CN103876926B - A kind of foot massaging robot mechanism - Google Patents
A kind of foot massaging robot mechanism Download PDFInfo
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- CN103876926B CN103876926B CN201210559186.5A CN201210559186A CN103876926B CN 103876926 B CN103876926 B CN 103876926B CN 201210559186 A CN201210559186 A CN 201210559186A CN 103876926 B CN103876926 B CN 103876926B
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Abstract
The present invention relates to acupoint of foot massage apparatus, specifically a kind of foot massaging robot mechanism.Comprise base plate, two degrees of freedom massage moving mechanism, massage feed mechanism and massage contact, wherein two degrees of freedom massage moving mechanism is installed on base plate, described massage feed mechanism is connected with two degrees of freedom massage moving mechanism, described massage contact is connected with massage feed mechanism, massage contact is moved respectively by two degrees of freedom massage moving mechanism and massage moving mechanism in horizontal plane and vertical plane, realizes location and the massage of acupoint of foot.The present invention adapts to the foot of different size, and after completing foot location, accurate modeling, the massage manipulation of simulation Chinese traditional massage teacher, massages acupoint of foot.
Description
Technical field
The present invention relates to acupoint of foot massage apparatus, specifically a kind of foot massaging robot mechanism.
Background technology
Hypertension is common diseases of cardiovascular and cerebrovascular systems, and severe patient causes cardiovascular and cerebrovascular vessel unexpected, causes hemiplegia even threat to life, conventional therapy many employings oral blood pressure lowering medicine, only can relief of symptoms, and can have side effects, and therapeutic effect is poor.
According to tcm theory, foot is the information word that body weight for humans is wanted, carry out regularity massage to the corresponding cave district of foot to stimulate, there is effective percentage and the cure rate of higher hypertension treatment and auxiliary treatment, and without any side effects, be the most effective Chinese traditional treatment method in current hypertension treatment method.
Robotics is combined with traditional Chinese medical science foot massage method, the accurate location of acupoint of foot can be realized, simulation Chinese traditional massage maneuver is massaged relevant acupuncture point, in conjunction with traditional Chinese medical science adjunct acupuncture points scheme and massage the course for the treatment of, the foot medical services of specification can be provided for patient, reach the function of the diseases such as treatment hypertension, promote development and the popularization of foot massage therapy.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide a kind of foot massaging robot mechanism.This foot massaging robot mechanism adapts to the foot of different size, and after completing foot location, accurate modeling, the massage manipulation of simulation Chinese traditional massage teacher, massages acupoint of foot.
To achieve these goals, the present invention is by the following technical solutions:
A kind of foot massaging robot mechanism, comprise base plate, two degrees of freedom massage moving mechanism, massage feed mechanism and massage contact, wherein two degrees of freedom massage moving mechanism is installed on base plate, described massage feed mechanism is connected with two degrees of freedom massage moving mechanism, described massage contact is connected with massage feed mechanism, massage contact is moved respectively by two degrees of freedom massage moving mechanism and massage feed mechanism in horizontal plane and vertical plane, realizes location and the massage of acupoint of foot.
Described massage feed mechanism comprises motor III, support I, leading screw III, slide block III, compression spring and gear drive III, wherein the outfan of motor III is connected with leading screw III by gear drive III, described slide block III is threaded with leading screw III, one end of described support I is connected with slide block III, the other end is provided with compression spring, and described massage contact is connected with compression spring and limits massage pressure by compression spring.Described leading screw III is provided with the positive stop advanced for limiting slide block III.
Described two degrees of freedom massage moving mechanism comprises motor I, motor II, leading screw I, leading screw II, slider I, slide block II, connecting rod I, connecting rod II, connecting plate I, gear drive I and gear drive II, wherein leading screw I and leading screw II are set in parallel on described base plate, the outfan of described motor I is connected with leading screw I by gear drive I, and the outfan of described motor II is connected with leading screw II by gear drive II; Described slider I and slide block II are threaded with leading screw I and leading screw II respectively, one end and the slider I of described connecting rod I are hinged, one end and the slide block II of described connecting rod II are hinged, the other end of described connecting rod I and connecting rod II is all hinged with connecting plate I, and described massage feed mechanism is installed on connecting plate I.
Described two degrees of freedom massage moving mechanism is two and is symmetricly set on described base plate.On described two two degrees of freedom massage moving mechanisms, symmetrically arranged two leading screws are in transmission connection by belt drive unit, realize being synchronized with the movement.
Described two degrees of freedom massage moving mechanism comprises motor IV, leading screw IV, slide block IV, support II, motor V, leading screw V, slide block V, slide block VI, connecting plate II, gear drive IV and gear drive V, wherein the outfan of motor IV is connected with leading screw IV by gear drive IV, described slide block IV is threaded with leading screw IV, and slide block IV is connected with leading screw V by support II; Described leading screw V is connected with the outfan of motor V by gear drive V, the two ends of leading screw V are provided with the contrary screw thread of rotation direction, described slide block V and slide block VI are threadedly connected to the two ends of leading screw V respectively, slide block V and slide block VI are equipped with connecting plate II, and each connecting plate II is all connected with massage feed mechanism.
Tool of the present invention has the following advantages and beneficial effect:
1. the present invention can realize acupoint of foot and accurately locates, by adjustment two degrees of freedom massage moving mechanism, and can the position of accurate locating massage contact.
2. adaptability of the present invention is good, can adapt to the subscript of different size.
3. this invention ensures that three dimensions accessibility, can the continuous movement locus in implementation space, stable movement, accurate simulation massage manipulation.
4. the present invention massages main body mechanism symmetric design, realizes two foots and massages simultaneously.
5. applied range of the present invention.The present invention not only can be used for Hypertension, after in conjunction with the Chinese traditional massage course for the treatment of and prescription therapeutic scheme, also can be used for the treatment of other class diseases.
Accompanying drawing explanation
Fig. 1 is the structural representation of two degrees of freedom massage moving mechanism in the embodiment of the present invention one;
Fig. 2 is the structural representation that the present invention massages feed mechanism;
Fig. 3 is the structural representation of two degrees of freedom massage moving mechanism in the embodiment of the present invention two.
Wherein: 1-1 is motor I, 1-2 is motor II, 1-3 is leading screw I, 1-4 is leading screw II, 1-5 is slider I, 1-6 is slide block II, 1-7 is connecting rod I, 1-8 is connecting rod II, 1-9 is belt wheel I, 1-10 is belt wheel II, 1-11 is gear I, 1-12 is gear II, 1-13 is connecting plate I, 2-1 is motor III, 2-2 is support I, 2-3 is leading screw III, 2-4 is slide block III, 2-5 is compression spring, 2-7 is positive stop, 3-1 is motor IV, 3-2 is gear IV, 3-3 is leading screw IV, 3-4 is slide block IV, 3-5 is support II, 3-6 is motor V, 3-7 is gear V, 3-8 is leading screw V, 3-9 is slide block V, 3-10 is connecting plate II, 3-11 is slide block VI, 4 is massage contact.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention includes base plate, two degrees of freedom massage moving mechanism, massage feed mechanism and massage contact 4, wherein two degrees of freedom massage moving mechanism is installed on base plate, described massage feed mechanism is connected with two degrees of freedom massage moving mechanism, massage contact 4 is connected with massage feed mechanism, massage contact 4 is moved respectively by two degrees of freedom massage moving mechanism and massage feed mechanism in horizontal plane and vertical plane, realizes location and the massage of acupoint of foot.
Embodiment 1
As shown in Figure 1, two degrees of freedom massage moving mechanism comprises motor I 1-1, motor II 1-2, leading screw I 1-3, leading screw II 1-4, slider I 1-5, slide block II 1-6, connecting rod I 1-7, connecting rod II 1-8, connecting plate I 1-13, gear drive I and gear drive II, wherein leading screw I 1-3 and leading screw II 1-4 is set in parallel on described base plate, the outfan of motor I 1-1 is connected with leading screw I 1-3 by gear drive I, and the outfan of motor II 1-2 is connected with leading screw II 1-4 by gear drive II; Slider I 1-5 and slide block II 1-6 is threaded with leading screw I 1-3 and leading screw II 1-4 respectively.One end and the slider I 1-5 of connecting rod I 1-7 are hinged, and one end and slide block II 1-6 of connecting rod II 1-8 are hinged, and the other end of connecting rod I 1-7 and connecting rod II 1-8 is all hinged with connecting plate I 1-13, and massage feed mechanism is installed on connecting plate I 1-13.
The motor process of two degrees of freedom massage moving mechanism is:
Motor I 1-1 drives leading screw I 1-3 to rotate, and slider I 1-5 seesaws along leading screw I 1-3.Motor II 1-2 drives leading screw II 1-4 to rotate, and slide block II 1-6 seesaws along leading screw II 1-4.By the difference of slider I 1-5 and slide block II 1-6 displacement, change the position of connecting plate I 1-13 at connecting rod I 1-7 and connecting rod II 1-8 pin joint place, realize the change of point massage point with this.
Due to both sides acupoint of foot almost symmetry, and require to massage simultaneously, so base plate is arranged with two two degrees of freedom massage moving mechanisms, symmetrically arranged two leading screw I 1-3 are in transmission connection by belt drive unit I, namely two leading screw I 1-3 are equipped with belt wheel I 1-9, two belt wheel I 1-9 are in transmission connection by belt I.In like manner, two symmetrically arranged leading screw II 1-4 are in transmission connection by belt drive unit II, namely two leading screw II 1-4 are equipped with belt wheel II 1-10, two belt wheel II 1-10 are in transmission connection by belt II, by belt drive unit I and belt drive unit II, the screw turns symmetry of side is delivered to opposite side two degrees of freedom massage moving mechanism like this, Liang Zu mechanism is arranged symmetrically with, and realizes synchronous, symmetric motion.
As shown in Figure 2, massage feed mechanism comprises motor III 2-1, support I 2-2, leading screw III 2-3, slide block III 2-4, compression spring 2-5, positive stop 2-7 and gear drive III, wherein the outfan of motor III 2-1 is connected with leading screw III 2-3 by gear drive III, slide block III 2-4 is threaded with leading screw III 2-3, one end of support I 2-2 is connected with slide block III 2-4, and the other end is provided with compression spring 2-5.Massage contact 4 is connected with compression spring 2-5, and one end of compression spring 2-5 is connected with support I 2-2, and the other end is connected with massage contact 4, and massage contact 4 limits massage pressure by compression spring 2-5.Leading screw III 2-3 is provided with the positive stop 2-7 advanced for limiting slide block III 2-4.
The motor process of massage feed mechanism is:
Motor III 2-1 drives leading screw III 2-3 to rotate, slide block III 2-4 drives support I 2-2 to rise, and massage contact 4 and acupoint of foot are conflicted, and limits massage pressure by compression spring 2-5, when slide block III 2-4 moves to end and positive stop 2-7 touches, reach the maximum of massage pressure.Massage pressure and security performance requirement is guaranteed by compression spring 2-5 and positive stop 2-7.
In use procedure of the present invention, first rely on auxiliary device to be fixed by foot, and record the size of foot.Main control computer of the present invention resolves acupoint of foot model, the plane motion track of planning vola portion massage contact 4, drive two degrees of freedom massage moving mechanism, by the motion of slider I 1-5 and slide block II 1-6, massage contact 4 is made to move to below setting acupoint of foot, drive motor III 2-1 in feeding massage mechanism, slide block III 2-4 is driven to move upward, band moving contact 4 props up Pelma acupuncture points, and setting massage pressure under holding position, again according to the acupoint massage trajectory planning of setting, drive massage feed mechanism, massage contact 4 is made to carry out massage motion at acupoint of foot point.Main control computer is prior art.
Embodiment two
Two degrees of freedom massage moving mechanism comprises motor IV 3-1, leading screw IV 3-3, slide block IV 3-4, support II 3-5, motor V 3-6, leading screw V 3-8, slide block V 3-9, slide block VI 3-11, connecting plate II 3-10, gear drive IV and gear drive V, wherein the outfan of motor IV 3-1 is connected with leading screw IV 3-3 by gear drive IV, and slide block IV 3-4 is threaded with leading screw IV 3-3.Slide block IV 3-4 is connected with leading screw V 3-8 by support II 3-5, and the middle part of leading screw V 3-8 is connected with the outfan of motor V 3-6 by gear drive V.The two ends of leading screw V 3-8 are provided with the contrary screw thread of rotation direction, slide block V 3-9 and slide block VI 3-11 is threadedly connected to the two ends of leading screw V 3-8 respectively, slide block V 3-9 and slide block VI 3-11 is equipped with connecting plate II 3-10, and each connecting plate II 3-10 is all connected with massage feed mechanism.
The work process of two degrees of freedom massage moving mechanism is:
Motor IV 3-1 driven wheel IV 3-2 rotates, band movable slider IV 3-4 moves along leading screw IV 3-3, motor 3-6 V driven wheel V 3-7 rotates, gear V 3-7 rotarily drives leading screw V 3-8 and rotates, it is contrary that leading screw V 3-8 connects both sides rotary orientation at gear, when leading screw V 3-8 rotates, slide block V 3-9 or in opposite directions symmetric motion relative with slide block VI 3-11, is connected and massages feed mechanism 2 above slide block V 3-9 with slide block VI 3-11.
The structure of massage feed mechanism 2 is identical with embodiment one.
In motor process of the present invention, according to acupoint of foot position, drive slide block IV 3-4, slide block V 3-9 and slide block VI 3-11, because leading screw V 3-8 both sides rotary orientation is contrary, so slide block V 3-9 and slide block VI 3-11 symmetric motion, and aim at acupoint of foot, then drive the massage of massage feed mechanism realization to acupoint of foot.
Claims (6)
1. a foot massaging robot mechanism, it is characterized in that: comprise base plate, two degrees of freedom massage moving mechanism, massage feed mechanism and massage contact (4), wherein two degrees of freedom massage moving mechanism is installed on base plate, described massage feed mechanism is connected with two degrees of freedom massage moving mechanism, described massage contact (4) is connected with massage feed mechanism, massage contact (4) is moved respectively by two degrees of freedom massage moving mechanism and massage feed mechanism in horizontal plane and vertical plane, realizes location and the massage of acupoint of foot, described massage feed mechanism comprises motor III (2-1), support I (2-2), leading screw III (2-3), slide block III (2-4), compression spring (2-5) and gear drive III, wherein the outfan of motor III (2-1) is connected with leading screw III (2-3) by gear drive III, described slide block III (2-4) is threaded with leading screw III (2-3), one end of described support I (2-2) is connected with slide block III (2-4), the other end is provided with compression spring (2-5), described massage contact (4) is connected with compression spring (2-5), and limit massage pressure by compression spring (2-5).
2., by foot massaging robot mechanism according to claim 1, it is characterized in that: described leading screw III (2-3) is provided with the positive stop (2-7) advanced for limiting slide block III (2-4).
3. by foot massaging robot mechanism according to claim 1, it is characterized in that: described two degrees of freedom massage moving mechanism comprises motor I (1-1), motor II (1-2), leading screw I (1-3), leading screw II (1-4), slider I (1-5), slide block II (1-6), connecting rod I (1-7), connecting rod II (1-8), connecting plate I (1-13), gear drive I and gear drive II, wherein leading screw I (1-3) and leading screw II (1-4) are set in parallel on described base plate, the outfan of described motor I (1-1) is connected with leading screw I (1-3) by gear drive I, the outfan of described motor II (1-2) is connected with leading screw II (1-4) by gear drive II, described slider I (1-5) and slide block II (1-6) are threaded with leading screw I (1-3) and leading screw II (1-4) respectively, one end and the slider I (1-5) of described connecting rod I (1-7) are hinged, one end and the slide block II (1-6) of described connecting rod II (1-8) are hinged, the other end of described connecting rod I (1-7) and connecting rod II (1-8) is all hinged with connecting plate I (1-13), and described massage feed mechanism is installed on connecting plate I (1-13).
4., by foot massaging robot mechanism according to claim 3, it is characterized in that: described two degrees of freedom massage moving mechanism is two and is symmetricly set on described base plate.
5., by foot massaging robot mechanism according to claim 4, it is characterized in that: on described two two degrees of freedom massage moving mechanisms, symmetrically arranged two leading screws are in transmission connection by belt drive unit, realize being synchronized with the movement.
6. by foot massaging robot mechanism according to claim 1, it is characterized in that: described two degrees of freedom massage moving mechanism comprises motor IV (3-1), leading screw IV (3-3), slide block IV (3-4), support II (3-5), motor V (3-6), leading screw V (3-8), slide block V (3-9), slide block VI (3-11), connecting plate II (3-10), gear drive IV and gear drive V, wherein the outfan of motor IV (3-1) is connected with leading screw IV (3-3) by gear drive IV, described slide block IV (3-4) is threaded with leading screw IV (3-3), slide block IV (3-4) is connected with leading screw V (3-8) by support II (3-5), described leading screw V (3-8) is connected by the outfan of gear drive V with motor V (3-6), the two ends of leading screw V (3-8) are provided with the contrary screw thread of rotation direction, described slide block V (3-9) and slide block VI (3-11) are threadedly connected to the two ends of leading screw V (3-8) respectively, slide block V (3-9) and slide block VI (3-11) are equipped with connecting plate II (3-10), and each connecting plate II (3-10) is all connected with massage feed mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210559186.5A CN103876926B (en) | 2012-12-20 | 2012-12-20 | A kind of foot massaging robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210559186.5A CN103876926B (en) | 2012-12-20 | 2012-12-20 | A kind of foot massaging robot mechanism |
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| CN103876926A CN103876926A (en) | 2014-06-25 |
| CN103876926B true CN103876926B (en) | 2015-11-11 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105796328B (en) * | 2014-12-29 | 2019-07-26 | 天津博中电子有限公司 | A kind of multi-functional, more point detection massage therapeutic equipments |
| CN106821721A (en) * | 2017-03-14 | 2017-06-13 | 河海大学 | A kind of stream impulse masseur for acupoint of foot bottom |
| CN111568715A (en) * | 2020-04-08 | 2020-08-25 | 奥佳华智能健康科技集团股份有限公司 | Foot massaging machine |
| CN113274283A (en) * | 2021-04-25 | 2021-08-20 | 中国科学院沈阳自动化研究所 | Health-preserving robot based on traditional Chinese medicine foot reflex therapy |
| CN113893086B (en) * | 2021-10-18 | 2024-03-08 | 河北赛宇隆辰科技有限公司 | Device for treating pseudomyopia by pulse |
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| CN2668111Y (en) * | 2003-12-03 | 2005-01-05 | 谷德生 | Foot massaging machine |
| CN2880057Y (en) * | 2006-03-31 | 2007-03-21 | 王建滨 | Foot therapeutic apparatus |
| CN200957178Y (en) * | 2006-08-14 | 2007-10-10 | 深圳市精锐实业有限公司 | Foot sole massager with electronic positioning |
| CN202366144U (en) * | 2011-12-09 | 2012-08-08 | 宁波康福特健身器械有限公司 | Massager |
| CN202961141U (en) * | 2012-12-20 | 2013-06-05 | 中国科学院沈阳自动化研究所 | Foot massage robot mechanism |
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2012
- 2012-12-20 CN CN201210559186.5A patent/CN103876926B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2668111Y (en) * | 2003-12-03 | 2005-01-05 | 谷德生 | Foot massaging machine |
| CN2880057Y (en) * | 2006-03-31 | 2007-03-21 | 王建滨 | Foot therapeutic apparatus |
| CN200957178Y (en) * | 2006-08-14 | 2007-10-10 | 深圳市精锐实业有限公司 | Foot sole massager with electronic positioning |
| CN202366144U (en) * | 2011-12-09 | 2012-08-08 | 宁波康福特健身器械有限公司 | Massager |
| CN202961141U (en) * | 2012-12-20 | 2013-06-05 | 中国科学院沈阳自动化研究所 | Foot massage robot mechanism |
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