CN102499850A - Chinese medical massage robot - Google Patents
Chinese medical massage robot Download PDFInfo
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- CN102499850A CN102499850A CN2011103083765A CN201110308376A CN102499850A CN 102499850 A CN102499850 A CN 102499850A CN 2011103083765 A CN2011103083765 A CN 2011103083765A CN 201110308376 A CN201110308376 A CN 201110308376A CN 102499850 A CN102499850 A CN 102499850A
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Abstract
The invention discloses a Chinese medical massage robot, which comprises a massage bed body, a two-degree-of-freedom human body simulated movable gantry mechanism and a three-degree-of-freedom human-simulated mechanical arm, wherein the massage bed body comprises an electrical control box, a supporting seat, a bedstead, a hauling chain, a mattress and the like; the two-degree-of-freedom human body simulated movable gantry mechanism comprises an X-axis movable guide rail, a Y-axis movable guide rail, an X-axis movable guide rail, a longitudinal vertical rod, an X-axis ball screw, a Y-axis ball screw, a Y-axis step motor, a gantry bracket, a forward and backward movement sliding plate, a movable slide block and the like; and the three-degree-of-freedom human-simulated mechanical arm comprises a U1-axis ball screw, a U1-axis movable guide rail, a Z-axis straight guide rail, a U1-axis step motor, a U1-axis transmission gear, a U2-axis braking device, a U2-axis massage hand, a Z-axis electric push rod, a sensor, a roller, a U2-axis step motor, a joint connecting piece, a U1-axis vertical movement slide block and the like. Through the massage robot, massage positions can be conveniently positioned, and Chinese medical massage manipulations of a massage rolling method, finger kneading, palm kneading, a vibration method and the like can be realized.
Description
Technical field
The present invention relates to a kind of Chinese traditional massage robot, belong to the advanced manufacturing technology field.
Background technology
Improving constantly of Along with people's living standard, the time of mental work increases greatly, and some ciril diseases such as lumbar muscle strain are come quietly, and have had a strong impact on people's orthobiosis, working and learning.In the daily life, secular fixation postures or faulty posture are easy to cause lumbar muscle strain.
This disease shows as mainly that waist dull pain is shown effect repeatedly, tired postemphasis, the back of having a rest are alleviated etc., claims again " functional lumbago " or " myofascitis of back " etc. mainly to be meant soft tissue chronic injuries such as lumbosacral region muscle, fascia.How control by losing behind the acute lumbar muscle sprain, wrong treatment, the repeated multiple times damage; Or owing to the work midium or long term is kept certain uneven position, as being engaged in the work of bending over for a long time; Or since habitual poor posture etc. cause.Waist sacral congenital malformation person makes the activity of lumbosacral region both sides inconsistent, more is prone to cause the fatigue of waist dice portion soft tissue and causes lumbago.The lumbar muscle strain patient has long-term pain history, repeatedly outbreak.Ache and to relax in the lumbosacral region one or both sides, the time heavy when light, touchingly do not heal.Ache and after fatigue, aggravate, alleviate after the rest, and relevant with Changes in weather.Lumbar muscle strain is when acute attack, and various symptoms all significantly increase the weight of, the waist limitation of activity.
Following five kinds of methods are adopted in the rehabilitation of lumbar muscle strain clinically usually, i.e. massage and massotherapy, acupuncture-moxibustion walk jar and block therapy, exercise therapy, psoas muscle tractive art, herbal treatment.Yet modern medicine does not still have very sure curative effect to the treatment of primary disease at present; And adopt the several different methods treatment chronic lumbar muscle strain curative effect of the traditional Chinese medical science obvious; Particularly massage, good effect easy with its instant effect, method with massotherapy, advantage such as have no adverse reaction receive vast chronic lumbar muscle strain patient's welcome day by day.
That but massage manipulation chronic lumbar muscle strain relaxing muscles and tendons to promote blood circulation, loosen adhesion, alleviation spasm, consumer product dredge stasis, blood stasis dispelling loose is long-pending, the absorption of microcirculation improvement, promotion inflammation edema, reaches aim of alleviating pain.
Chinese traditional massage has developed more than 2,000 year in China as a kind of medical procedure, and what stress is " treating more theoretical naturally ", advocates natural means such as using massage, enhances human body immunocompetence, guiding patient spontaneous remission.The Chinese traditional massage theory then is based upon on the natural philosophy basis, and it is with the generation and the development of dynamic, whole viewpoint understanding disease.In very long massage practice, summed up relation-traditional Chinese medical science acupuncture point, the meridian theory of human body and disease treatment.Stress to improve immune ability, reach the purpose of preventing and curing diseases through to the maneuver of meridian point and the stimulation of strength variation.
Along with socioeconomic progress, the increase of people's operating pressure, to the concern of health more and more widely, Chinese traditional massage's teacher cultivation speed can not satisfy people's demand, and outstanding Chinese traditional massage teacher extremely lacks especially.Therefore, as substituting of masseur, various massage apparatus arise at the historic moment.
Summary of the invention
The objective of the invention is in order to solve the long-term lumbar muscle strain indication that is perplexing people; And alleviate the pressure of society for high-end Chinese traditional massage talent tight demand; But the invention provides a kind of Chinese traditional massage robot that is used to treat lumbar muscle strain indication and commercialization; To the lumbar muscle strain indication accomplish flexibly by, rub, shake, roll four kinds of Chinese traditional massage maneuvers, Stability Analysis of Structures, safety, reliably meet the specification and requirement of medical product industry.
A kind of Chinese traditional massage of the present invention robot comprises massage couch body, two-freedom apery body mobile gantry mechanism and Three Degree Of Freedom apery mechanical arm;
The massage couch body comprises electric cabinet, supporting seat, bedstead, drag chain, hauling-chain frame and mattress;
Supporting seat is fixedly connected on the bedstead bottom; Electric cabinet is positioned at bedstead inside, and an end of drag chain is fixedly connected on the supporting seat, and the other end is fixedly connected hauling-chain frame; Hauling-chain frame connects the connector of two-freedom apery body mobile gantry mechanism, and drag chain is used for placing and lead; Mattress is positioned on the bedstead;
Two-freedom apery body mobile gantry mechanism comprises X axle moving guide rail, the moving guide rail of y-axis shift, X shaft step motor, vertical vertical rod, X axle ball-screw, Y axle ball-screw, y-axis stepper motor, connector, gantry support, moves forward and backward slide plate, moving slider, connecting plate;
X axle moving guide rail is fixed on the inner X-direction both sides of bedstead; One end of the fixing X axle moving guide rail of X shaft step motor, the two ends of X axle ball-screw are fixed on the two ends of X axle moving guide rail through bearing and bearing block, and wherein X axle ball-screw one end connects the output shaft of X shaft step motor; Moving slider is provided with circular hole; X axle ball-screw passes circular hole, and the bottom of moving slider connects X axle moving guide rail, and moving slider passes through the connector connection lengthwise to vertical rod; Moving slider also connects an end of gantry support; The other end of gantry support connects the another one connector, and connector is through the X axis rail of a moving slider connection opposite side, and connector connects another vertical vertical rod; One end of two vertical vertical rods is fixedly connected through connecting plate; The moving guide rail of y-axis shift is fixed on the connecting plate; Arrange along Y direction; Y-axis stepper motor is fixed on an end of the moving guide rail of y-axis shift, and the two ends of Y axle ball-screw are fixed on the two ends that y-axis shift moves guide rail through bearing and bearing block, and wherein an end connects the output shaft of y-axis stepper motor; Move forward and backward slide plate and be provided with through hole, Y axle ball-screw passes through hole, moves forward and backward the slide plate bottom and connects the moving guide rail of y-axis shift, and moving forward and backward slide plate can move along the moving guide rail of y-axis shift;
Three Degree Of Freedom apery mechanical arm comprises U
1Axle ball-screw, U
1Axle moving guide rail, installing plate A, Z axle line slideway, U
1Shaft step motor, U
1Shaft transmission gear, U
2Shaft brake device, U
2Axle massage hands, Z axle electric pushrod, installing plate B, pick off, roller, U
2Shaft step motor, joint connector, U
1Axle moves up and down slide block;
U
1The axle moving guide rail is fixed on the installing plate B, version B bottom is installed moves forward and backward slide plate through the fixed connection of joint connector, moves forward and backward slide plate through connection and moves moving forward and backward of realization Three Degree Of Freedom apery mechanical arm; Version B upper end is installed is fixedly connected U through motor cabinet
1Shaft step motor; U
1Shaft transmission gear comprises a gear wheel and a pinion, U
1The output shaft of shaft step motor connects pinion, pinion and U through gear wheel
1One end of axle ball-screw is fixedly connected U
1The axle ball-screw is provided with slide block, and slide block is fixedly connected installing plate A, and the both sides of installing plate A are U fixedly
1Axle moves up and down slide block, U
1Axle moves up and down slide block can be at U
1Slide on the axle moving guide rail, version A is installed U is installed
1Axle moves up and down the other one side of slide block; Both sides all are fixedly connected a Z axle line slideway; Z axle line slideway is fixed on through slide block and installs on the version A, and the guide rod in the Z axle line slideway can slide up and down in slide block, and Z axle line slideway is the rigidity that is used for guaranteeing mechanical arm; Z axle electric pushrod is fixed on to be installed in the middle of the version A, is provided with expansion link in the middle of the Z axle electric pushrod, and an end of expansion link connects motor, and the other end connects pick off, and pick off is fixed on U
2On the motor cabinet of shaft step motor, pick off is used to measure U
2Stressed when axle massage hands is massaged, U
2Shaft step motor is fixed on the motor cabinet, U
2The output shaft of shaft step motor connects U
2Shaft brake device, U
2Shaft brake device connects U
2Axle massage hands, U
2The axle massage also is provided with roller on hand, realizes the massage rolling manipulation.
The invention has the advantages that:
The present invention can locate the massage position easily, can realize massaging rolling manipulation, refer to rub, slaps Chinese traditional massage maneuver such as the method for rubbing, shake, and can substitute Chinese traditional massage's teacher professional massage operation to a certain extent.
Description of drawings
Fig. 1 is a configuration overall pattern of the present invention;
Fig. 2 is massage couch body structure figure of the present invention;
Fig. 3 is the structure chart of two degrees of freedom apery body mobile gantry of the present invention mechanism;
Fig. 4 is the front view of Three Degree Of Freedom apery mechanical arm of the present invention;
Fig. 5 is the side view of Three Degree Of Freedom apery mechanical arm of the present invention;
Fig. 6 is a Three Degree Of Freedom apery mechanical arm structure chart of the present invention (part);
Fig. 7 is the vertical view of massage couch of the present invention;
Fig. 8 is the upward view of massage couch of the present invention;
Among the figure:
The 1-massage couch body 2-two-freedom apery body mobile gantry 3-of mechanism Three Degree Of Freedom apery mechanical arm
The 4-passive arm
101-electric cabinet 102-supporting seat 103-bedstead
104-drag chain 105-hauling-chain frame 106-mattress
201-X axle moving guide rail 212-Y axle moving guide rail 202-X shaft step motor
The vertical vertical rod 204-X of 203-axle ball-screw 205-Y axle ball-screw
206-Y shaft step motor 207-connector 208-gantry support
209-moves forward and backward slide plate 210-moving slider 211-connecting plate
301-U
1Axle ball-screw 302-U
1Axle moving guide rail 303-installing plate A
304-Z axle line slideway 305-U
1Shaft step motor 306-U
1Shaft transmission gear
307-U
2Shaft brake device 308-U
2Axle massage hands 309-Z axle electric pushrod
310-installing plate B 311-pick off 312-roller
313-U
2Shaft step motor 314-joint connector 315-U
1Axle moves up and down slide block
The specific embodiment
To combine accompanying drawing and embodiment that the present invention is done further detailed description below.
The present invention is a kind of Chinese traditional massage robot, and is as shown in Figure 1, comprises massage couch body 1, two-freedom apery body mobile gantry mechanism 2 and Three Degree Of Freedom apery mechanical arm 3.
Massage couch body 1 long side direction is an X-direction, and minor face is the Y direction, and Three Degree Of Freedom apery mechanical arm 3 is a Z-direction, U
1The vertical direction at shaft step motor 305 places is U
1Axle, U
2The horizontal direction (wrist portion) at shaft step motor 313 places is U
2Axle.
Like Fig. 1, shown in Figure 2, massage couch body 1 is used to support massage robot, places the control device of massage robot; Massage couch body 1 comprises electric cabinet 101, supporting seat 102, bedstead 103, drag chain 104, hauling-chain frame 105 and mattress 106;
Four supporting seats 102 are fixedly connected on bedstead 103 bottoms, are used to support bedstead 103, and electric cabinet 101 is positioned at bedstead 103 inside; Be used to place electrical equipment, power supply etc.; One end of drag chain 104 is fixedly connected on the supporting seat 102, and the other end is fixedly connected hauling-chain frame 105, and hauling-chain frame 105 connects the connector 207 of two-freedom apery body mobile gantry mechanism 2; Drag chain 104 is used for placing and lead, and the lead in the electric cabinet 101 connects two-freedom apery body mobile gantry mechanism 2 through drag chain 104.Bedstead 103 is provided with a circle draw-in groove, and mattress 106 is positioned among the draw-in groove.
As shown in Figure 3, two-freedom apery body mobile gantry mechanism 2 comprises X axle moving guide rail 201, the moving guide rail 212 of y-axis shift, X shaft step motor 202, vertical vertical rod 203, X axle ball-screw 204, Y axle ball-screw 205, y-axis stepper motor 206, connector 207, gantry support 208, moves forward and backward slide plate 209, moving slider 210, connecting plate 211.
X axle moving guide rail 201 is fixed on the X-direction both sides of bedstead 103 inside; One end of the fixing X axle moving guide rails 201 of X shaft step motor 202, the two ends of X axle ball-screw 204 are fixed on the two ends of X axle moving guide rail 201 through bearing and bearing block, and wherein X axle ball-screw 204 1 ends connect the output shaft of X shaft step motor 202; Moving slider 210 is provided with circular hole; X axle ball-screw 204 passes circular hole, and the bottom of moving slider 210 connects X axle moving guide rail 201, and moving slider 210 passes through connector 207 connection lengthwise to vertical rod 203; Moving slider 210 also connects an end of gantry support 208; The other end of gantry support 208 connects another one connector 207, and connector 207 is through the X axis rail 201 of a moving slider connection opposite side, and connector 207 connects another vertical vertical rods 203; One end of two vertical vertical rods 203 is fixedly connected through connecting plate 211; The moving guide rail 212 of y-axis shift is fixed on the connecting plate 211; Arrange along Y direction; Y-axis stepper motor 206 is fixed on an end of the moving guide rail 212 of y-axis shift, and the two ends of Y axle ball-screw 205 are fixed on the two ends that y-axis shift moves guide rail 212 through bearing and bearing block, and wherein an end connects the output shaft of y-axis stepper motor 206; Move forward and backward slide plate 209 and be provided with through hole, Y axle ball-screw 205 passes through hole, moves forward and backward slide plate 209 bottoms and connects the moving guide rail 212 of y-axis shift, and moving forward and backward slide plate 209 can move along the moving guide rail 212 of y-axis shift.
After X shaft step motor 202 starts; Drive X axle ball-screw 204 and rotate, drive moving slider 210 and move, through connector 207 along X axle moving guide rail 201; The vertical vertical rod 203 of final drive is moved along the X axle; After y-axis stepper motor 206 starts, drive Y axle ball-screw 205 and rotate, drive moves forward and backward slide plate 209 and moves along the moving guide rail 212 of y-axis shift.
Like Fig. 4, Fig. 5, shown in Figure 6, Three Degree Of Freedom apery mechanical arm 3 comprises U
1Axle ball-screw 301, U
1Axle moving guide rail 302, installing plate A303, Z axle line slideway 304, U
1Shaft step motor 305, U
1 Shaft transmission gear 306, U
2Shaft brake device 307, U
2 Axle massage hands 308, Z axle electric pushrod 309, installing plate B310, pick off 311, roller 312, U
2Shaft step motor 313, joint connector 314, U
1Axle moves up and down slide block 315.
U
1Axle moving guide rail 302 is fixed on the installing plate B310, version B310 bottom is installed moves forward and backward slide plate 209 through 314 fixed connections of joint connector, moves forward and backward slide plate 209 through connection and moves moving forward and backward of realization Three Degree Of Freedom apery mechanical arm 3.Version B310 upper end is installed is fixedly connected U through motor cabinet
1Shaft step motor 305.U
1 Shaft transmission gear 306 comprises a gear wheel and a pinion, U
1The output shaft of shaft step motor 305 connects pinion, pinion and U through gear wheel
1One end of axle ball-screw 301 is fixedly connected U
1Axle ball-screw 301 is provided with slide block, and slide block is fixedly connected installing plate A303, and the both sides of installing plate A303 are U fixedly
1Axle moves up and down slide block 315, U
1Axle moves up and down slide block 315 can be at U
1Slide on the axle moving guide rail 302, version A303 is installed U is installed
1Axle moves up and down the other one side of slide block 315; Both sides all are fixedly connected a Z axle line slideway 304; Z axle line slideway 304 is fixed on through slide block and installs on the version A303; Guide rod in the Z axle line slideway 304 can slide up and down in slide block, and Z axle line slideway 304 is the rigidity that is used for guaranteeing mechanical arm; Z axle electric pushrod 309 is fixed on to be installed in the middle of the version A303, is provided with expansion link in the middle of the Z axle electric pushrod 309, and an end of expansion link connects motor, and the other end connects pick off 311, and pick off 311 is fixed on U
2On the motor cabinet of shaft step motor 313, pick off 311 is used to measure U
2Stressed when axle massage hands 308 is massaged, U
2Shaft step motor 313 is fixed on the motor cabinet, U
2The output shaft of shaft step motor 313 connects U
2Shaft brake device 307, U
2Shaft brake device 307 connects U
2 Axle massage hands 308, U
2Also be provided with roller 312 on the axle massage hands 308, realize the massage rolling manipulation.U
2Axle massage hands 308 is execution units of massage robot, is used for realizing the massage rolling manipulation, refers to rub, slaps Chinese traditional massage maneuver such as the method for rubbing, shake;
U
1When shaft step motor 305 rotates, drive U
1Gear wheel rotates in the shaft transmission gear 306, and the large gear turn the small gear rotates pinion and U
1Axle ball-screw 301 is fixedly connected, thereby realizes U
1The rotation of axle ball-screw 301 is through U
1Moving of axle ball-screw 301 top shoes makes installing plate A303 move up and down, thereby realizes moving up and down of Three Degree Of Freedom apery mechanical arm 3, realizes the method for shaking in the massage manipulation.The driven by motor expansion link moves up and down in the Z axle electric pushrod 309, realizes U
2Moving up and down of axle massage hands 308 makes U
2 Axle massage hands 308 reaches the massage position.U
2The rotation of shaft step motor 313 drives U
2The variation of axle massage hands 308 attitudes, realize referring to rubbing, slap rub, the massage manipulation of rolling manipulation, the method for shaking.Work as U
2After axle massage hands 308 arrives the massage attitude, through control U
2The switching electricity (electromagnetic principle absorption friction plate) of shaft brake device 307 is realized U
2 Axle massage hands 308 attitudes fixing locked (when cutting off the power supply, U
2 Shaft brake device 307 is with U
2Shaft step motor 313 output shafts are locked, fixedly U
2 Axle massage hands 308 attitudes are if accident power-off also can play fixedly U
2The safety effect of axle massage hands 308).
Also be provided with passive arm 4 on the installing plate B310, passive arm 4 front ends are provided with visual system, are used for visual servo control.
Like Fig. 7, shown in 8, X axle moving guide rail 201 needs to guarantee certain depth of parallelism, at two floors of X axle moving guide rail 201 bottom affixs, to guarantee the rigidity of X axle moving guide rail 201, prevents its distortion during mechanism design.The purpose of design is in order to prevent that portal frame mechanism from causing stuck problem in when motion because X axle moving guide rail 201 is not parallel like this.
In the present invention, massage couch body 1 supports whole massage machine, and comfortable position that couches by massage person is provided, and two degrees of freedom apery body mobile gantry mechanism 2 and Three Degree Of Freedom apery mechanical arm 3 move along X, Y, Z axle under the transmission of actuating device; The motor of Z axle electric pushrod 309 self can shake massage machine back and forth along the Z axle; U
2 Axle massage hands 308 can be realized hovering of a plurality of desired locations through Electric Machine Control.U
2 Axle massage hands 308 can realize that the palm presses, refers to by massage manipulations such as, roller roll extrusion, pick off 311 real-time with U
2The massage pressure of axle massage hands 308 feeds back to host computer, is used for the size of the power of regulating.
Claims (2)
1. a Chinese traditional massage robot is characterized in that, comprises massage couch body, two-freedom apery body mobile gantry mechanism and Three Degree Of Freedom apery mechanical arm;
The massage couch body comprises electric cabinet, supporting seat, bedstead, drag chain, hauling-chain frame and mattress;
Supporting seat is fixedly connected on the bedstead bottom; Electric cabinet is positioned at bedstead inside, and an end of drag chain is fixedly connected on the supporting seat, and the other end is fixedly connected hauling-chain frame; Hauling-chain frame connects the connector of two-freedom apery body mobile gantry mechanism, and drag chain is used for placing and lead; Mattress is positioned on the bedstead;
Two-freedom apery body mobile gantry mechanism comprises X axle moving guide rail, the moving guide rail of y-axis shift, X shaft step motor, vertical vertical rod, X axle ball-screw, Y axle ball-screw, y-axis stepper motor, connector, gantry support, moves forward and backward slide plate, moving slider, connecting plate;
X axle moving guide rail is fixed on the inner X-direction both sides of bedstead; One end of the fixing X axle moving guide rail of X shaft step motor, the two ends of X axle ball-screw are fixed on the two ends of X axle moving guide rail through bearing and bearing block, and wherein X axle ball-screw one end connects the output shaft of X shaft step motor; Moving slider is provided with circular hole; X axle ball-screw passes circular hole, and the bottom of moving slider connects X axle moving guide rail, and moving slider passes through the connector connection lengthwise to vertical rod; Moving slider also connects an end of gantry support; The other end of gantry support connects the another one connector, and connector is through the X axis rail of a moving slider connection opposite side, and connector connects another vertical vertical rod; One end of two vertical vertical rods is fixedly connected through connecting plate; The moving guide rail of y-axis shift is fixed on the connecting plate; Arrange along Y direction; Y-axis stepper motor is fixed on an end of the moving guide rail of y-axis shift, and the two ends of Y axle ball-screw are fixed on the two ends that y-axis shift moves guide rail through bearing and bearing block, and wherein an end connects the output shaft of y-axis stepper motor; Move forward and backward slide plate and be provided with through hole, Y axle ball-screw passes through hole, moves forward and backward the slide plate bottom and connects the moving guide rail of y-axis shift, and moving forward and backward slide plate can move along the moving guide rail of y-axis shift;
Three Degree Of Freedom apery mechanical arm comprises U
1Axle ball-screw, U
1Axle moving guide rail, installing plate A, Z axle line slideway, U
1Shaft step motor, U
1Shaft transmission gear, U
2Shaft brake device, U
2Axle massage hands, Z axle electric pushrod, installing plate B, pick off, roller, U
2Shaft step motor, joint connector, U
1Axle moves up and down slide block;
U
1The axle moving guide rail is fixed on the installing plate B, version B bottom is installed moves forward and backward slide plate through the fixed connection of joint connector, moves forward and backward slide plate through connection and moves moving forward and backward of realization Three Degree Of Freedom apery mechanical arm; Version B upper end is installed is fixedly connected U through motor cabinet
1Shaft step motor; U
1Shaft transmission gear comprises a gear wheel and a pinion, U
1The output shaft of shaft step motor connects pinion, pinion and U through gear wheel
1One end of axle ball-screw is fixedly connected U
1The axle ball-screw is provided with slide block, and slide block is fixedly connected installing plate A, and the both sides of installing plate A are U fixedly
1Axle moves up and down slide block, U
1Axle moves up and down slide block can be at U
1Slide on the axle moving guide rail, version A is installed U is installed
1Axle moves up and down the other one side of slide block; Both sides all are fixedly connected a Z axle line slideway; Z axle line slideway is fixed on through slide block and installs on the version A, and the guide rod in the Z axle line slideway can slide up and down in slide block, and Z axle line slideway is the rigidity that is used for guaranteeing mechanical arm; Z axle electric pushrod is fixed on to be installed in the middle of the version A, is provided with expansion link in the middle of the Z axle electric pushrod, and an end of expansion link connects motor, and the other end connects pick off, and pick off is fixed on U
2On the motor cabinet of shaft step motor, pick off is used to measure U
2Stressed when axle massage hands is massaged, U
2Shaft step motor is fixed on the motor cabinet, U
2The output shaft of shaft step motor connects U
2Shaft brake device, U
2Shaft brake device connects U
2Axle massage hands, U
2The axle massage also is provided with roller on hand, realizes the massage rolling manipulation.
2. a kind of Chinese traditional massage according to claim 1 robot is characterized in that X axle moving guide rail bottom is provided with floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103083765A CN102499850B (en) | 2011-10-12 | 2011-10-12 | Chinese medical massage robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103083765A CN102499850B (en) | 2011-10-12 | 2011-10-12 | Chinese medical massage robot |
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| CN102499850A true CN102499850A (en) | 2012-06-20 |
| CN102499850B CN102499850B (en) | 2013-11-27 |
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| CN2011103083765A Expired - Fee Related CN102499850B (en) | 2011-10-12 | 2011-10-12 | Chinese medical massage robot |
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| AU2020445121B2 (en) * | 2020-04-30 | 2024-03-14 | Tao Mining Co., Ltd. | Health care device, health care body, health care method and health care system |
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| CN107307839A (en) * | 2017-07-05 | 2017-11-03 | 上海楠青自动化科技有限公司 | A kind of external guider of capsule endoscopic |
| CN108814924A (en) * | 2018-07-09 | 2018-11-16 | 贺婷 | A kind of health-care medical scraping bed |
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN108938363B (en) * | 2018-08-09 | 2020-10-13 | 苏州元联科技创业园管理有限公司 | Cupping jar bed is pulled out in operation in coordination of two arms |
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| CN109044788A (en) * | 2018-08-21 | 2018-12-21 | 西安伊蔓蒂电子科技有限公司 | A kind of massage bed |
| CN110480762A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | A kind of module type Three Degree Of Freedom machining robot |
| CN111890360A (en) * | 2020-07-10 | 2020-11-06 | 重庆工程职业技术学院 | Automatic massage manipulator and control system thereof |
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