CN105267018B - Bionical Universal massage manipulator - Google Patents
Bionical Universal massage manipulator Download PDFInfo
- Publication number
- CN105267018B CN105267018B CN201510766222.9A CN201510766222A CN105267018B CN 105267018 B CN105267018 B CN 105267018B CN 201510766222 A CN201510766222 A CN 201510766222A CN 105267018 B CN105267018 B CN 105267018B
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- CN
- China
- Prior art keywords
- fixed seat
- mounting bracket
- numeric type
- massage
- stepper motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
- A61H7/008—Suction kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
A kind of bionical Universal massage manipulator, including cartridge assemblies, cartridge assemblies include a pair of massage heads, massage head is rotationally connected with fixed seat one by kneading arm respectively, it is provided with fixed seat one and drives inside and outside the first numeric type stepper motor for rotating of kneading arm, fixed seat one is arranged in rotation dish, rotation tray bottom is fixed with driven gear and rotation is installed on chassis, the driving gear engaged with driven gear and the second numeric type stepper motor for driving driving gear to rotate are installed, the left and right sides on chassis is respectively fixed with fixed seat two on chassis.Fixed seat two is rotatably connected to upper and lower two universal joints, and universal joint is arranged in horizontal rotating shaft, and horizontal rotating shaft is arranged on mounting bracket and is connected with speed changer, and mounting bracket is provided with the endless screw electric motor being connected with speed changer；The right and left distributing installation of mounting bracket has movable pulley, and movable pulley is connected with movable motor.
Description
Technical field
The present invention relates to massage armchair technical field, more particularly to a kind of bionical Universal massage manipulator.
Background technology
The comfortableness massaged in current massage armchair relies primarily on massager core, and a pair of massage heads in massager core are fixed
On fixed mount, the distance between massage head is to adjust, and cannot so adapt to the client of the different bodily forms.And entirely massage
Movement cannot be rotated, and the vibrations of massage head are realized under cooperation by eccentric wheel and rocking bar, and such massaging way is relatively simple,
The simple motion such as can only realize shaking or tap.Massage head up and down or is moved left and right with massager core, and mobile scope
It is limited, back portion can only be massaged, it is impossible to which human body is more fully massaged, such as side, neck, if this these position is pressed
Rub and be accomplished by additionally mounted massager core.
And the massage effect of massager core relies primarily on vibrations at present, or rearward partly accomplish simply to rub, nothing
Method accomplishes the kneading and massage of practicing engineer's massage manipulation.Such as a kind of two-way kneading massager of Publication No. CN201480659U
Core, the movement realizes left and right kneading by the way of eccentric stiffener, but can only realize one direction kneading, function in back portion
It is single, it is very mechanical dumb, it is impossible to reach good massage effect.
The content of the invention
The invention solves the problems that the problem that above-mentioned prior art is present, there is provided a kind of bionical Universal massage manipulator, using only
Vertical malaxation massage head, coordinates multi-direction travel mechanism, back and side Deng Ge positions are carried out more professional gimmick kneading and
Massage.
The present invention solves the technical scheme that its technical problem is used：This bionical Universal massage manipulator, including movement group
Part, cartridge assemblies include a pair of massage heads, and massage head is rotationally connected with fixed seat one by kneading arm respectively, fixed seat one
On be provided with and drive inside and outside the first numeric type stepper motor for rotating of kneading arm, fixed seat one is arranged in rotation dish, rotates
Tray bottom is fixed with driven gear and rotation is installed on chassis, be provided with chassis the driving gear that is engaged with driven gear with
And the second numeric type stepper motor that driving driving gear is rotated, the left and right sides on chassis is respectively fixed with fixed seat two.The portion
It is divided into the mechanism of cartridge assemblies, massage head is capable of achieving inside and outside contraction under the cooperation of kneading arm and the first numeric type stepper motor
The opening and closing movement of expansion, plays the action of kneading, and massage head can be with the cooperation of rotation dish and the second numeric type stepper motor
360 ° of rotations, the fixed seat two of tray bottom is rotatably connected on upper cardan, and such massage head can be around fixed seat two
Upper upset.
Wherein fixed seat two is rotatably connected on upper cardan, and upper cardan top is arranged with to be rotated with fixed seat two and is connected
Fixed seat three and be provided with drive fixed seat two rotate the 3rd numeric type stepper motor, the bottom of upper cardan is arranged with
The fixed seat four of lower distribution, fixed seat four is connected with lower cardan, and the top of lower cardan is arranged with to be rotated with fixed seat four and connects
The fixed seat five for connecing and the 4th numeric type stepper motor for driving fixed seat four to rotate, the bottom of lower cardan are arranged with left and right
The fixed seat six of distribution；The structure carries out multi-direction movement by upper cardan and lower cardan to cartridge assemblies, makes massage head
Body both sides can be massaged, and can control the massage head to carry out the massage and massage of professional gimmick.
Horizontal rotating shaft is wherein installed, horizontal rotating shaft is arranged on mounting bracket and is connected with speed changer, pacifies in fixed seat six
Shelve the endless screw electric motor for being provided with and being connected with speed changer；The right and left distributing installation of mounting bracket has movable pulley, and movable pulley is connected with
Movable motor.
In order to further perfect, cartridge assemblies have two groups of left and right and by upper cardan, lower cardan are arranged on horizontal respectively
To in rotating shaft.
Further perfect, mounting bracket is frame structure, and the centre of mounting bracket is provided with what a pair of cartridge assemblies were divided right and left
Dividing plate, horizontal rotating shaft is installed on the upper end of mounting bracket, and cartridge assemblies can be built in mounting bracket.
Further perfect, movable pulley includes driven pulley, the active installed in mounting bracket upper end installed in mounting bracket lower end
Wheel, driving wheel is installed on the rotating shaft, rotary shaft connection movable motor.
It is further perfect, kneading arm include interior kneading arm and outer kneading arm, the first numeric type stepper motor it is defeated
Shaft is fixedly connected interior kneading arm in the lump through fixed seat, and internal tooth is provided with the output shaft of the first numeric type stepper motor
Wheel, the medial surface of outer kneading arm is fixed with the external gear engaged with internal gear.
The invention has the advantages that：Massage face of the present invention is wider, and maximum can massage the side of body two；Two movement groups
The separate operation of part, and can be massaged with front and rear multi-party bit interleave；Using independent malaxation massage head, coordinate multi-direction movement
Mechanism, massages back and side Deng Ge positions, imitates the gimmick of practicing engineer, there is provided the kneading of more professional gimmick and push away
Take, be conducive to being widely popularized.
Brief description of the drawings
Fig. 1 attempts for master of the invention；
Fig. 2 is side view of the invention；
Fig. 3 is positive three-dimensional structure diagram of the invention；
Fig. 4 is the three-dimensional structure diagram of bottom surface of the present invention；
Fig. 5 is the three-dimensional structure diagram of bottom surface of the present invention；
Fig. 6 is the structural representation of cartridge assemblies in the present invention；
Fig. 7 is the three-dimensional structure diagram of cartridge assemblies forward part in the present invention；
Fig. 8 is the three-dimensional structure diagram at Fig. 7 back sides；
Fig. 9 is the explosive decomposition figure of upper cardan and lower cardan in cartridge assemblies in the present invention.
Description of reference numerals：Cartridge assemblies 1, massage head 1-1, kneading arm 1-2, interior kneading arm 1-21, outer kneading hand
Arm 1-22, fixed seat one 1-3, the first numeric type stepper motor 1-4, rotation dish 1-5, driven gear 1-6, chassis 1-7, driving tooth
Wheel 1-8, the second numeric type stepper motor 1-9, the 1-10 of fixed seat two, upper cardan 2, the 2-1 of fixed seat three, the 3rd numeric type stepping
Motor 2-2, the 2-3 of fixed seat four, lower cardan 3, fixed seat five 3-1, the 4th numeric type stepper motor 3-2, the 3-3 of fixed seat six,
Horizontal rotating shaft 4, mounting bracket 5, speed changer 6, endless screw electric motor 7, movable pulley 8, driven pulley 8-1, driving wheel 8-2, movable motor 9 turns
Moving axis 10, internal gear 11, external gear 12, dividing plate 13.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
Referring to the drawings：This bionical Universal massage manipulator, including cartridge assemblies 1, cartridge assemblies 1 include a pair of massage heads
1-1, massage head 1-1 are rotationally connected with the 1-3 of fixed seat one by kneading arm 1-2 respectively, and drive is provided with the 1-3 of fixed seat one
Dynamic inside and outside the first numeric type stepper motor 1-4 for rotating of kneading arm 1-2, the 1-3 of fixed seat one are arranged on rotation dish 1-5, turn
Moving plate 1-5 bottoms are fixed with driven gear 1-6 and rotation is installed on the 1-7 of chassis, are provided with the 1-7 of chassis and driven gear 1-
The second numeric type stepper motor 1-9 that the driving gear 1-8 and driving driving gear 1-8 of 6 engagements are rotated, a left side of chassis 1-7
Right both sides are respectively fixed with the 1-10 of fixed seat two；The 1-10 of fixed seat two is rotatably connected on upper cardan 2, the top of upper cardan 2
It is arranged with the 3rd number that the 2-1 of fixed seat three being connected is rotated with the 1-10 of fixed seat two and the 1-10 rotations of driving fixed seat two are provided with
Font stepper motor 2-2, the bottom of upper cardan 2 is arranged with the 2-3 of fixed seat four being distributed up and down, and the 2-3 of fixed seat four is connected with
Lower cardan 3, the top of lower cardan 3 is arranged with the 3-1 of fixed seat five and driving fixation for being rotated with the 2-3 of fixed seat four and being connected
The 4th numeric type stepper motor 3-2 that four 2-3 of seat are rotated, the bottom of lower cardan 3 is arranged with the 3- of fixed seat six of left and right distribution
3；Horizontal rotating shaft 4 is installed, horizontal rotating shaft 4 is arranged on mounting bracket 5 and is connected with speed changer 6, mounting bracket on the 3-3 of fixed seat six
5 are provided with the endless screw electric motor 7 being connected with speed changer 6；The right and left distributing installation of mounting bracket 5 has movable pulley 8, and movable pulley 8 is connected
There is movable motor 9.
Wherein cartridge assemblies 1 have two groups of left and right and respectively by upper cardan 2, lower cardan 3 installed in horizontal rotating shaft 4
On.Mounting bracket 5 is frame structure, and the centre of mounting bracket 5 is provided with the dividing plate 13 that a pair of cartridge assemblies are divided right and left, horizontal rotating shaft
4 upper ends for being installed on mounting bracket 5, cartridge assemblies 1 can be built in mounting bracket 5.Movable pulley 8 includes being arranged on the lower end of mounting bracket 5
Driven pulley 8-1, the driving wheel 8-2 installed in the upper end of mounting bracket 5, driving wheel 8-2 be arranged on rotary shaft 10 on, rotary shaft 10 connects
Connect movable motor 9.
Wherein kneading arm 1-2 includes interior kneading arm 1-21 and outer kneading arm 1-22, the first numeric type stepper motor
The output shaft of 1-4 is through the 1-3 of fixed seat one and is fixedly connected interior kneading arm 1-21, and the first numeric type stepper motor 1-4's is defeated
Internal gear 11 is installed, the medial surface of outer kneading arm 1-22 is fixed with the external gear 12 engaged with internal gear 11 on shaft.
The cartridge assemblies on the left side in embodiment one, such as accompanying drawing：Be turned out for lower cardan by horizontal rotating shaft, upper cardan to
Left direction is rotated, make a pair of massage heads be located at side and it is front and rear be affixed on human body side, the first numeric type stepper motor 1-4 is one
Determine to carry out a pair of massage heads of back rotation and control opening and closing by a small margin in scope, realize kneading, the 3rd numeric type stepper motor 2-2
Carry out back rotation within the specific limits and control massage head to massage back and forth, the 4th numeric type stepper motor 3-2 comes within the specific limits
Back rotation simultaneously controls massage head to tap.
Embodiment two, such as accompanying drawing：A set of massaging action of practicing engineer's specialty gimmick has been integrated to be pinched, rubs, massaging, tapping
Multiple action, pinches, rubs and carry out at the same time, is subsequently adding massage and taps, and this is of the invention in massage, the first numeric type stepping
Motor 1-4 controls kneading arm 1-2 opening and closings, makes massage head play a part of to pinch, and coordinates the second numeric type stepper motor 1-9
Control rotating disk is rotated, and massage head is played a part of kneading, and the 3rd numeric type stepper motor 2-2 is nearer apart from massage head, passes through
Quick rotation and massage head is completed vibration massage function, pressing and the action such as tap back and forth by a small margin, and the 4th numeric type stepping is electric
Machine 3-2 farther out, makes massage head complete the actions such as massage, percussion apart from massage head.Each numeric type stepper motor independent control, can
A series of massages are completed to integrate multiple actions, realizes imitating practicing engineer's specialty massage manipulation, enhancing massage comfort level.
Although the present invention is shown and described by reference to preferred embodiment, this professional ordinary skill
Personnel are it is to be appreciated that in the range of claims, can make the various change in form and details.
Claims (3)
1. a kind of bionical Universal massage manipulator, including cartridge assemblies（1）, cartridge assemblies（1）Including a pair of massage heads（1-1）,
It is characterized in that：The massage head（1-1）Pass through kneading arm respectively（1-2）It is rotationally connected with fixed seat one（1-3）On, fixed seat
One（1-3）On be provided with driving kneading arm（1-2）First numeric type stepper motor of inside and outside rotation（1-4）, fixed seat（1-
3）Installed in rotation dish（1-5）On, rotation dish（1-5）Bottom is fixed with driven gear（1-6）And rotation is installed on chassis（1-7）
On, chassis（1-7）On be provided with and driven gear（1-6）The driving gear of engagement（1-8）And drive driving gear（1-8）Turn
The second dynamic numeric type stepper motor（1-9）, the chassis（1-7）The left and right sides be respectively fixed with fixed seat two（1-10）；
The fixed seat two（1-10）It is rotatably connected to upper cardan（2）On, upper cardan（2）Top is arranged with and fixed seat two
（1-10）Rotate the fixed seat three of connection（2-1）And driving fixed seat two is installed（1-10）The 3rd numeric type stepping electricity for rotating
Machine（2-2）, upper cardan（2）Bottom be arranged with the fixed seat four being distributed up and down（2-3）, fixed seat four（2-3）It is connected with down
Universal joint（3）, lower cardan（3）Top be arranged with and fixed seat four（2-3）Rotate the fixed seat five of connection（3-1）And drive
Dynamic fixed seat four（2-3）The 4th numeric type stepper motor for rotating（3-2）, lower cardan（3）Bottom be arranged with left and right distribution
Fixed seat six（3-3）；
The fixed seat six（3-3）On horizontal rotating shaft is installed（4）, horizontal rotating shaft（4）Installed in mounting bracket（5）Go up and be connected with
Speed changer（6）, mounting bracket（5）It is provided with and speed changer（6）The endless screw electric motor of connection（7）；The mounting bracket（5）The right and left point
Cloth is provided with movable pulley（8）, movable pulley（8）It is connected with movable motor（9）；
The cartridge assemblies（1）There is two groups of left and right and pass through upper cardan respectively（2）, lower cardan（3）Installed in horizontal rotating shaft
（4）On；
The mounting bracket（5）It is frame structure, mounting bracket（5）Centre be provided with a pair of cartridge assemblies（1）Divide right and left every
Plate（13）, the horizontal rotating shaft（4）It is installed on mounting bracket（5）Upper end, the cartridge assemblies（1）It is built in mounting bracket（5）In.
2. bionical Universal massage manipulator according to claim 1, it is characterized in that：The movable pulley（8）Including being arranged on
Mounting bracket（5）The driven pulley of lower end（8-1）, installed in mounting bracket（5）The driving wheel of upper end（8-2）, driving wheel（8-2）It is arranged on
Rotary shaft（10）On, rotary shaft（10）Connect the movable motor（9）.
3. bionical Universal massage manipulator according to claim 1, it is characterized in that：The kneading arm（1-2）Including interior
Kneading arm（1-21）With outer kneading arm（1-22）, the first numeric type stepper motor（1-4）Output shaft through fix
Seat one（1-3）And it is fixedly connected interior kneading arm（1-21）, the first numeric type stepper motor（1-4）Output shaft on be provided with
Gear（11）, the outer kneading arm（1-22）Medial surface be fixed with and internal gear（11）The external gear of engagement（12）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510766222.9A CN105267018B (en) | 2015-11-11 | 2015-11-11 | Bionical Universal massage manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510766222.9A CN105267018B (en) | 2015-11-11 | 2015-11-11 | Bionical Universal massage manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105267018A CN105267018A (en) | 2016-01-27 |
| CN105267018B true CN105267018B (en) | 2017-06-13 |
Family
ID=55137429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510766222.9A Active CN105267018B (en) | 2015-11-11 | 2015-11-11 | Bionical Universal massage manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105267018B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2096357U (en) * | 1991-06-28 | 1992-02-19 | 刘永兰 | Electric massage appliances |
| JP3011924B1 (en) * | 1998-09-02 | 2000-02-21 | 好宏 岩崎 | Shiatsu |
| CN201304065Y (en) * | 2008-11-28 | 2009-09-09 | 厦门蒙发利科技（集团）股份有限公司 | Massager core with an elastic massage arm |
| CN102058466B (en) * | 2011-03-15 | 2013-07-17 | 江苏大学 | Chinese massage robot |
| JP2013075341A (en) * | 2011-09-30 | 2013-04-25 | Equos Research Co Ltd | Joint angle measuring device and joint angle measuring method |
| CN203988899U (en) * | 2014-08-07 | 2014-12-10 | 安徽久工健业股份有限公司 | Three-dimensional massage machine core |
| CN204092512U (en) * | 2014-09-12 | 2015-01-14 | 郑全忠 | One opens back and massaging assembly |
| CN204364355U (en) * | 2014-12-19 | 2015-06-03 | 厦门蒙发利科技（集团）股份有限公司 | A kind of broad-adjustable massager core of massage head and massage armchair |
| CN205083965U (en) * | 2015-11-11 | 2016-03-16 | 浙江多迪斯泰保健器材有限公司 | Mechanical hand of bionical universal massage |
-
2015
- 2015-11-11 CN CN201510766222.9A patent/CN105267018B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105267018A (en) | 2016-01-27 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Bionic universal massage manipulator Effective date of registration: 20210429 Granted publication date: 20170613 Pledgee: Industrial and Commercial Bank of China Limited Qingtian sub branch Pledgor: ZHEJIANG DOTAST HEALTHCARE EQUIPMENT Co.,Ltd. Registration number: Y2021330000364 |
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