CN105167972B

CN105167972B - Convolution rubs massage mechanism and its hand massager and abdominal massaging device

Info

Publication number: CN105167972B
Application number: CN201510663911.7A
Authority: CN
Inventors: 韩振利
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-10-15
Filing date: 2015-10-15
Publication date: 2018-07-17
Anticipated expiration: 2035-10-15
Also published as: CN108578189A; CN105167972A

Abstract

The present invention relates to massage technique fields, using planetary gear train as the transmission mechanism of convolution rubbing massager, massaging body is fixedly connected with planetary gear respectively, massaging body can do convolution turnover movement, it can be controlled again simultaneously from corner variation does not occur in circumnutation, reach convolution and rub massage requirements；Hand massager is rubbed using Transmission Mechanism of Planetary Gear System production convolution, and preferably above-mentioned transmission mechanism manufacture abdomen convolution rubbing massager, more importantly abdominal massaging device is not only warming using arch-shaped holder but also hides body, installation planetary gear train rotating arm drives that hand-held convolution rubs massager or the massage cushion that rubs does that convolution rubs or rotary friction moves two ways and massages with arm together under holder simultaneously, and the positioning in massage processes can be automatically generated, periodically, detour speed, change and the detour number of turns to detour by ringlet to great circle, and adjusting massage pressure at any time, the massage cushion that rubs has heat storage capacity.

Description

Convolution rubs massage mechanism and its hand massager and abdominal massaging device

Technical field

The present invention relates to massage technique fields, more particularly to realize that convolution is rubbed using planetary gear train or differential gear train The massage mechanism of dynamic massage also relates to and rubs hand massager and abdomen convolution using Transmission Mechanism of Planetary Gear System making convolution Rubbing massager.

Background technology

It is well known that rub massage be it is a kind of it is time-honored most generally use and most effective massage method, manually rub Method is to be pressed on applied position with the facies palmaris of the finger pulp of finger or palm, and tightly stick to the skin and drive subcutaneous tissue at this, is made light The convolution of soft mitigation rotates, and generates the effect that subcutaneous deep tissues are rubbed with friction, and each impetus is by continuous uniform Rub power, while the own rotation angle of finger pulp or palm does not change with week rotation fortune or only micro-swinging, convolution It is returned to original state after a week, does not involve surrounding skin excessively, and existing massage machine, it only leans on impulse oscillation, roll Forms, the better direct and skin contacts such as extruding can only accomplish that straight line or arc segment are back and forth rubbed, and authentic return is not achieved Rotation rubs massage requirements.Such as a kind of massage machine of patent publication No. CN204133807U, principle is that massage rod is done around a bit Circular cone is swung, and the track that massage rod center line is formed is conical and non-cylindrical, and it is to become to be formed by pressing force to same point It is changing rather than continuous uniform to rub power, and the bodily form is larger, is not achieved and rubs effect, and patent publication No. CN201042497 Kneading action is to be massaged by two massage head relative motions to reach to squeeze skin, and used transmission mechanism is universal single One generates circular motion using wobbler action, and massage head own rotation is unable to control, and skin one cannot be driven by involving skin Rotation is played, the effect that gimmick rubs is not achieved, when gimmick rubs self, the rate and persistence of annular rotation are difficult, and The muscle power and energy for consuming people, need mechanical replacement.

For abdominal massaging, no matter all proved from health or from modern medicine its to health and cure the disease it is all critically important, Abdominal massaging it is important there are two types of mode：First, being rubbed to acupuncture point and internal organs depth, it is desirable that hand applies different pressing forces, idea Concentration carries out rubbing massage；Another kind is rotation palm-rubbing technique, i.e. both hands superposition is using navel as the center of circle, from inside to outside, by ringlet to greatly The frictional rotation of circle, and coordinate breathing, the two requires that hand is put on abdomen, meaning with manual, health preservation massage require " it is refreshing with manual, It is neither too familiar nor too distant, in meaning note abdomen, is servo-actuated and turns ", the time the long, harvests bigger, it is necessary to it concentrates, and existing massage machine is not It only can not achieve automatic precisely convolution to rub and friction massage, can not also arm be driven to operate, be more not achieved to lower surging Adjust at any time, when self-massage abdomen, no matter will firmly push or above carry using hand or massager, rub abdomen when it is noted that rotation Action and dynamics have disperseed the effect that attention is not achieved in meaning note abdomen.

Invention content

In order to overcome the shortcomings of existing massage machine, can be revolved round the sun using planetary gear in planetary gear train or differential gear train and The characteristic that energy rotation and planetary gear can invert relatively again can realize that convolution rubs the massage mechanism of massage to make, and be made Transmission mechanism can be precisely controlled the turnover and rotation of massaging body, and the compact-sized bodily form is small, the high energy saving, fortune of transmission ratio The steady small service life of noise of row is long, and can accomplish diversified forms rubs massage；Using planetary gear train massage transmission mechanism come It produces a kind of convolution and rubs hand massager, it is small to be allowed to energy saving, light, Bao Zhi, the noise that operates steadily；And preferably above-mentioned driver A kind of abdomen convolution rubbing massager is made in structure, it is often more important that abdominal massaging device can be reserved using arch-shaped holder and be sold Arm activity space, it is not only warming but also hide body, while installed under holder planetary gear train rotating arm drive hand-held convolution rub massager or The massage cushion that rubs does that convolution rubs or rotary friction moves two ways massage together with arm, and can automatically generate in massage processes Positioning, timing, detour speed, change and the detour number of turns to detour by ringlet to great circle, and adjusting massage pressure at any time, use The massage cushion that rubs requires heating and heat storage capacity.

Massage method is rubbed about mechanical rotary, it is characterised in that the massaging body being installed on transmission mechanism is set as column Body, state when work, massage weight directly in massage part and are close to not occur to slide with skin on the skin or roll, be driven Do convolution turnover movement under mechanism effect, and generate and subcutaneous deep tissues are rubbed with the effect of friction, and each impetus by Continuous uniform rubs power, while massaging body itself corner does not change with week rotation fortune or only reverses a little, circles round It is returned to original state after a week, surrounding skin is not occurred excessively to involve, massaging body requires to reach from motion state, massage Body center line track for generating in convolution turnover movement is cylindrical or near cylindrical, the plane rail of any point on center line Mark is then round or approximate circle, that is to say, that massaging body does convolution turnover movement on the whole, and from the transhipment of convolution week Dynamic to be formed on circle or approximate Circular test, each the angle of rotation of point and the line of centres, relative translation sit quietly mark not on massage body section It changes or only angle of rotation micro-swinging between positive negative angle, it is desirable that massaging body corner changes around not involving excessively In the angular range of skin, meet mechanical rotary and rub massage requirements, it is whole convolution week to be massaging body athletic posture Then itself translation, massaging body is clothoid translation during convolution rubs in brief, and corner is micro- between positive and negative angle, φ Width is swung（Such as figure one）, surrounding skin is not involved excessively, that is, meets the requirement rubbed manually, can be substituted completely manually, and compare Artificial rotational speed rate of rubbing is more steady and lasting, has filled up a defect of massage machine.

Inventive technique embodiment is：It convolution rubs the massage mechanism of massage for that can realize total there are four types of make Method, be first planetary gear train circle round rub massage mechanism production method, can be revolved round the sun using planetary gear in planetary gear train and The characteristic that energy rotation and planetary gear can invert relatively again rubs the transmission mechanism of massage mechanism to make to circle round, and suitable has 3 kinds of planetary gear train drive mechanisms, the 1st kind of congruent gear external toothing planetary gear train convolution rub massage mechanism, form massager The transmission mechanism of structure is：At least 3 congruent external gears, for 3, one are installed in the shell turned round at one For sun gear, a breast wheel, one is planetary gear, constitutes the planetary gear train with one degree of freedom, and sun gear is total with shell With being mounted on central shaft, sun gear is braked；When shell is fixedly connected with same central shaft with central shaft to be rotated together, the sun makes a turn It covers on center shaft, braking is kept by flange and rack consolidation, and when shell couples with central axis, sun gear is in Mandrel is affixed and central shaft is made to fix holding braking with rack, and shell is driving link；Sun gear is engaged with breast wheel, breast wheel with Planetary gear engages, and breast wheel, planetary gear are supported on by respective axis on shell, and shell is stretched out in planetary gear or planet wheel spindle one end It is fixedly connected by same center line with massaging body or off-axis line is connect, and massaging body and planetary gear is required to rotate together, formed Planetary gear train convolution rub massage mechanism work when, movement input shell as driving link（Such as Fig. 2）, around the axis of central shaft Line uniform rotation, shell drives planetary gear and massaging body around central shaft convolution turnover, while planetary gear is in the driving of breast wheel The opposite shell counter motion together of lower and massaging body, massaging body it is entire have enough to meet the need in motion process itself corner always with initial shape State is consistent or only micro-swinging, massaging body form convolution and rub massage motion state, reach convolution and rub massage requirements；

2nd kind is that mixing external gear planetary gear train convolution rubs massage mechanism, its transmission mechanism is by 4 external tooths Wheel, including 1 planetary gear, 1 sun gear further include two breast wheels that key connection is used in a middle wheel shaft, wherein 1 A breast wheel and planetary gear congruence, another and sun gear are congruent, and two pairs of congruent gears respectively engage, and are commonly mounted on one In a shell of revolution body, form planetary gear train, planetary gear and sun gear on two planar, shell and sun gear share it is same in Mandrel, sun gear braking, when shell is fixedly connected with same central shaft with central shaft to be rotated together, sun gear empty set is in central shaft On, braking is kept by flange and rack consolidation, and when shell couples with central axis, sun gear and central shaft are affixed simultaneously So that central shaft is fixed with rack and keep braking, shell is driving link；Breast wheel, planetary gear are supported on shell by respective axis On, massaging body be fixedly connected by same central axis with planetary gear or planet wheel spindle or off-axis line connection and with turn together with planetary gear Dynamic, housing into rotation drives massage head to make convolution turnover movement when work, while opposite shell rotates backward, and forms convolution and rubs Massage motion state, advantageous effect are that planetary gear is reversely engaged with breast wheel, and massaging body radius of gyration can be made to minimize, it is easier to Adjust the centre-to-centre spacing of planetary gear and sun gear；

3rd kind of mode is that the convolution of planet sprocket formula rubs massage mechanism production method：Utilize three congruent gear row amounts Train is rotated around sun gear, make planetary gear revolve round the sun again rotation, mid-wheel drive planetary gear invert the characteristics of；Form massage mechanism Transmission mechanism be：Using two congruent sprocket wheels, one is planet sprocket, and a sun sprocket wheel connects two wheels by chain, Chain replaces breast wheel, and planetary gear is made to invert, and is commonly mounted in a rotatable shell and forms planet sprocket transmission mechanism, Sun sprocket wheel is set to brake, sun sprocket wheel is coaxial with shell, when shell is fixedly connected with same central shaft with central shaft to be rotated together, too Positive sprocket wheel empty set keeps braking on center shaft, by flange and rack consolidation, and when shell couples with central axis, too Positive sprocket wheel and central shaft are affixed and make central shaft and rack fix to keep braking, and shell is driving link；Planet sprocket or planet chain Wheel shaft and massaging body are consolidated by same central axis or off-axis line and are rotated together with planet sprocket, and when work, shell is as former Moving part input motion drives planet sprocket or massaging body to make convolution turnover, while massaging body, with respect to shell counter motion, formation is pressed The body that rubs convolution rubs massage motion state；Planetary gear train convolution rubs in massage transmission mechanism, massaging body central point circular trace Radius is equal to planet wheel spindle or planet sprocket axis to sun wheel shaft or sun sprocket shaft centre distance, changes gear size or change Planetary gear, which engages direction with breast wheel, can adjust gear shaft centre-to-centre spacing, while also reconcile massaging body detour radius, and congruence is outer Gear includes positive round gear, eccentric gear, elliptic gear or modified elliptical gear（Three pitch curve congruences）；

At least 3 congruent external gear planetary gear trains refer to allowing installation 3 in the shell turned round at one A or 5 congruent external gears constitute two kinds of identical planetary wheel mechanisms, not with 3 congruent external gear planetary gear trains Same, which is breast wheel, allows to add two again, forms 3 breast wheels, amounts to 5 gear sets into planetary gear train, sun gear is in Between 1 engagement of wheel, breast wheel 1 engages with breast wheel 2, and breast wheel 2 is engaged with breast wheel 3, breast wheel 3 and planet Wheel engagement is formed by massage as long as driving planetary gear rotation direction and the breast wheel 1 of sun gear engagement are reversely allowed to Mechanism is identical as 3 congruent external gear planetary gear train massage mechanisms；About the congruent external gear mentioned in planetary gear train, packet Positive Knucle-gear, eccentric gear, elliptic gear or modified elliptical gear are included, in addition to positive Knucle-gear, if using other gears The requirement of installation is, as long as phase is identical when initial connection, two pitch points are on two gear axis lines when rotation, centre-to-centre spacing From constant equal length, can be achieved with rotating；Other than positive Knucle-gear, planetary gear train and differential gear train institute that other gears are formed The positive and negative swing of corner can occur for the massaging body of consolidation, and corner eccentricity deviation is directly proportional；As long as and massaging body is pressed with planet wheel spindle Same center line consolidation, then the point on massaging body center line is round in the track that Plane of rotation is formed, and is formed by movement It is uniform circular motion, if massaging body is connect with planetary gear off-axis, then the track that the point on massaging body center line is formed should be ellipse Circle, indicatrix ellipse shape is as approximate circle, about the connection of planetary gear train sun gear and shell and central shaft, when shell with Central shaft be fixedly connected it is coaxial sun gear answers empty set on center shaft when rotating together, pass through flange and keep system with rack consolidation It is dynamic, and when shell couples with central axis, sun gear and central shaft then consolidate and central shaft are made to be fixed with rack and keep system Dynamic, shell inputs for driving link；About in 4 gear mixing planetary gear trains, key connection two is used in a middle wheel shaft A breast wheel is that two breast wheels of requirement must synchronize and in the same direction, two breast wheels allow to use cluster gear, allow breast wheel It is engaged with planetary gear mismatch using gear is thickeied, then it is identical as 3 congruent planetary gear trains, therefore mix planetary gear train In, allow 4 external gear congruences, in the above case, planetary gear and breast wheel can reversely engage connection（It refer to gear shaft Heart line is to turn back）, massaging body centre of gyration orbital radius can be made to minimize；Eccentric rod is used when installation（Such as figure 3）, axis centered on thick section, thin segment is planet wheel spindle, and sun gear and planetary gear difference empty set are in respective correspondence central axis segment and row On star shaft part, sun gear is fixedly connected by flange with rack, and planetary gear is fixedly connected with massaging body, shell and eccentric rod two Shaft part middle is fixedly connected, and the rotation of eccentric rod input power drives gearcase rotation, driving massaging body to rub massage, this knot The size of the unlimited gear of structure；

The advantageous effect of the above massage mechanism is：With compact-sized, small, light weight, carrying is big, and transmission ratio is high, It is small to rotate steady noise, especially transmission mechanism can be precisely controlled massaging body turnover and rotation, and it is more steady and hold to rub rotational speed rate Long, and energy adjusting massage range, massage weight directly in massage part and are close to not occur to slide with skin on the skin or roll, Convolution turnover movement is done under transmission mechanism effect, and generates the effect that subcutaneous deep tissues are rubbed with friction, and is respectively puted forth effort Point is rubbed power by continuous uniform, while massaging body own rotation angle does not change with week rotation fortune or only puts a little Dynamic, convolution is returned to original state after a week, and surrounding skin does not occur excessively to involve, and it is best that massage physical efficiency reaches curvilinear translation Motion state does not have to frictionally control massaging body rotation, can reach mechanical rotary and rub massage requirements.

Secondly, it is that realize that convolution rubs massage requirements is that differential gear train convolution rubs massage mechanism, forms massage mechanism Transmission mechanism be differential gear train, the composition of differential gear train is：2 congruent external gears are installed in the shell turned round at one And be intermeshed, one is planetary gear, the other is sun gear, constitutes the differential gear train of 2 degree of freedom；Shell and sun gear Same central shaft is shared, massaging body is fixedly connected by same central axis with planetary gear or planet wheel spindle and is turned together with planetary gear Dynamic, when work, shell is turned round as a driving link around central shaft, and sun gear as another driving link with twice of shell Rotating speed rotates in same direction, and the counter motion with the massaging body of planetary gear consolidation in the opposite shell of the circular motion and planetary gear of shell is total to Under same-action, the motion state for being suitble to convolution to rub massage is formed, two gear shaft centre-to-centre spacing are equal to massaging body central point locus half Diameter should adjust gear size to reconcile massaging body detour radius；The congruent external gear mentioned in differential gear train, including positive knuckle-tooth Wheel, eccentric gear, elliptic gear or modified elliptical gear, in addition to positive Knucle-gear, if wanted using what other gears were installed Seeking Truth, as long as phase is identical when initial connection, for two pitch points on two gear axis lines, centre distance is not elongated when rotation It spends equal, can be achieved with rotating；Other than positive Knucle-gear, pressing attached in the planetary gear train and differential gear train that other gears are formed The positive and negative swing of corner occurs for cognition of rubbing, and corner eccentricity deviation is directly proportional；As long as and massaging body presses same center with planet wheel spindle Line consolidates, then the point on massaging body center line is round in the track that Plane of rotation is formed, and it is at the uniform velocity round to be formed by movement Zhou Yundong, if massaging body is connect with planetary gear off-axis line, then the track that the point on massaging body center line is formed should be ellipse, become Shape ellipse, it is as approximate circle；

Advantageous effect is：Differential gear train can reduce gear shaft centre-to-centre spacing, stable drive, transmission ratio height.

A kind of production method for rubbing hand massager of circling round, including upper and lower outer housing, upper outer shell rear portion are installed respectively There are battery case, hand strap and presses switch；Motor and central shaft with transmission gear, central shaft is fixedly mounted in upper outer shell front Installation congruent positive round planetary gear train convolution in lower part rubs massage transmission mechanism, stretches out the massaging body and transmission mechanism of lower shell body Planet wheel spindle is fixedly connected by same center line, the composition of Transmission Mechanism of Planetary Gear System, i.e., pacifies in the gearcase turned round at one 3 congruent external gears are filled, one is sun gear, and a breast wheel, one is planetary gear, and sun gear is engaged with breast wheel, Breast wheel is engaged with planetary gear, and 3 gear installation sites are triangularly arranged（Such as Fig. 4）, planetary gear do not contact with sun gear Have the gap, constitute the planetary gear train with one degree of freedom, sun gear and gearcase are commonly mounted on central shaft, sun gear with Central shaft is fixedly connected, and planetary gear and breast wheel are all made stem gear and be supported on gearcase, and gearcase top passes through axis Bearing set is fixedly connected with reduction gearing, and gearcase may be rotatably mounted at by bearing on central shaft, and planet wheel spindle connects massaging body, When work, motor-driven gear drives reduction gearing, drives gearcase around central shaft uniform rotation, gearcase drive planetary gear and Massaging body circles round around central shaft to be had enough to meet the need, while planetary gear under the driving of breast wheel reversely transport together with massaging body by opposed gear box Dynamic, forming curves translational motion posture reaches convolution and rubs massage requirements；Massaging body radius of gyration by tip circle radius outside gear and Planetary gear is determined with the breast wheel position of engagement；

Advantageous effect is：Convenient circle round everywhere to whole body rubs, and can especially be rubbed to crotch, massaging body rubs flat Surely.

A kind of convolution rubs the massage machine that abdomen is moved with rotary friction, lies on the back and lies low when massaging abdomen, on abdomen Arch-shaped holder far from abdomen there are one just setting（Such as Fig. 1）, arch length be advisable with covering tightly quilt, arch-shaped holder lower part with The pedestal Tong Guo Pins axis and hasp of lower back fix can free-open-close, make top can bear certain downward gravity and Certain upward support force is born, a level tray is fixedly mounted above arch-shaped holder, pallet passes through axis at face navel It holds and a central shaft is vertically fixedly mounted, selection can carry out speed governing, Ding Jiao, timing, pause and reversion using motor driver Stepper motor, stepper motor is installed on pallet top directly or indirectly through transmission gear to central shaft input power, center Axis is from top to bottom fixedly mounted under drive gear and horizontal rotating arm and rotates together in order, rotating arm can manually or oneself Dynamic lengthen is adjusted, and the other end of horizontal rotating arm connects vertical upright bar, and vertical upright bar lower part is held back by sliding sleeve connection Rotation rubs massager or the massage cushion that rubs, and when work, movement input center axis drives horizontal rotating arm to do circular-rotation, makes vertical Upright bar drives hand-held convolution to rub massager or rubs massage cushion and arm rotates together, and does great circle or ringlet rotation；It is horizontal Rotating arm does two kinds of forms of rotating arm using three congruent positive round gear sets at Transmission Mechanism of Planetary Gear System or using crank；Work as water When flat rotating arm uses Transmission Mechanism of Planetary Gear System, gearcase can be turned back and be lengthened, and folded back position is at middle wheel shaft, row Spider gear shaft is fixedly connected with vertical upright bar, when rotation upright bar do not twist, and when doing rotating arm using crank, crank rotating arm With vertical upright bar junction must be hinge or shaft itself can rotate, could using arm instead of Transmission Mechanism of Planetary Gear System come The rotation angular direction of massager or massage cushion is adjusted, vertical upright bar is by vertical shaft, pull-up spring, sliding sleeve and blocking element institute Composition, casing can slide up and down, and motor turns over set angle automatic positioning when rubbing massage, and subordinate pushes back rotation and rubs massager It is lockked by blocking element after driving casing to determine dynamics, is just exerted oneself again without hand when convolution rubs massage, when rubbing massage, The power that spring has pull-up casing upward, makes human hand more easily grasp the dynamics rubbed, hand massager uses three positive round Gear planetary wheel system transmission mechanism, the massage cushion that rubs are by two soft material, and upper layer uses heat-barrier material, lower layer to use heat conduction material Material, centre are clamped bearing flat plate, heater and heat-storing material are placed on tablet, joint unilateral bearing or axis pin are connect on tablet；

Advantageous effect is：This massage machine not only can carry out convolution to abdomen and rub massage, moreover it is possible to accomplish the abdomen that rubs Massaging way can especially be automatically positioned in convolution rubs massage, arbitrarily apply massage pressure, most importantly rotate horizontally Arm uses Transmission Mechanism of Planetary Gear System, can control the rotation angle of vertical upright bar, makes to rub or rub drive when massaging Arm rotates together, and auto-changing brachium, makes one to be unlikely in massage processes distraction in firmly intensity and domination On massaging action, idea is enable all to concentrate on abdomen, arch-shaped holder allows upper cover bedding in massage, accomplish heat preservation and The effect of blocking, the inner space simultaneously supported out, which is easier to arm activity and the massage to crotch, suspended scaffold, arbitrarily to open Contract back massage apparatus matches（Such as Fig. 1）, allow to make bedside backrest and chair back form.

Description of the drawings

Fig. 1：The mating rubbing massager schematic diagram in abdomen back；

Fig. 2：Planetary gear convolution system rubs the structure and transmission schematic diagram of massage transmission mechanism；

Fig. 3：Eccentric rod schematic diagram；

Fig. 4：Convolution rubs hand massager Transmission Mechanism of Planetary Gear System gear scheme of installation；

Fig. 5：Abdominal massaging apparatus structure sectional schematic diagram；

Fig. 6：Planetary gear train horizontal rotating arm fold-back schematic diagram in abdominal massaging device；

It illustrates：Abdominal massaging device part：9. pallet；10. central shaft；11. transmission gear；12. rotating arm；13. Upright bar；14. convolution rubs massager；15. motor.

Specific implementation mode

The making of massager, including outer housing, the motor with transmission gear, center are rubbed further with regards to hand-held circle round Axis, gear-box upper casing, 3 congruent gears, gear-box lower casing, massaging bodies being supported in gear-box；Central shaft and gear-box Upper casing is fixedly connected, and gear-box upper casing is made of bearing sleeve, reduction gearing integral structure, is conducive to central shaft and tooth when installation Massager thickness is fixed and reduced to roller box upper casing, and motor-driven gear drives the reduction gearing rotation on gear-box, 3 congruences Gear one is sun gear, and a breast wheel, one is planetary gear, and sun gear is engaged with breast wheel, and breast wheel is nibbled with planetary gear It closes, 3 gear installation sites are triangularly arranged（Such as Fig. 4）, sun gear and gearcase be commonly mounted on central shaft, the sun Wheel is fixedly connected with central shaft, and planetary gear and breast wheel are all made stem gear and be supported on gearcase, and gear-box passes through axis It holds and may be rotatably mounted on central shaft, the planet wheel spindle for stretching out gear-box lower casing is fixedly connected with massaging body；It is returned with designing massaging body Rotation radius is 22mm, then requires the radius of addendum of three gears, should be in 10mm hereinafter, when installing in planetary gear and sun gear The heart reserves gap away from should be greater than 20mm, and sun gear permission makes together with central shaft, to increase the diameter of central shaft, row Star-wheel shaft can overstriking and massaging body consolidate, use accumulator or common battery powered.

The massage machine production method that abdomen is moved with rotary friction, including arch-shaped holder, control are rubbed about a kind of convolution It switching, stepper motor 15 and stepper motor driver, transmission gear is installed on motor shaft, running part includes pallet 9, in Mandrel 10, under drive gear 11, rotating arm 12, upright bar 13, convolution rub hand massager 14 or the massage cushion that rubs, Structure chart（Such as Fig. 5）, arch-shaped holder using lightweight and the material with certain mechanical strength and insulation, as timber, bakelite, Fiberglass etc., arch-shaped holder mainly play the role of keeping the temperature and blocking, and highly should can cover quilt above between 350-550 ㎜ Cotton-padded mattress, 9 fixed center axis 10 of pallet and stepper motor 15 of arch-shaped frame upper installation, two side lower part of arch-shaped holder Link fixed using the back massage apparatus of axis pin and hasp and lower back or is fixed with bed（Such as Fig. 1）, can freely open It closes, a central shaft 10 is vertically fixedly mounted by bearing for pallet 9, and central shaft 10 is from top to bottom fixedly mounted in order to be subtracted Fast transmission gear 11 and horizontal rotating arm 12, rotating arm 12 are complete by three as used Transmission Mechanism of Planetary Gear System, composition Equal external gears, one is sun gear, and a breast wheel, one is planetary gear, is commonly mounted in a rotation gearcase, constitutes Planetary gear train with one degree of freedom, sun gear are commonly mounted on gearcase on central shaft 10, and sun gear brakes empty set It on central shaft 10, is fixed by flange and pallet 9, sun gear is engaged with breast wheel, and breast wheel is engaged with planetary gear, row Star-wheel is fixedly connected with planet wheel spindle and one forms by the reflexibie gearcase in axle center of middle wheel shaft, gearcase and center The consolidation of axis 10 is simultaneously rotated with central shaft 10, and gearcase is the rotating arm 12, planet wheel spindle stretch out gearcase with it is perpendicular It is fixedly connected to upright bar 13, the connection convolution of 13 lower part of vertical upright bar rubs hand massager 14 or the massage cushion that rubs（Such as Fig. 5）；Detour radius is by gear centre away from determination when being massaged by ringlet, so that it is determined that gear set specifications size, when work is installed on Under drive gear 11 on central shaft 10 makes central shaft 10 rotate under being driven by the transmission gear installed on motor shaft, It drives gearcase and vertical upright bar 13 to rotate, while the connection convolution of 13 lower part of vertical upright bar being driven to rub hand massager 14 or the massage cushion that rubs work；Detour radius can be converted when in order to massage detour, gearcase is in intermediate gear shaft contact position It is to allow to turn back（Such as Fig. 6）, by right angle fold-back is less than when ringlet is massaged, great circle massage pushes gearcase procapsid band when detouring Dynamic planetary gear changes the position of engagement, makes gearcase shell at a straight line, and install blocking element and fix, and allows in gearcase Side fixed using strut or pull rod, can also be screwed down threaded form is made at shell shaft contacts；Detour time-varying Changing detour radius has manually and automatically two ways, and when such as using self-action, on central shaft 10 plus a rotation electric wire connects Head is installing a driven gear, small type stepping motor and gearcase rear shell with the fixed middle wheel shaft top of gearcase procapsid Body is fixed, and installs driving gear on small type stepping motor transmission shaft, using stepper motor angle turning function, is driven by driving gear Driven gear in dynamic middle wheel shaft, to push procapsid straight or turn back；Vertical upright bar 13 is by vertical shaft, pull-up bullet Spring, sliding sleeve and blocking element are formed, and vertical shaft is fixedly connected with planet wheel spindle, first hand-held with subordinate pressure when rubbing massage Massager 15 determines strength, pulls the casing in vertical upright bar 13 to move down, after reaching requirement dynamics, by blocking element Locking is in this position, the cannula slide connection that vertical shaft is connect with hand massager 14, and mouth has one side smooth in sliding sleeve Portion and vertically there is at least one of groove, then corresponding vertical shaft is then to be in D fonts, ensures casing when sliding up and down not It twists, is transversely provided with spring ball blocking element on one side in casing evener, it is slope surface that vertical spindle surface, which is equipped with following, Lateral trench, the spin that when locking is located on casing blocks casing under the action of the spring to be moved upwards, and when downlink due to The effect of that face can be such that the spring for pushing ball withdraws, ball is then by groove if downlink to be released to row by lower mechanisms It exits, casing then freely moves up and down.When stroking abdomen and being massaged, casing top, which is equipped with spring, the work of pull-up casing With only considering downward power when determining massage force or only can reach by arm gravity, when rotary friction abdomen, which allows to change, rubs Dynamic massage cushion, the massage cushion that rubs use heat conduction soft material, such as heat conductive silica gel to form intermediate folder with heat-barrier material above using lower part Layer, intermediate course set support plate, PCT constant-temperature heating elements and heat-storing material, heating element set temperature are placed in support plate It it is 50 DEG C, heat-storing material allows to use 45 DEG C of paraffin class heat-storing materials of regenerator temperature, is heated before massage, accumulation of heat material when use Material releases heat, and can make skin by heat conductive silica gel by 40 DEG C of temperature, coordinate the idea of hand to abdomen rub by It rubs；The speed of the rotation of rotating arm 12, be by motor driver adjust pulse signal frequency and motor-driven gear and Under drive gear 11 reaches, and rub massaging point each point determines and rub the time, determined by change input pulse number Determine corner size determination rub position, using timer change pulse frequency come determine stop massage the time come reach rotation time Number, convolution rub hand massager 14 or when the massage cushions that rubs is massaged abdomen, convolution by ringlet to great circle change, It is to be reached by changing the length of rotating arm 12, the automatic length for changing rotating arm 12 is to need motor driver simultaneously It adjusts stepper motor 14 and the small type stepping motor being installed on rotating arm synchronizes, reconcile umber of pulse and adjust on rotating arm 12 Small type stepping motor corner determine that rotating arm 12 allows to reach rotation using crank, changes length same planetary system, also Allow to be designed to straight-arm, changes straight-arm with 13 delivery position of upright bar to reach the adjusting of length, rotating arm 12 and upright bar 13 It answers hinge or upright bar itself that can rotate, massaging body rotation direction could be corrected with arm, together in favor of arm companion massaging body Rotary massaging experiences idea.

Claims

1. a kind of planetary gear train convolution rubs massage mechanism, including rack, transmission mechanism and massaging body, it is characterised in that described Transmission mechanism uses planetary gear train structure, and suitable has 3 kinds of Transmission Mechanism of Planetary Gear System, therefore the planetary gear train generated Convolution rubs that massage mechanism is total 3 kinds of structure types；

1st kind is that 3 congruent external gear planetary gear train convolutions rub massage mechanism, it is characterised in that the planetary gear train Transmission mechanism forms：3 congruent external gears are installed, one is sun gear, a centre in the shell turned round at one Wheel, one is planetary gear, and sun gear is engaged with breast wheel, and breast wheel is engaged with planetary gear, and is supported on shell by respective axis On body, the planetary gear train with one degree of freedom is constituted, sun gear is commonly mounted on shell on central shaft, sun gear braking, When shell is fixedly connected with same central shaft with central shaft to be rotated together, sun gear empty set on center shaft, passes through flange and rack It consolidates and sun gear is made to keep braking, and when shell couples with central axis, sun gear and central shaft are affixed and make center Axis is fixed with rack and sun gear is made to keep braking, and shell is driving link；Planetary gear or planet wheel spindle one end are stretched out shell and are pressed The body that rubs is fixedly connected by same center line or the connection of off-axis line, and massaging body and planetary gear is required to rotate together；

2nd kind is that mixing external gear planetary gear train convolution rubs massage mechanism, it is characterised in that the planetary gear train transmission Mechanism forms：By 4 external gears, including 1 planetary gear, 1 sun gear further includes using key in a middle wheel shaft Two breast wheels of connection, wherein 1 breast wheel and planetary gear congruence, another and sun gear are congruent, and two pairs of congruences Gear respectively engages, and is supported on shell by respective axis, is commonly mounted in a shell of revolution body, forms planetary gear System, on two planar, shell shares the same central shaft with sun gear for planetary gear and sun gear, and shell is worked as in sun gear braking When being fixedly connected with same central shaft with central shaft and rotating together, sun gear empty set on center shaft, by flange and rack consolidate Sun gear is set to keep braking, and when shell couples with central axis, sun gear and central shaft are affixed and make central shaft and machine Frame is fixed and sun gear is made to keep braking, and shell is driving link, and massaging body presses same central axis with planetary gear or planet wheel spindle It is fixedly connected or off-axis line is connected and rotated together with planetary gear；

3rd kind is that 5 congruent external gear planetary gear train convolutions rub massage mechanism, it is characterised in that the planetary gear train Transmission mechanism forms：5 congruent external gears are installed, with the 1st kind of 3 congruent external gears in the shell turned round at one Breast wheel increases by two unlike planetary gear train, forms 3 breast wheels, amounts to 5 gear sets into planetary gear train, the sun Wheel is engaged with breast wheel 1, and breast wheel 1 is engaged with breast wheel 2, and breast wheel 2 is engaged with breast wheel 3, breast wheel 3 It is engaged with planetary gear, 5 congruent external gears are supported on by respective axis on shell, and the planet with one degree of freedom is constituted Train, sun gear are commonly mounted on shell on central shaft, sun gear braking, when shell is fixedly connected with same central shaft with central shaft When rotating together, sun gear empty set on center shaft, makes sun gear keep braking by flange and rack consolidate, and works as shell When coupling with central axis, sun gear and central shaft are affixed and so that central shaft and rack is fixed and sun gear is made to keep braking, Shell is driving link；Planetary gear is fixedly connected with massaging body, and formation is that the congruent external gear outer planet train convolution of one kind 5 is rubbed Dynamic massage mechanism；

The movement mechanism that the convolution of above 3 kinds of planetary gear trains rubs massage mechanism is：Movement input shell is even around the axis of central shaft Speed rotation, shell drives planetary gear and massaging body to do convolution turnover movement around the axis of central shaft, while planetary gear is in centre Under the driving of wheel and massaging body opposite shell counter motion together, itself corner is always in entirely having enough to meet the need motion process for massaging body Or only micro-swinging, massaging body formation convolution consistent with original state rubs massage motion state.

2. rubbing massage mechanism according to a kind of planetary gear train convolution described in claim 1, it is characterised in that described by 4 It is requirement two with two breast wheels of key connection in a middle wheel shaft in the mixing external gear planetary gear train that a external gear is constituted A breast wheel must synchronize and in the same direction, two breast wheels allow to be cluster gear, allow 4 external gear congruences, and in permission Between wheel using thicken gear engaged with planetary gear mismatch.

3. a kind of planetary gear train convolution according to claim 1 or 2 rubs massage mechanism, it is characterised in that described Mixing external gear planetary gear train convolution rubs in massage mechanism, and planetary gear and breast wheel can reversely engage connection, planetary gear with Sun gear allows to use eccentric rod, axis centered on thick section, and thin segment is planet wheel spindle, and sun gear and planetary gear distinguish empty set each From corresponding central axis segment and planetary gear shaft part, sun gear is fixedly connected by flange with rack, and planetary gear is fixed with massaging body Connection, shell are fixedly connected with two shaft part middle of eccentric rod, and eccentric shaft input motion rotates together with shell.

4. rubbing massage mechanism according to a kind of planetary gear train convolution described in claim 1, it is characterised in that the planet Congruent gear in train transmission mechanism, including positive Knucle-gear, eccentric gear, elliptic gear or modified elliptical gear, are removed Positive Knucle-gear, if being using the requirement that other gears are installed, as long as phase is identical when initial connection, two gear sections when rotation O'clock on two gear axis lines, the constant equal length of centre distance can be achieved with rotating.

5. a kind of planetary gear train sprocket-type convolution rubs massage mechanism, it is characterised in that the planetary gear train sprocket-type driver Structure forms：Using two congruent sprocket wheels, one is planet sprocket, and a sun sprocket wheel connects two congruences by chain Sprocket wheel, and be commonly mounted in a rotatable shell, form planetary gear train chain wheel type transmission mechanism, sun sprocket wheel and shell It is installed in jointly on the same central shaft, sun sprocket wheel is made to keep braking, when shell is fixedly connected and same central shaft with central shaft When rotating together, sun sprocket wheel empty set keeps braking on center shaft, by flange and rack consolidation, and works as shell and central shaft When rotation connection, sun sprocket wheel and central shaft are affixed and make central shaft and rack fix to keep braking, and shell is driving link；Planet Sprocket wheel or planet sprocket axis and massaging body are affixed by same central axis or off-axis line, and require massaging body together with planet sprocket Rotation, shell input motion drives massaging body to make convolution turnover movement when use, while massaging body itself is done reversely with respect to shell Rotation, massaging body form convolution and rub massage motion state.

6. a kind of differential gear train convolution rubs massage mechanism, including rack, transmission mechanism and massaging body, it is characterised in that differential gear Be transmission mechanism it is installation 2 congruent external gears and intermeshing in the shell turned round at one, one is planetary gear, separately One is sun gear, constitutes the differential gear train of 2 degree of freedom, and shell shares same central shaft, massaging body and row with sun gear Star-wheel or planet wheel spindle are fixedly connected by same central axis and are rotated together with planetary gear, when the massage mechanism works, Axis of the shell as a driving link around central shaft turns round, and sun gear as another driving link with the rotating speed of twice of shell It rotates in same direction, the reversed of convolution turnover movement and the opposite shell of planetary gear is done under shell drive with massaging body that planetary gear is affixed It moves under collective effect, massaging body forms the motion state for being suitble to convolution to rub massage.

7. a kind of convolution rubs hand massager, including upper and lower outer housing, upper outer shell rear portion is separately installed with battery case, hand Band and press switch, the fixed installation of upper outer shell front is motor and central shaft；Transmission gear, central shaft are installed on motor shaft Reduction gearing and massage transmission mechanism are installed in lower part, and massage transmission mechanism is fixedly connected with the massaging body for stretching out lower shell body；Its Be characterized in that the installation of central shaft lower part is that congruent positive round planetary gear train convolution rubs massage transmission mechanism, and planetary gear train convolution is rubbed The composition of dynamic massage transmission mechanism is that 3 congruent external gears are installed in the gearcase turned round at one, and one is the sun Wheel, a breast wheel, one is planetary gear, and sun gear is engaged with breast wheel, and breast wheel is engaged with planetary gear, 3 gear installations Position is triangularly arranged, and sun gear is commonly mounted on gearcase on central shaft, and sun gear is fixedly connected with central shaft, planet Wheel and breast wheel are all made stem gear and are supported on gearcase, and gearcase top is fixedly connected with reducing gear by bearing sleeve Wheel, gearcase may be rotatably mounted at by bearing sleeve on central shaft, and planet wheel spindle stretches out gearcase and is fixedly connected with massaging body；

When work, the transmission gear driving under drive gear installed on motor shaft, under drive gear drives gearcase in Mandrel uniform rotation, gearcase drives planetary gear and massaging body to do convolution turnover movement around central shaft, while planetary gear is in centre Begin with massaging body opposed gear box counter motion together, massaging body itself corner in entirely turnover motion process under the driving of wheel It is consistent with original state eventually, make massaging body forming curves translational motion posture.

8. a kind of convolution rubs the massage machine for moving abdomen with rotary friction, including transmission gear, under drive gear, lower back Back massage apparatus or bed, it is characterised in that further include arch-shaped holder, stepper motor and motor driver, pallet, center Axis, horizontal rotating arm, upright bar, convolution rub hand massager and the massage cushion that rubs, lie on the back and lie low when massaging abdomen, abdomen It is set above portion there are one the arch-shaped holder far from abdomen, arch-shaped holder is using lightweight and has certain mechanical strength and insulate Material, the arc length of arch-shaped holder is less than coverlet width, and two side lower part of arch-shaped holder uses axis pin and hasp and the back of the body Back massage apparatus below portion is connected and fixed or is fixed with bed, can free-open-close, arch-shaped frame upper is fixedly mounted one A central shaft is fixedly mounted perpendicular to pallet by bearing at level tray face navel in a level tray, and selection being capable of profit Carry out the stepper motor of speed governing, Ding Jiao, timing, pause and reversion with motor driver, motor be installed on pallet top directly or Indirectly by transmission gear to central shaft input power, under drive gear and water is from top to bottom fixedly mounted in central shaft in order Flat rotating arm, central shaft, under drive gear and horizontal rotating arm rotate together, and horizontal rotating arm can be lengthened manually or automatically It adjusts, the other end of horizontal rotating arm connects vertical upright bar, and vertical upright bar is by vertical shaft, pull-up spring, sliding sleeve and locking Component is formed, and vertical upright bar lower part rubs hand massager or the massage cushion that rubs by sliding sleeve connection convolution；Level rotation Pivoted arm is using three congruent positive round gear sets at Transmission Mechanism of Planetary Gear System, and described three congruent positive round gear sets are at planetary gear It is transmission mechanism, its mechanism composition is by three congruent positive round external gears, and one is sun gear, and a breast wheel, one is Planetary gear is commonly mounted in a rotation gearcase, constitutes the planetary gear train with one degree of freedom, sun gear and gearcase It is commonly mounted on central shaft, sun gear brake empty covers on center shaft, is fixed in pallet by flange, sun gear and breast wheel Engagement, breast wheel are engaged with planetary gear, and planetary gear is fixedly connected with planet wheel spindle, and the gearcase is one with middle wheel shaft For the shell that axle center is reflexibie, gearcase consolidates with central shaft and with central axis, and planet wheel spindle is fixed with vertical upright bar to be connected It connects, detour radius when being massaged by ringlet determines three congruent positive round gear centres away from so that it is determined that three positive knuckle-tooth of congruence Take turns specification size.

9. rubbing the massage machine for moving abdomen with rotary friction according to a kind of convolution described in claim 8, it is characterised in that institute The arch-shaped holder stated is timber, bakelite, fiberglass using material, highly should be between 350-550 ㎜.

10. rubbing the massage machine for moving abdomen with rotary friction according to a kind of convolution described in claim 8, it is characterised in that The vertical upright bar is made of vertical shaft, pull-up spring, sliding sleeve and blocking element, and vertical shaft is fixed with planet wheel spindle to be connected It connects, hand massager and casing connection, mouth has a face evener and vertically has at least one of groove in sliding sleeve, then phase Corresponding vertical shaft is then to be transversely provided with spring ball blocking element, sliding sleeve on one side in sliding sleeve evener in D fonts Pipe top is equipped with pull-up spring.

11. a kind of convolution according to claim 8 rubs the massage machine for moving abdomen with rotary friction, it is characterised in that described The massage cushion that rubs be by two soft material, upper layer uses heat-barrier material, lower layer to use Heat Conduction Material, centre clamping Zhi Chengping Plate places lower Tc PTC heater and paraffin class heat accumulating phase change material on bearing flat plate, joint unilateral bearing is connect on bearing flat plate Or axis pin and upright bar it is affixed.

12. rubbing the massage machine for moving abdomen with rotary friction according to a kind of convolution described in claim 8, it is characterised in that institute The horizontal rotating arm stated uses three congruent positive round gear sets at Transmission Mechanism of Planetary Gear System, the tooth as horizontal rotating arm Wheel box can be turned back and be lengthened, and turned back position at middle wheel shaft, turned back by axle center of middle wheel shaft, when ringlet massage is detoured It turns back by less than right angle, great circle massage pushes gearcase procapsid fold-back leading portion that planetary gear is driven to change the position of engagement when detouring, Make gearcase shell at a straight line, and blocking element is installed and is fixed, it is solid using strut or pull rod in the side of gearcase shell It is fixed；Using automatic adjustment horizontal rotating arm length when, on center shaft plus one rotation power lug, with gearcase front housing A driven gear is installed on the fixed middle wheel shaft top of body, and small type stepping motor is fixed with gearcase back casing, and small-sized Driving gear is installed on stepper motor transmission shaft, using small type stepping motor angle turning function, middle wheel shaft is driven by driving gear On driven gear, to push gearcase procapsid straight or turn back.

13. rubbing the massage machine for moving abdomen with rotary friction according to a kind of convolution described in claim 8, it is characterised in that The selection can carry out the stepper motor of speed governing, Ding Jiao, timing, pause and reversion using motor driver, be by motor Driver carries out speed governing, Ding Jiao, timing, pause and reversion to stepper motor and controls, and adjusts the rotation of horizontal rotating arm Speed is reached by adjusting transmission gear on pulse signal frequency and motor shaft and dynamic retarding gear, rub by That rubs acupuncture point each point determines and rubs the time, is to determine that corner size determines by change input pulse number to rub position, using fixed When device change pulse frequency to determine that stop the massage time rubs number of revolutions to reach, changing by ringlet to great circle when massage Become, is to be reached by changing the length of horizontal rotating arm, needs motor driver when rotation automatically while adjusting level tray On stepper motor and the small type stepping motor that is installed on horizontal rotating arm synchronize, adjust umber of pulse and adjust on horizontal rotating arm Small type stepping motor corner change the length of horizontal rotating arm.