motor 16 slows down through gear wheel 13, pinion 12 and rotates; The face of gear edge of gear wheel 13 is provided with locating hole; Electromagnetic lock assembly 14 is installed on the wrist rest part 17, and the electromagnetic lock bearing pin 18 on the electromagnetic lock assembly 14 is coaxial with locating hole, realizes the locking of wrist parts 2 through the break-make electricity of electromagnetic lock assembly 14; During 14 energisings of electromagnetic lock assembly, electromagnetic lock bearing pin 18 can pass the locating hole on the gear wheel 13, and wrist parts 2 are pinned, and during the electromagnetic lock outage, electromagnetic lock bearing pin 18 can rotate wrist parts 2 at the locating hole that withdraws under the effect of spring 21 on the gear wheel 13;
Said hand member 3 comprises hand support part 25; The below of hand support part 25 is equipped with thumb assembly 27, tiger limit switch 28 and metacarpus 26; The top of hand support part 25 is equipped with four row's finger assemblies 24 side by side, and the top of row's finger assembly 24 is equipped with row and refers to limit switch 23;
Said row's finger assembly 24 comprises worm reduction box 1; The micro DC thermomechanical components 29 that is used to 24 motions of the row's of control finger assembly is installed in the worm reduction box 1; The output shaft of micro DC thermomechanical components 29 is connected with coaxial worm 31 through shaft coupling 38, worm screw 31 worm gear 37 that has been connected with a joggle, the row's of being connected with dactylus 1 on the worm-wheel shaft of worm gear 37; Row's dactylus 1 is connected with row's dactylus 2 34 through bearing pin 1; Row's dactylus 2 34 can rotate around bearing pin 1, be equipped with on the bearing pin 1 be used under natural situation can the row of making dactylus 2 34 maintenance extended state torsion spring 1, lacing wire 36 is installed on the worm reduction box 1; Lacing wire 36 other ends are connected with row's dactylus 2 34, through the interlock of these lacing wire 36 row's of realization dactylus 1 and row's dactylus 2 34;
Said thumb assembly 27 comprises worm reduction box 2 39; The micro DC thermomechanical components 29 that is used to control 27 motions of thumb assembly is installed on the worm reduction box 2 39; Be fixed with co-axial bevel gear 1 on the output shaft of micro DC thermomechanical components 29; Bevel gear 2 44 is connected with coaxial worm 31, and worm screw 31 is connected with a joggle with worm gear 37, is connected with thumb rubber assembly 1 on the worm-wheel shaft of worm gear 37; The end of thumb rubber assembly 1 is equipped with thumb rubber assembly 2 42, between thumb rubber assembly 1 and thumb rubber assembly 2 42, pressure transducer 43 is installed;
Two microswitch 40 that are used for controlling the range of movement of thumb assembly 27 are installed on the shell of said worm reduction box 2 39;
Said metacarpus 26 comprises metacarpus rubber assembly 49; Be fixed with the PTC heating element heater 48 of the massage manipulation that is used to realize thermotherapy on the metacarpus rubber assembly 49; Metacarpus rubber assembly 49 is connected with metacarpus support member 50 through four horizontal screw rods; Because the connection aperture on the metacarpus rubber assembly 49 is greater than the diameter of screw; Therefore metacarpus rubber assembly 49 can be done relative motion among a small circle with respect to metacarpus support member 50, and two support springs 47 and pressure transducer 57 are installed between metacarpus rubber assembly 49 and the metacarpus support member 50;
Said tiger limit switch 28 comprises switch upper casing 52, switch lower casing 54; Switch lower casing 54 is connected with switch upper casing 52 through bearing pin 2 56; Switch lower casing 54 can rotate around bearing pin 2 56; Be equipped with on the switch upper casing 52 near switch 22, contact chip 55 is installed on the switch lower casing 54, be equipped with on the bearing pin 2 56 and be used to make contact chip 55 away from torsion spring 2 51 near switch 22.
The present invention is a kind of massage machine with multiple massage manipulation; Can realize pinching, refer to rub, refer to by, the palm rub, slap push away, slap by, kowtow hit, multiple Chinese traditional massage maneuver such as thermotherapy; Five fingers of its hand can independently moving; Make massage more flexible, improved the problem that pinches the comfort level difference.
Description of drawings
Fig. 1: the present invention has the overall construction drawing of the massage machine of multiple massage manipulation;
Fig. 2: the structure chart of arm parts;
Fig. 3: the structure chart of wrist parts;
Fig. 4: the structure chart of electromagnetic assembly;
Fig. 5: the structure chart of hand member;
Fig. 6: the structure chart of row's finger assembly;
Fig. 7: the structure chart of thumb assembly;
Fig. 8: the profile of thumb assembly;
Fig. 9: the structure chart of metacarpus support member;
Figure 10: pressure transducer 43, support spring 47, PTC heating element heater assembling assumption diagram;
Figure 11: the structure chart of metacarpus rubber assembly;
Figure 12: the profile of tiger switch;
Figure 13: the present invention do finger by, refer to rub the sketch map when doing;
Figure 14: the present invention do the palm rub, slap push away, slap by, kowtow hit, the sketch map in thermotherapy when action;
Figure 15: the present invention makees the sketch map when pinching action, and this figure is an open configuration;
Figure 16: the present invention makees the sketch map when pinching action, and this figure is the kneading state.
The specific embodiment
Provide the specific embodiment of the present invention below with reference to accompanying drawing, be used for the present invention is done further explanation.
The massage machine with multiple massage manipulation of present embodiment comprises arm parts 1, wrist parts 2, hand member 3 three parts composition with reference to Fig. 1-16, and wrist parts 2 are mounted on kowtowing of arm parts 1 and hit on the connecting plate 8; Hand member 3 is fixedly connected with the wrist rotating shaft 15 of wrist parts 2, and wrist parts 2 are provided with wrist rest part 17, and wrist motor 16 and wrist rotating shaft 15 are installed on the wrist rest part 17; The output shaft of wrist motor 16 is provided with co-axial pinion 12, and wrist rotating shaft 15 is provided with co-axial gear wheel 13, pinion 12 and gear wheel 13 engaged transmission; Drive wrist rotating shaft 15 after wrist motor 16 slows down through gear wheel 13, pinion 12 and rotate, the hand 3 that is connected with wrist rotating shaft 15 rotates thereupon, and there are three locating holes at gear wheel 13 edges; Electromagnetic lock assembly 14 is mounted on the wrist rest part 17, and when electromagnetic lock was switched on, electromagnetic lock bearing pin 18 can pass the locating hole on the gear wheel 13; Thereby pin wrist 2, when electromagnetic lock cut off the power supply, electromagnetic lock bearing pin 18 was at the locating hole that withdraws under the effect of spring 21 on the gear wheel 13; Wrist parts 2 can be rotated, and wrist motor 16 drives hand member 3 and rotates, and forwards metacarpus, thumb to, when pinching three positions; Electromagnetic lock bearing pin 18 respectively with gear wheel 13 edges on three holes align, through this joint latch-up structure, can wrist 2 be pinned; Massage can be carried out smoothly, also be provided with grooved optocoupler assembly 19 and light barrier 20 on the electromagnetic lock assembly 14, grooved optocoupler assembly 19 is provided with two grooved optocouplers; Sell fully to go into and when extracting the locating hole on gear wheel 13 edges, light barrier 20 can block one of them grooved optocoupler respectively, thereby the working condition of electromagnetic lock is detected at electromagnetic lock bearing pin 18; On wrist rest part 17, also be provided with chute; Hand support part 25 is provided with rotating shaft, and when wrist motor 16 drove hand 3 rotations, the rotating shaft on the hand support part 25 was just slided in the chute of wrist rest part 17; Limit the slewing area of hand 3 thus, played the effect of mechanical position limitation.On wrist rest part 17, be equipped with in addition near switch 22, a metal salient point is arranged on the hand support part 25, when hand 3 forwards extreme position to, just in time can sense metal salient point, control the slewing area of hand 3 with this near switch 22;
Fig. 5 is the hand member structural representation; Hand member 3 is provided with hand support part 25; The top of hand support part 25 is equipped with four row's finger assemblies 24 side by side; Also the row of being equipped with refers to limit switch 23 on four row's finger assemblies 24, and the bottom of hand support part 25 is equipped with thumb assembly 27, tiger limit switch 28 and metacarpus 26;
Fig. 7, Fig. 8 are the structural representations of thumb assembly 27; On the worm reduction box 2 39 of thumb assembly 27 micro DC thermomechanical components 29 is installed; The output shaft of micro DC thermomechanical components 29 is provided with co-axial bevel gear 1, and bevel gear 2 44 is connected with coaxial worm 31, and worm gear 37 is mediated with worm screw 31; Be fixedly connected with thumb rubber assembly 1 on the worm-wheel shaft;,, drive thumb and rotate through the bevel gear switching-over by micro DC thermomechanical components 29 around worm-wheel shaft after worm gear 37 worm screws 31 are slowed down.In the end of thumb rubber assembly 1 thumb rubber assembly 2 42 is installed, it is equipped with pressure transducer 43 between the two, is controlled by pressure transducer 43 to refer to rub, refer to massage force on time.2 microswitch 40 also are installed on the shell of worm reduction box 2 39, control the range of movement of thumb through this microswitch 40.When referring to rub, refer to by action; Drive the position that hand member 3 turns to thumb by wrist motor 16; The electric magnet energising is gone in the gear wheel 13 pairing holes electromagnetic lock bearing pin 18 pins wrist 2 is pinned; Thumb assembly 27 is thumb out under the driving of micro DC thermomechanical components 29, the state that massage machine is shown in figure 13;
Fig. 6 is row's finger assembly sketch map; On the worm reduction box 1 of row's finger assembly 24 micro DC thermomechanical components 29 is installed; The output shaft of micro DC thermomechanical components 29 is connected with coaxial worm 31 through shaft coupling 38, and worm gear 37 is mediated the row's of being fixedly connected with dactylus 1 on the worm-wheel shaft with worm screw 31; Row's dactylus 2 34 is connected with row's dactylus 1 through bearing pin 1; And can rotate around it, torsion spring 1 is installed on the bearing pin 1, row's dactylus 2 34 can keep the state of stretching out under the effect of torsion spring 1.Lacing wire 36 is installed on the shell of worm reduction box 1; An other end of lacing wire 36 is connected and fixed on row's dactylus 2 34; When the row's of drive dactylus 1 rotated after micro DC thermomechanical components 29 was slowed down through worm and gear thus; Row's dactylus 2 34 is rotated around bearing pin 1 by lacing wire 36 pullings, refers to the interlock of dactylus 2 34 with this row's of realization dactylus 1 and row.When pinching action, drive hand 3 by wrist motor 16 and turn to the position that pinches, the electric magnet energising is inserted in the gear wheel 13 pairing holes electromagnetic lock bearing pin 18 wrist 2 is pinned.Then massage machine is descended, control the position that massage machine descends by tiger limit switch 28.After massage machine arrived the massage position, thumb assembly 27 and four row's finger assemblies 24 were mediated the state that massage machine is shown in figure 14 respectively under the driving of micro DC thermomechanical components 29; Thumb assembly 27 and four row finger assemblies 24 open under the driving of micro DC thermomechanical components 29 respectively, and the state that massage machine is shown in figure 15 is mediated, open action so repeatedly, realizes the massage manipulation that pinches.The row of being equipped with refers to limit switch 23 on four row's finger assemblies 24, and microswitch 40 is installed on the thumb assembly 27, controls open extreme position with this, and the position of mediating then is to realize through the electric current of control motor;
Figure 12 is a tiger limit switch sketch map; As shown in the figure; Switch lower casing 54 is installed on the switch upper casing 52 through bearing pin 2 56, and can rotate around bearing pin 2 56, and spacing bearing pin 53 also is installed on the switch upper casing 52; Switch lower casing 54 can only be rotated around bearing pin 2 56 in certain scope, torsion spring 2 51 is installed on the bearing pin 2 56.Be equipped with on the switch upper casing 52 near switch 22, contact chip 55 is installed on the switch lower casing 54.Under the naturalness, tiger limit switch 28 opens under the effect of torsion spring 2 51, this moment contact chip 55 away near switch 22; During work, make tiger limit switch 28 closures under external force, contact chip 55 enables to sense near near switch 22 at this moment;
Fig. 9, Figure 10, Figure 11 are the metacarpus sketch maps; Be connected through four horizontal screw rods between the metacarpus rubber assembly 49 of metacarpus 26 and the metacarpus support member 50; The connection aperture of metacarpus rubber assembly 49 is greater than the diameter of screw rod 46; Metacarpus rubber assembly 49 can be done relative motion among a small circle with respect to metacarpus support member 50, and it also is equipped with 2 support springs 47 and a pressure transducer 43 between the two.Also be mounted with PTC heating element heater 48 on the metacarpus rubber assembly 49.Rub, slap and push away, slap by, thermotherapy, kowtow when hitting action slapping; Drive the position that hand 3 turns to metacarpus 26 by wrist motor 16; Thumb assembly 27 folds thumb under the driving of micro DC thermomechanical components 29 simultaneously; The electric magnet energising is inserted in the gear wheel 13 pairing holes electromagnetic lock bearing pin 18 wrist 2 is pinned the state that massage machine is shown in figure 12.When carrying out the metacarpus action, its massage force is to control through the pressure transducer 57 of metacarpus 26;
Fig. 2 is the arm segment structure chart; Arm 1 is provided with to kowtow and hits motor 5 and hit eccentric shaft 4 with kowtowing; Kowtow the output shaft that hits motor 5 and be provided with co-axial small belt pulley 9, kowtow and hit eccentric shaft 4 and be provided with co-axial big belt pulley 11, small belt pulley 9 connects through driving belt 10 and drives big belt pulleys 11 and rotate.Arm 1 is provided with to kowtow and hits turning cylinder 7, kowtows to hit connecting plate 8 and hit turning cylinder 7 and be connected and can rotate around it with kowtowing.Kowtow to hit and be connected with link assembly 6 on the eccentric shaft 4, an other end of link assembly 6 hits connecting plate 8 and links to each other with kowtowing.Hit when action kowtowing; Hit motor 5 and slow down to drive to kowtow through large and small belt pulley 11,9 and hit eccentric shaft 4 and rotate by kowtowing; Kowtow and hit eccentric shaft 4 and drive to kowtow through link assembly 6 and hit connecting plate 8 and hit turning cylinder 7 low-angles and rotate up and down, accomplish to kowtow and hit action thereby drive hand 3 around kowtowing.
The present invention is a kind of massage machine with multiple massage manipulation; Can realize pinching, refer to rub, refer to by, the palm rub, slap push away, slap by, kowtow hit, multiple Chinese traditional massage maneuver such as thermotherapy; Five fingers of its hand can independently moving; Make massage more flexible, improved the problem that pinches the comfort level difference.

Claims (9)

1. the massage machine that has multiple massage manipulation, it is characterized in that comprising successively arm parts (1), the wrist parts (2) that link to each other and can pinch, refer to rub, refer to by, the palm rub, slap push away, slap by, kowtow hit, the hand member (3) of thermotherapy operation.
2. according to the described massage machine of claim 1 with multiple massage manipulation; It is characterized in that said arm parts (1) comprise that being installed on intravital the kowtowing of shell hits eccentric shaft (4), kowtows and hit motor (5), kowtow and hit turning cylinder (7); Kowtow and hit eccentric shaft (4) and be provided with co-axial big belt pulley (11); Kowtow the output shaft that hits motor (5) and be provided with co-axial small belt pulley (9); Connect through driving belt (10) between two belt pulleys; Kowtow and hit eccentric shaft (4) and be connected with link assembly (6), the other end of link assembly (6) and kowtowing hits turning cylinder (7) and all hits connecting plate (8) and link to each other with kowtowing, and kowtows to hit connecting plate (8) and link to each other with wrist parts (2).
3. according to the described massage machine of claim 1 with multiple massage manipulation; It is characterized in that said wrist parts (2) comprise wrist rest part (17); The wrist rotating shaft (15) that wrist motor (16) is installed in the wrist rest part (17), links to each other with hand member (3); The output shaft of wrist motor (16) is provided with co-axial pinion (12); Wrist rotating shaft (15) is provided with co-axial gear wheel (13), and pinion (12) is connected with a joggle with gear wheel (13), and the face of gear edge of gear wheel (13) is provided with locating hole; Electromagnetic lock assembly (14) is installed on the wrist rest part (17), and the electromagnetic lock bearing pin (18) on the electromagnetic lock assembly (14) is coaxial with locating hole.
4. according to the described massage machine of claim 1 with multiple massage manipulation; It is characterized in that said hand member (3) comprises hand support part (25); The below of hand support part (25) is equipped with thumb assembly (27), tiger limit switch (28) and metacarpus (26); The top of hand support part (25) is equipped with four row's finger assemblies (24) side by side, and the top of row's finger assembly (24) is equipped with row and refers to limit switch (23).
5. according to the described massage machine of claim 4 with multiple massage manipulation; It is characterized in that said row's finger assembly (24) comprises worm reduction box one (30); The micro DC thermomechanical components (29) that is used for control row's finger assembly (24) motion is installed on the worm reduction box one (30); The output shaft of micro DC thermomechanical components (29) is connected with coaxial worm (31) through shaft coupling (38); Worm screw (31) worm gear (37) that has been connected with a joggle, the row's of being connected with dactylus one (32) on the worm-wheel shaft of worm gear (37), and row's dactylus one (32) refers to that with row dactylus two (34) is connected through bearing pin one (35); Row's dactylus two (34) can rotate around bearing pin one (35); The torsion spring one (33) that is used under natural situation can the row's of making dactylus two (34) keeping extended state is installed on the bearing pin one (35), lacing wire (36) is installed on the worm reduction box one (30), lacing wire (36) other end refers to that with row dactylus two (34) is connected.
6. according to the described massage machine of claim 4 with multiple massage manipulation; It is characterized in that said thumb assembly (27) comprises worm reduction box two (39); The worm reduction box two (39) that is used to control thumb assembly (27) motion is installed in the worm reduction box two (39); Be fixed with co-axial bevel gear one (45) on the output shaft of worm reduction box two (39); Bevel gear two (44) is connected with coaxial worm (31), and worm screw (31) is connected with a joggle with worm gear (37), is connected with thumb rubber assembly one (41) on the worm-wheel shaft of worm gear (37); The end of thumb rubber assembly one (41) is equipped with thumb rubber assembly two (42), between thumb rubber assembly one (41) and thumb rubber assembly two (42), pressure transducer 43 is installed.
7. according to the described massage machine of claim 6, it is characterized in that being equipped with on the shell of said worm reduction box two (39) two microswitch (40) that are used for controlling the range of movement of thumb assembly (27) with multiple massage manipulation.
8. according to the described massage machine of claim 4 with multiple massage manipulation; It is characterized in that metacarpus (26) comprises metacarpus rubber assembly (49); Be fixed with the PTC heating element heater (48) of the massage manipulation that is used to realize thermotherapy on the metacarpus rubber assembly (49); Metacarpus rubber assembly (49) is connected with metacarpus support member (50) through four horizontal screw rods, and two support springs (47) and pressure transducer (57) are installed between metacarpus rubber assembly (49) and the metacarpus support member (50).
9. according to the described massage machine of claim 4 with multiple massage manipulation; It is characterized in that said tiger limit switch (28) comprises switch upper casing (52), switch lower casing (54); Switch lower casing (54) is connected with switch upper casing (52) through bearing pin two (56); Be equipped with on the switch upper casing (52) near switch (22); Contact chip (55) is installed on the switch lower casing (54), is equipped with on the bearing pin two (56) and is used to make contact chip (55) away from torsion spring two (51) near switch (22).
CN 201110218130 2011-08-01 2011-08-01 Massaging device with multiple massaging manipulations Active CN102319168B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102641200A (en) * 2012-02-28 2012-08-22 山东建筑大学 Massage robot and realization of massage manipulation thereof
CN103646599A (en) * 2013-12-04 2014-03-19 上海理工大学 Kneading simulation system used for experiment
CN105411831A (en) * 2016-01-10 2016-03-23 西北工业大学 Massage robot in tracking mode
CN106667733A (en) * 2016-12-07 2017-05-17 上海电机学院 Simulated hand and shoulder massaging device

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CN101884585A (en) * 2010-07-30 2010-11-17 山东建筑大学 Control system of traditional Chinese medical massage robot
CN101884584A (en) * 2010-07-30 2010-11-17 山东建筑大学 Traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain
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JPH0380026B2 (en) * 1989-08-28 1991-12-20 Hideji Nishiguchi
JP3080026B2 (en) * 1997-02-28 2000-08-21 日本電気株式会社 Panel lock mechanism
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102641200A (en) * 2012-02-28 2012-08-22 山东建筑大学 Massage robot and realization of massage manipulation thereof
CN103646599A (en) * 2013-12-04 2014-03-19 上海理工大学 Kneading simulation system used for experiment
CN103646599B (en) * 2013-12-04 2016-02-03 上海理工大学 Experiment sth. made by twisting rubs simulation system
CN105411831A (en) * 2016-01-10 2016-03-23 西北工业大学 Massage robot in tracking mode
CN106667733A (en) * 2016-12-07 2017-05-17 上海电机学院 Simulated hand and shoulder massaging device

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