CN105796299B - A kind of special leg massage robot of nursing rehabilitation - Google Patents
A kind of special leg massage robot of nursing rehabilitation Download PDFInfo
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- CN105796299B CN105796299B CN201610343691.4A CN201610343691A CN105796299B CN 105796299 B CN105796299 B CN 105796299B CN 201610343691 A CN201610343691 A CN 201610343691A CN 105796299 B CN105796299 B CN 105796299B
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 230000035807 sensation Effects 0.000 claims abstract description 39
- 210000005069 ears Anatomy 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 238000003466 welding Methods 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 21
- 230000007246 mechanism Effects 0.000 abstract description 17
- 230000033001 locomotion Effects 0.000 description 34
- 230000000694 effects Effects 0.000 description 21
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 16
- 230000003028 elevating effect Effects 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 9
- 201000010099 disease Diseases 0.000 description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- 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
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2201/50—Control means thereof
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The present invention relates to a kind of special leg massage robot of nursing rehabilitation, including fixed frame, the fixed frame includes lower platform, power transmission shaft is provided with by bearing in the middle part of the upper surface of the lower platform, the middle part of power transmission shaft is provided with travelling gear by key, and travelling gear is in axial direction meshed with six transmission branch chains respectively；The middle part of the supporting table is connected by bearing with power transmission shaft, there is the six roots of sensation support column lower surface of supporting table along supporting table axis direction uniform welding, the lower surface of six roots of sensation support column is installed on lower platform, so that power transmission shaft can be rotated stably under the drive of planetary gear mechanism in supporting table；The upper end of the power transmission shaft is connected by shaft coupling with turn-screw；The upper mounting plate upper surface is symmetrically arranged with two mounting ears, and leg massage machinery hand is provided with by bolt on two mounting ears.The present invention can realize the stable automatic lifting massage functions in leg, there is provided a kind of new way of leg massage.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of special leg massage robot of nursing rehabilitation.
Background technology
With the continuous progress of scientific and technological level, requirement of the people to material and cultural life also more and more higher, how health is protected
It is strong to turn into the thing paid special attention in people's daily life.Busy one day of people, human body is from top to bottom all in busy nervous shape
State, if cannot timely loosen, go down for a long time, human body each group can be weaved into damage, serious meeting influences operation mechanism,
Even cause disease, be unfavorable for the health care of human body.And leg be human motion frequency is higher and stress is larger position it
One, the massage to leg is loosened extremely important, but is often ignored by people.
Existing leg massor massaging way generally comprises one or two leg massager and massage ball vehicle with walking machine
Structure, wherein, leg massager includes being used for the two massage ball mechanisms for carrying out human leg massage, two massage ball machines again
Structure is arranged side by side in left and right, and is mutually connected with massage ball walking mechanism respectively, to pass through the massage of massage ball walking mechanism driving two
Ball machine structure is walked and the effect of massage is formed to human leg, due to this leg massor of prior art, its leg
The spacing of two massage ball mechanisms of massage machine in the process of walking is typically consistent, and causes the massage ball of two massage ball mechanisms
In massage force not of uniform size cause of the different position of human leg to human leg, when the spacing minimum between two massage balls,
Its massage force is maximum, easily crushes human leg, and when the spacing maximum between two massage balls, its massage force is minimum, to human body
The massage effect of leg is poor, and operating efficiency is low, and the massage range of this leg massor is small, and massage is highly non-adjustable, needs
Manually adjust massage position, it is impossible to meet the needs of whole leg massage, leg massage width is non-adjustable, it is impossible to meet different
The wide people of leg, the scope of application is small, and existing this leg massor has shake in massage processes, massages stability
Difference, it have impact on massage effect.
The content of the invention
In order to solve the above problems, the invention provides a kind of special leg massage robot of nursing rehabilitation, can solve
Leg massage is highly non-adjustable existing for existing leg massor massaging way, needs to manually adjust massage position, massage range
It is small, massage width it is non-adjustable, the scope of application is small, massage force is uneven, massage effect is poor, in massage processes equipment exist shake and
Massage the problem of stability difference, it is possible to achieve the stable automatic lifting massage functions in leg, have leg massage height adjustable,
It need not manually adjust that massage position, massage range are big, massage width is adjustable, the scope of application is big, massage force is uniform, massage effect
Well, in the absence of jitter phenomenon and good massage stability a kind of the advantages that, there is provided new way of leg massage.
To achieve these goals, the present invention is realized using following technical scheme：Press a kind of special leg of nursing rehabilitation
Rub robot, including fixed frame, and the fixed frame includes lower platform, is pacified in the middle part of the upper surface of the lower platform by bearing
Equipped with power transmission shaft, the middle part of power transmission shaft is provided with travelling gear by key, and travelling gear is in axial direction driven with six respectively
Side chain is meshed, and adding transmission by way of six transmission branch chains rotate from six angles with nutating gear simultaneously reverses
Power, improves the stationarity of transmission, and transmission branch chain includes the driving motor that bottom is arranged on by motor cabinet on lower platform, transmission
The output end of motor is connected by shaft coupling with drive shaft, and the middle part of drive shaft is provided with drive gear, drive gear by key
It is meshed with travelling gear, and six drive shaft upper ends in six transmission branch chains are connected by bearing with supporting table, transmission
Motor driven drive shaft turns, drive shaft drive drive gear to rotate, and driving cog is driven by six drive gears so as to constitute
The planetary gear mechanism rotated is taken turns, improves the stationarity of transmission；The middle part of the supporting table passes through bearing and power transmission shaft
It is connected, there is the six roots of sensation support column lower surface of supporting table along supporting table axis direction uniform welding, and the lower surface of six roots of sensation support column is equal
On lower platform, six roots of sensation support column plays the function of uniformly fixed supporting table, so that power transmission shaft passes in planetary gear
What can be stablized under the drive of motivation structure rotates in supporting table；The upper end of the power transmission shaft passes through shaft coupling and turn-screw phase
Even, it is connected through a screw thread mode in the middle part of turn-screw and driving block is installed, driving block is regular hexagon structure, and transmission is slided
Six end faces of block are respectively welded six roots of sensation mobile column, and the end of six roots of sensation mobile column is separately mounted to six No.1 line slide rails
On, drive of the six roots of sensation mobile column on driving block in turn-screw is welded on by the regular hexagon structure of driving block
Lower to make stable elevating movement on six No.1 line slide rails, six No.1 line slide rails are separately mounted to six by screw
In block supporting plate, the lower end of six pieces of supports is respectively welded on lower platform, and it is straight that six pieces of supporting plates play six No.1s of fixed support
The effect of line slide rail, add stability of the mobile column in corresponding No.1 line slide rail；The upper end inwall of six pieces of supporting plates
On be respectively welded the spacing pillar of the six roots of sensation, the middle part of six roots of sensation limited post offers six square limited mouths, the spacing branch of the six roots of sensation respectively
The end of post is respectively welded on fixed station, and the middle part of fixed station is connected by bearing with the upper end of turn-screw；The six roots of sensation
The upper surface of mobile column is separately installed with six side chains in parallel, and the upper end of six side chains in parallel is uniformly arranged on upper mounting plate, and
The middle part of each side chain in parallel is located in the square limited mouth of corresponding spacing pillar, and the square limited mouth of spacing pillar plays
The effect of side chain range of movement in parallel is limited, drives six side chains in parallel to make elevating movement respectively by six roots of sensation mobile column, six
Side chain synchronous drive upper mounting plate in parallel makees elevating movement, by the stable drive performance of planetary gear mechanism, improves liter
Stability during drop, so that the present invention can realize the adjustable for height function of massage so that the present invention is applied to not
It is big with the high patient of leg, the scope of application；The side chain in parallel includes the hollow lower thread spindle that lower end is welded in mobile column, hollow
Mode is connected through a screw thread on lower thread spindle No.1 ball pivot is installed, the upper end of No.1 ball pivot is connected through a screw thread mode and is provided with
No.1 sleeve, the upper end of No.1 sleeve are connected through a screw thread mode and are provided with No.1 hydraulic cylinder, and the upper end of No.1 hydraulic cylinder passes through
Thread connecting mode is provided with No. two sleeves, and the upper ends of No. two sleeves is connected through a screw thread mode and is provided with No. two ball pivots, No. two
The upper end of ball pivot is connected through a screw thread mode and is provided with hollow upper thread spindle, and hollow upper thread spindle is welded on the lower surface of upper mounting plate
On, the prismatic pair P formed when spherical pair S that the present invention is formed when being worked by No.1 ball pivot, No.1 hydraulic cylinder extension and No. two
The spherical pair S that is formed constitutes SPS parallel connection side chains when ball pivot works, and the fixed frame in the present invention as fixed platform, six
SPS parallel connections side chain, upper mounting plate constitute 6-SPS parallel institutions as moving platform, 6-SPS parallel institutions have dynamic response it is good,
Rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, pass through six No.1 hydraulic pressure on six side chains in parallel
Cylinder motion drives upper mounting plate to make to move repeatedly up and down, allows the present invention to realize stabilization by the advantages of 6-SPS parallel institutions
Automatic lifting massage functions, adjust leg massage position without patient oneself, massage range is big, easy to operate, operating efficiency
Height, and because the advantages of 6-SPS parallel institutions make it that this invention removes the shake situation in the course of work, stability are good；
The upper mounting plate upper surface is symmetrically arranged with two mounting ears, and leg massage machinery is provided with by bolt on two mounting ears
Hand.
As a preferred technical solution of the present invention, the leg massage machinery hand include by bolt respectively with two
The connected L-type base shaft of mounting ear, the bottom of two L-type base shafts is symmetricly set on the back of L-type pedestal, the upper surface of L-type pedestal
Two leg massagers are symmetrically installed with, leg massager includes the massage substrate for being welded on L-type pedestal upper end left surface,
No. four hydraulic cylinders are installed on massage substrate inwall, the top of No. four hydraulic cylinders is provided with massage movable block, massages movable block
Left side is provided with No. two line slide rails, and No. two line slide rails are arranged on the upper end left surface of L-type pedestal by screw, pass through two
Number line slide rail is defined to massage movable block left side so that massage movable block left side can be on No. two line slide rails
Stable moves back and forth, and the lower surface for massaging movable block is provided with No. three line slide rails, and No. three line slide rails are installed by screw
In the bottom surface of L-type pedestal upper end, the bottom face for massaging movable block is defined by No. three line slide rails so that massage movement
Block bottom face stable on No. three line slide rails can move back and forth, and massage movable block right side is symmetrically installed with four tops
Post, the end of four fore-sets are welded with massage platform, and four fore-sets play a part of support massage platform, massage the right-hand member of platform
Face is symmetrically arranged with two pairs of massage slide bars, and two pairs of massage slide bars are connected by sliding matching mode with two massage chutes respectively,
Two massage chutes are welded on the back of massaging machine frame, and the back centre position of massaging machine frame is welded with massage rack, massage teeth
Bar is meshed with massage gear, massages and is fixed in the middle part of gear on the output shaft of massage motor, massage motor passes through motor cabinet
On baffle plate, baffle plate is welded on the right side of massage platform；The massaging machine frame inwall is arc-shaped structure, massager
Frame inwall is uniformly provided with massage side chain from top to bottom, by being uniformly arranged on the massage side chain of massaging machine frame inwall come to leg
Patient improves uniform massage force；The massage side chain includes the steel column that both ends are connected to massaging machine frame inwall both sides, and steel column is
The arc-shaped structure corresponding with massaging machine frame inner wall shape, flexible massage cylinder, flexibility massage circle are uniformly arranged on steel column
Post material is soft rubber, and the arc-shaped structure structure of steel column allows flexible massage cylinder to be uniformly mutually attached to patient leg table
Face, flexible massage cylinder is also allowd to provide patient leg surface uniform flexible extruding force, massage effect is good, work effect
Rate is high.In use, first adjusting the distance between two leg massagers, No. four hydraulic cylinders are started working, No. four hydraulic cylinder bands
Dynamic massage movable block is stable on No. two line slide rails, No. three line slide rails to be moved back and forth, and massage movable block drives massage flat
Massaging machine frame motion on the right side of platform, massaging machine frame drive all massage side chains on inwall to be synchronized with the movement, have adjusted two legs
The distance between massage machine, it is achieved thereby that the broad-adjustable function of leg massage of the present invention, satisfaction is unable to leg widths disease
Man's Demands, the scope of application is big, then massages side chain and starts working, and massage pinion rotation, massage teeth are driven by massage motor
Wheel drives massage rack movement, massages rack drives massaging machine frame synchronizing moving, massaging machine frame in two pairs of massage slide bars and
The auxiliary stoppers motion of two massage chutes is lower moving up and down of can stablizing, what massaging machine frame drove on inwall all presses
The side chain that rubs carries out flexible extruding massage up and down to patient leg simultaneously, adds massage range, meets the whole leg of patient
Massage demand, it is achieved thereby that the automatic lifting massage functions that leg of the present invention is stable.
As a preferred technical solution of the present invention, using mutual between six transmission branch chains and six roots of sensation support column
Staggeredly mode is arranged on lower platform, had both been added the stationary performance of transmission, and had been also increased uniform branch of the support column to supporting table
Support performance.
As a preferred technical solution of the present invention, the central axis of the lower platform and the central axis phase of upper mounting plate
Overlap, it is high and lower platform and upper mounting plate holding can be made all the time the advantages that stability is good by the rigidity of 6-SPS parallel institutions
It is parallel, so that leg massage machinery hand carries out to remain steady in leg lifting massage processes to patient, eliminate
Jitter phenomenon, massage stability is good, and massage effect is good, and operating efficiency is high.
As a preferred technical solution of the present invention, the massage chain branches are at least seven, massage side chain quantity
It is more, it is better to the effect of patient's leg massage to massage flexible massage cylinder on side chain.
During work, the present invention is first arranged on the operation ground of required massage, first determines that the leg of patient is highly adjusted
Highly, six driving motors in six transmission branch chains start simultaneously at work, and six driving motors drive six respectively for section massage
Drive shaft turns, six drive shafts drive six drive gears to rotate, and six drive gear band nutating gears move, driving cog
Wheel drives drive axis, and power transmission shaft drives turn-screw to rotate, and turn-screw drives driving block motion, due to driving block
The regular hexagon structure six roots of sensation mobile column that to be welded on driving block can be in six No.1s under the drive of turn-screw
Make stable elevating movement on line slide rail, six roots of sensation mobile column drives six side chains in parallel to make elevating movement, six parallel connections respectively
Leg massage machinery hand on side chain synchronous drive upper mounting plate makees elevating movement, by the stable drive of planetary gear mechanism
Performance, the stability in lifting process is improved, so that the present invention can realize the adjustable for height function of massage so that this
Invention is applied to the high patient of different legs, and the scope of application is big, and when the present invention reaches suitable leg massage height, driving motor stops
Only work；The suitable massage distance between two leg massagers, two legs are determined further according to the leg widths of patient
No. four hydraulic cylinders on massage machine are first started working, No. four hydraulic cylinders drive massage movable blocks No. two line slide rails, No. three
Stable on line slide rail to move back and forth, massage movable block drives the massaging machine frame motion of massage platform dextral, massaging machine frame band
All massage side chains on dynamic inwall are synchronized with the movement, and have adjusted the distance between two leg massagers, it is achieved thereby that this
Broad-adjustable function is massaged in invention, and the scope of application is big, when the present invention reach suitable leg massage apart from when No. four hydraulic cylinders stop
Only work；Leg massage width is regulated to be attached to patient's both legs respectively on the massage side chain of two massaging machine frame inwalls afterwards,
All massage side chains most on latter two massaging machine frame start simultaneously at work, drive massage pinion rotation by massage motor, press
The gear that rubs drives massage rack movement, massages rack drives massaging machine frame synchronizing moving, and massaging machine frame is slided in two pairs of massages
The auxiliary stopper motion of bar and two massage chutes is lower stably to be moved up and down, and massaging machine frame, which is driven on inwall, to be owned
Massage branch chain flexibility massage cylinder and carry out flexible extruding massage up and down to patient leg simultaneously, add massage range, but disease
The long massage range in leg of people is still not big enough, and now No.1 hydraulic cylinder is started working, six one on six side chains in parallel
Number hydraulic cylinder drives the leg massage machinery hand on upper mounting plate to make to move repeatedly up and down, by the excellent of 6-SPS parallel institutions
Point causes the present invention to realize stable automatic lifting massage functions, massage range is further increased, so as to meet disease
The massage demand of the whole leg of people, and because the fixed frame in the present invention is used as fixed platform, six SPS parallel connections side chains, upper flat
Platform constitutes 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, bearing capacity
Greatly, stability is good and the advantages that kinematic accuracy is high, and the present invention to be arranged on upper flat by the premium properties of 6-SPS parallel institutions
Leg massage machinery hand on platform can remain plateau during leg massage, eliminate in massage processes and produce
Jitter phenomenon, add the stability of massage processes, improve massage effect.
The beneficial effects of the invention are as follows：
1st, the planetary gear mechanism that the present invention is rotated with nutating gear simultaneously by six drive gears, so as to band
Dynamic six side chains in parallel are stable in six roots of sensation mobile column to be moved up and down, and the leg on six branch synchronous drive upper mounting plates in parallel is pressed
The manipulator that rubs makees elevating movement, by the stable drive performance of planetary gear mechanism, improves the stabilization in lifting process
Property, so that the present invention can realize the adjustable for height function of massage so that the present invention is applied to the high patient of different legs, fits
It is big with scope；
2nd, the present invention by No. four hydraulic cylinders drive massage movable block move modes adjust two leg massagers it
Between distance, it is achieved thereby that the present invention massages broad-adjustable function, different leg widths disease Man's Demands can be met, be applicable
Scope is big；
3rd, the present invention drives the flexible massage cylinder on massage side chain to be carried out simultaneously to patient leg by massage motor
Six No.1 hydraulic cylinders in lower flexible extruding massage and six side chains in parallel drive the leg massage machinery on upper mounting plate
Hand is made to move repeatedly to realize stable automatic lifting massage functions up and down, adds massage range, whole so as to meet patient
The massage demand of individual leg；
4th, the fixed frame in the present invention constitutes as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform
6-SPS parallel institutions, the leg massaging machine that the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
Tool hand can remain plateau during leg massage, eliminate caused jitter phenomenon in massage processes, increase
The stability of massage processes, improves massage effect；
5th, the present invention solves that leg massage existing for existing leg massor massaging way is highly non-adjustable, it is artificial to need
Adjustment massage position, massage range are small, massage width is non-adjustable, the scope of application is small, massage force is uneven, massage effect is poor, presses
During rubbing there is the problem shaken and massage stability difference in equipment, it is possible to achieve the stable automatic lifting massage work(in leg
Can, there is leg massage height adjustable, need not manually adjust that massage position, massage range are big, massage width is adjustable, the scope of application
Greatly, massage force is uniform, massage effect is good, in the absence of jitter phenomenon and massage stability it is good the advantages that, there is provided a kind of leg
The new way of massage.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the present invention；
Fig. 2 present invention removes the structural representation after mounting ear, leg massage machinery hand；
Fig. 3 is Fig. 2 of the present invention A-A to sectional view；
Fig. 4 is Fig. 2 of the present invention B-B direction sectional view；
Fig. 5 is the structural representation of leg massage machinery hand of the present invention；
Fig. 6 is the front view of leg massage machinery hand of the present invention；
Fig. 7 is the top view of leg massage machinery hand of the present invention.
Specific embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 7, the special leg massage robot of a kind of nursing rehabilitation, including fixed frame 1, the fixation
Frame 1 includes lower platform 11, and power transmission shaft 12 is provided with by bearing in the middle part of the upper surface of the lower platform 11, in power transmission shaft 12
Portion is provided with travelling gear 13 by key, and travelling gear 13 is in axial direction meshed with six transmission branch chains 14, passed through respectively
The mode that six transmission branch chains 14 rotate with nutating gear 13 simultaneously from six angles adds transmission twisting resistance, improves biography
Dynamic stationarity, transmission branch chain 14 include the driving motor 141 that bottom is arranged on by motor cabinet on lower platform 11, driving motor
141 output end is connected by shaft coupling with drive shaft 142, and the middle part of drive shaft 142 is provided with drive gear 143 by key,
Drive gear 143 is meshed with travelling gear 13, and six upper ends of drive shaft 142 in six transmission branch chains 14 are equal by bearing
It is connected with supporting table 15, driving motor 41 drives drive shaft 142 to rotate, and drive shaft 142 drives drive gear 143 to rotate, so as to
The planetary gear mechanism rotated by six drive gears 143 with nutating gear 13 is constituted, improves the steady of transmission
Property；The middle part of the supporting table 15 is connected by bearing with power transmission shaft 12, and the lower surface of supporting table 15 is along the axis side of supporting table 15
There is six roots of sensation support column 16 to uniform welding, the lower surface of six roots of sensation support column 16 is installed on lower platform 11, six roots of sensation support column 16
The function of uniformly fixed supporting table 15 is played, so that power transmission shaft 12 can be stablized under the drive of planetary gear mechanism
Rotated in supporting table 15；The upper end of the power transmission shaft 12 is connected by shaft coupling with turn-screw 17, turn-screw 17
Middle part is connected through a screw thread mode and is provided with driving block 18, and driving block 18 is regular hexagon structure, and the six of driving block 18
Individual end face is respectively welded six roots of sensation mobile column 19, and the end of six roots of sensation mobile column 19 is separately mounted to six No.1 line slide rails 110
On, six roots of sensation mobile column 19 on driving block 18 is welded in turn-screw by the regular hexagon structure of driving block 18
Stable elevating movement can be made under 17 drive on six No.1 line slide rails 110, six No.1 line slide rails 110 pass through spiral shell
Nail is separately mounted in six pieces of supporting plates 111, and the lower end of six pieces of supports 111 is respectively welded on lower platform 11, six pieces of supporting plates
111 play a part of six No.1 line slide rails 110 of fixed support, add mobile column 19 in corresponding No.1 line slide rail 110
Stability；The spacing pillar 112 of the six roots of sensation, six roots of sensation limited post 112 are respectively welded on the upper end inwall of six pieces of supporting plates 111
Middle part offer six square limited mouths respectively, the end of the spacing pillar 112 of the six roots of sensation is respectively welded on fixed station 113, Gu
The middle part for determining platform 113 is connected by bearing with the upper end of turn-screw 17；Install respectively the upper surface of the six roots of sensation mobile column 19
There are six side chains 2 in parallel, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3, and the middle part of each side chain 2 in parallel
It is located in the square limited mouth of corresponding spacing pillar 112, the square limited mouth of spacing pillar 112, which plays, limits side chain in parallel
The effect of 2 range of movement, six side chains 2 in parallel are driven to make elevating movement, six side chains 2 in parallel respectively by six roots of sensation mobile column 19
Synchronous drive upper mounting plate 3 makees elevating movement, by the stable drive performance of planetary gear mechanism, improves in lifting process
Stability so that the present invention can realize the adjustable for height function of massage so that it is high that the present invention is applied to different legs
Patient, the scope of application are big；The side chain in parallel 2 includes the hollow lower thread spindle 21 that lower end is welded in mobile column 19, under hollow
Mode is connected through a screw thread on thread spindle 21 No.1 ball pivot 22 is installed, the upper end of No.1 ball pivot 22 is connected through a screw thread mode and pacified
Equipped with No.1 sleeve 23, the upper end of No.1 sleeve 23 is connected through a screw thread mode and is provided with No.1 hydraulic cylinder 24, No.1 hydraulic cylinder
24 upper end is connected through a screw thread mode and is provided with No. two sleeves 25, and the upper end of No. two sleeves 25 is connected through a screw thread mode and installed
There are No. two ball pivots 26, the upper end of No. two ball pivots 26 is connected through a screw thread mode and is provided with hollow upper thread spindle 27, hollow upper screw thread
Axle 27 is welded on the lower surface of upper mounting plate 3, spherical pair S, the No.1 hydraulic pressure that the present invention is formed when being worked by No.1 ball pivot 22
The spherical pair S that the prismatic pair P and No. two ball pivots 26 that cylinder 24 is formed when stretching are formed when working constitutes SPS parallel connections side chain 2, and originally
Fixed frame 1 in invention constitutes 6-SPS parallel connections as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 as moving platform
Mechanism, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. is excellent
Point, upper mounting plate 3 is driven to make to move repeatedly up and down by six No.1 hydraulic cylinders 24 motion on six side chains 2 in parallel, by 6-
The advantages of SPS parallel institutions, causes the present invention to realize stable automatic lifting massage functions, and leg is adjusted without patient oneself
Portion's massage part, massage range is big, easy to operate, and operating efficiency is high, and because the advantages of 6-SPS parallel institutions causes the present invention
The shake situation in the course of work is eliminated, stability is good；The upper surface of upper mounting plate 3 is symmetrically arranged with two mounting ears 4,
Leg massage machinery hand 41 is provided with by bolt on two mounting ears 4.
The L-type base shaft 31 that the leg massage machinery hand 41 is connected with two mounting ears 4 respectively including passing through bolt, two
The bottom of L-type base shaft 31 is symmetricly set on the back of L-type pedestal 32, and the upper surface of L-type pedestal 32 is symmetrically installed with two legs
Massage machine 33, leg massager 33 include the massage substrate 331 for being welded on the upper end left surface of L-type pedestal 32, massage substrate
No. four hydraulic cylinders 332 are installed, the top of No. four hydraulic cylinders 332 is provided with massage movable block 333, massage movement on 331 inwalls
The left side of block 333 is provided with No. two line slide rails 334, and No. two line slide rails 334 are arranged on the upper of L-type pedestal 32 by screw
Left surface is held, massage movable block 333 left side is defined by No. two line slide rails 334 so that massage movable block 333 is left
End face stable on No. two line slide rails 334 can move back and forth, and the lower surface of massage movable block 333 is provided with No. three straight lines
Slide rail 335, No. three line slide rails 335 are arranged on the bottom surface of the upper end of L-type pedestal 32 by screw, pass through No. three line slide rails 335
The bottom face for massaging movable block 333 is defined so that the massage bottom face of movable block 333 can be in No. three line slide rails 335
Upper stabilization moves back and forth, and massage movable block 333 right side is symmetrically installed with four fore-sets 336, the end weldering of four fore-sets 336
Massage platform 337 is connected to, four fore-sets 336 play a part of support massage platform 337, and the right side for massaging platform 337 is symmetrical
Two pairs of massage slide bars 338 are provided with, two pairs of massage slide bars 338 pass through sliding matching mode and two massage phases of chute 339 respectively
Even, two massage chutes 339 are welded on the back of massaging machine frame 3310, the back centre position of massaging machine frame 3310 be welded with by
Rub rack 3311, and massage rack 3311 is meshed with massage gear 3312, and the middle part of massage gear 3312 is fixed on massage motor
On 3313 output shaft, massage motor 3313 is arranged on baffle plate 3314 by motor cabinet, and baffle plate 3314 is welded on massage platform
On 337 right side；The inwall of massaging machine frame 3310 is arc-shaped structure, and the inwall of massaging machine frame 3310 is uniformly pacified from top to bottom
Equipped with massage side chain 3315, improved by being uniformly arranged on the massage side chain 3315 of the inwall of massaging machine frame 3310 to leg patient
Uniform massage force；The massage side chain 3315 includes the steel column 3315a that both ends are connected to the inwall both sides of massaging machine frame 3310, steel
Post 3315a is the arc-shaped structure corresponding with the inner wall shape of massaging machine frame 3310, be uniformly arranged on steel column 3315a it is flexible by
Rub cylinder 3315b, and flexible massage cylinder 3315b materials are soft rubber, and steel column 3315a arc-shaped structure structure causes flexibility to press
The cylinder 3315b that rubs uniformly can mutually be attached to patient leg surface, also allow flexible massage cylinder 3315b to patient leg
Surface provides uniform flexible extruding force, and massage effect is good, and operating efficiency is high.In use, first adjust two leg massagers
The distance between 33, No. four hydraulic cylinders 332 are started working, and No. four hydraulic cylinders 332 drive massage movable block 333 to be slided in No. two straight lines
Stable on 334, No. three line slide rails 335 of rail to move back and forth, massage movable block 333 drives the massage on the right side of massage platform 337
Frame 3310 is moved, and massaging machine frame 3310 drives all massage side chains 3315 on inwall to be synchronized with the movement, and have adjusted two legs
The distance between massage machine 33, it is achieved thereby that the broad-adjustable function of leg massage of the present invention, satisfaction is unable to leg widths
Sick Man's Demands, the scope of application is big, then massages side chain 3315 and starts working, and massage gear is driven by massage motor 3313
3312 rotate, and massage gear 3312 drives massage rack 3311 to move, and massage rack 3311 drives massaging machine frame 3310 same
Moved further, massaging machine frame 3310 can be stablized under the auxiliary stopper motion of two pairs of massage slide bars 338 and two massage chutes 339
Move up and down, massaging machine frame 3310 drive inwall on all massage side chains 3315 simultaneously to patient leg carry out up and down
Flexibility extruding massage, adds massage range, meets the massage demand of the whole leg of patient, it is achieved thereby that leg of the present invention
Stable automatic lifting massage functions.
It is arranged between six transmission branch chains 14 and six roots of sensation support column 16 using interlaced mode on lower platform 11,
Both the stationary performance of transmission had been added, has also increased even support performance of the support column 16 to supporting table 15.
The central axis of the central axis and upper mounting plate 3 of the lower platform 11 coincides, by the firm of 6-SPS parallel institutions
The advantages that degree height and good stability, can make lower platform 11 and the keeping parallelism of upper mounting plate 3 all the time, so that leg massaging machine
Tool hand 41 carries out to remain steady in leg lifting massage processes to patient, eliminates jitter phenomenon, massages stability
Can be good, massage effect is good, and operating efficiency is high.
The massage number of side chain 3315 is at least seven, and the massage quantity of side chain 3315 is more, massages soft on side chain 3315
Sex massage cylinder 3315b is better to the effect of patient's leg massage.
During work, the present invention is first arranged on the operation ground of required massage, first determines that the leg of patient is highly adjusted
Highly, six driving motors 141 in six transmission branch chains 14 start simultaneously at work, and six driving motors 141 are distinguished for section massage
Six drive shafts 142 are driven to rotate, six drive shafts 142 drive six drive gears 143 to rotate, six bands of drive gear 143
Nutating gear 13 moves, and travelling gear 13 drives power transmission shaft 12 to rotate, and power transmission shaft 12 drives turn-screw 17 to rotate, driving wire
Thick stick 17 drives driving block 18 to move, due to the regular hexagon structure of driving block 18 to be welded on driving block 18 six
Root mobile column 19 can make stable elevating movement, the six roots of sensation under the drive of turn-screw 17 on six No.1 line slide rails 110
Mobile column 19 drives six side chains 2 in parallel to make elevating movement respectively, the leg on six synchronous drive upper mounting plates 3 of side chain 2 in parallel
Massaging manipulator 41 makees elevating movement, by the stable drive performance of planetary gear mechanism, improves in lifting process
Stability, so that the present invention can realize the adjustable for height function of massage so that the present invention is applied to the high disease of different legs
People, the scope of application is big, and when the present invention reaches suitable leg massage height, driving motor 141 is stopped；Further according to patient's
Leg widths determine the suitable massage distance between two leg massagers 33, No. four on two leg massagers 33
Hydraulic cylinder 332 is first started working, and No. four hydraulic cylinders 332 drive massage movable block 333 in 334, No. three straight lines of No. two line slide rails
Stable on slide rail 335 to move back and forth, massage movable block 333 drives the massaging machine frame 3310 on the right side of massage platform 337 to move, and presses
Frame of rubbing 3310 drives all massage side chains 3315 on inwall to be synchronized with the movement, and have adjusted between two leg massagers 33
Distance, it is achieved thereby that the present invention massages broad-adjustable function, the scope of application is big, when the present invention reach suitable leg massage away from
From when No. four hydraulic cylinders 332 be stopped；Regulate leg massage width and patient's both legs are attached to two massagers respectively afterwards
On the massage side chain 3315 of the inwall of frame 3310, all massage side chains 3315 most on latter two massaging machine frame 3310 start simultaneously at work
To make, drive massage gear 3312 to rotate by massage motor 3313, massage gear 3312 drives massage rack 3311 to move,
Massage rack 3311 and drive the synchronizing moving of massaging machine frame 3310, massaging machine frame 3310 is massaged in two pairs of massage slide bars 338 and two
The auxiliary stopper motion of chute 339 is lower stably to be moved up and down, and massaging machine frame 3310 drives all massages on inwall
The flexible massage cylinder 3315b of side chain 3315 carries out flexible extruding massage up and down to patient leg simultaneously, adds massage range,
But the long massage range in leg of patient is still not big enough, and now No.1 hydraulic cylinder 24 is started working, on six side chains 2 in parallel
Six motions of No.1 hydraulic cylinder 24 drive the leg massage machinery hand 41 on upper mounting plate 3 to make to move repeatedly up and down, by 6-SPS simultaneously
The advantages of online structure, causes the present invention to realize stable automatic lifting massage functions, further increases massage range, from
And the massage demand of the whole leg of patient is met, and because the fixed frame 1 in the present invention is used as fixed platform, six SPS simultaneously
Connection side chain 2, upper mounting plate 3 constitute 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity
Height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, and the present invention makes by the premium properties of 6-SPS parallel institutions
The leg massage machinery hand 41 that must be arranged on upper mounting plate 3 can remain plateau during leg massage, eliminate
Caused jitter phenomenon in massage processes, adds the stability of massage processes, improves massage effect, solve existing leg
Leg massage is highly non-adjustable existing for portion's massage device mode, it is small to need to manually adjust massage position, massage range, massage
Width is non-adjustable, the scope of application is small, massage force is uneven, massage effect is poor, equipment has shake in massage processes and massage is steady
Determine the problem of poor performance, reach purpose.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (5)
- A kind of 1. special leg massage robot of nursing rehabilitation, it is characterised in that：Including fixed frame (1), the fixed frame (1) lower platform (11) is included, the upper surface middle part of the lower platform (11) is provided with power transmission shaft (12), power transmission shaft by bearing (12) middle part is provided with travelling gear (13) by key, travelling gear (13) in axial direction respectively with six transmission branch chains (14) it is meshed, transmission branch chain (14) includes the driving motor (141) that bottom is arranged on by motor cabinet on lower platform (11), passes The output end of dynamic motor (141) is connected by shaft coupling with drive shaft (142), and the middle part of drive shaft (142) is provided with by key Drive gear (143), drive gear (143) are meshed with travelling gear (13), and six drives on six transmission branch chains (14) Moving axis (142) upper end is connected by bearing with supporting table (15)；The middle part of the supporting table (15) passes through bearing and power transmission shaft (12) it is connected, there are six roots of sensation support column (16), the six roots of sensation in the lower surface of supporting table (15) along supporting table (15) axis direction uniform welding The lower surface of support column (16) is installed on lower platform (11)；The upper end of the power transmission shaft (12) passes through shaft coupling and driving wire Thick stick (17) is connected, and the mode that is connected through a screw thread in the middle part of turn-screw (17) is provided with driving block (18), driving block (18) For regular hexagon structure, six end faces of driving block (18) are respectively welded six roots of sensation mobile column (19), six roots of sensation mobile column (19) End be separately mounted on six No.1 line slide rails (110), six No.1 line slide rails (110) are installed respectively by screw On six pieces of supporting plates (111), the lower end of six pieces of supporting plates (111) is respectively welded on lower platform (11)；Six pieces of supports The spacing pillar of the six roots of sensation (112) is respectively welded on the upper end inwall of plate (111), the middle part of six roots of sensation limited post (112) opens up respectively There are six square limited mouths, the end of the spacing pillar of the six roots of sensation (112) is respectively welded on fixed station (113), fixed station (113) Middle part is connected by bearing with the upper end of turn-screw (17)；The upper surface of the six roots of sensation mobile column (19) is separately installed with six Side chain (2) in parallel, the upper end of six side chains (2) in parallel are uniformly arranged on upper mounting plate (3), and in each side chain (2) in parallel Portion is located in the square limited mouth of corresponding spacing pillar (112)；Upper mounting plate (3) upper surface is symmetrically arranged with two peaces Ear (4) is filled, leg massage machinery hand (41) is provided with by bolt on two mounting ears (4)；The leg massage machinery hand (41) includes the L-type base shaft (31) being connected respectively with two mounting ears (4) by bolt, The bottom of two L-type base shafts (31) is symmetricly set on the back of L-type pedestal (32), and the upper surface of L-type pedestal (32) is symmetrically installed There are two leg massagers (33), leg massager (33) includes being welded on the massage of L-type pedestal (32) upper end left surface Substrate (331), massage and No. four hydraulic cylinders (332) are installed on substrate (331) inwall, the top installation of No. four hydraulic cylinders (332) There is massage movable block (333), the left side of massage movable block (333) is provided with No. two line slide rails (334), No. two line slide rails (334) the upper end left surface of L-type pedestal (32) is arranged on by screw, the lower surface of massage movable block (333) is provided with No. three Line slide rail (335), No. three line slide rails (335) are arranged on the bottom surface of L-type pedestal (32) upper end by screw, massage movable block (333) right side is symmetrically installed with four fore-sets (336), and the end of four fore-sets (336) is welded with massage platform (337), pressed The rub right side of platform (337) is symmetrically arranged with two pairs of massage slide bars (338), and two pairs of massage slide bars (338) pass through slip respectively Fit system is connected with two massage chutes (339), and two massage chutes (339) are welded on the back of massaging machine frame (3310), The back centre position of massaging machine frame (3310) is welded with massage rack (3311), massage rack (3311) and massage gear (3312) it is meshed, is fixed in the middle part of massage gear (3312) on the output shaft of massage motor (3313), massage motor (3313) it is arranged on by motor cabinet on baffle plate (3314), baffle plate (3314) is welded on the right side of massage platform (337)；Institute It is arc-shaped structure to state massaging machine frame (3310) inwall, and massaging machine frame (3310) inwall is uniformly provided with massage side chain from top to bottom (3315)；The massage side chain (3315) includes the steel column (3315a) that both ends are connected to massaging machine frame (3310) inwall both sides, steel column (3315a) is the arc-shaped structure corresponding with massaging machine frame (3310) inner wall shape, is uniformly arranged with steel column (3315a) soft Sex massage cylinder (3315b), flexible massage cylinder (3315b) material is soft rubber.
- A kind of 2. special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that：Six biographies It is dynamic to be arranged between side chain (14) and six roots of sensation support column (16) using interlaced mode on lower platform (11).
- A kind of 3. special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that：The lower platform (11) central axis and the central axis of upper mounting plate (3) coincide.
- A kind of 4. special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that：The branch in parallel Chain (2) includes the hollow lower thread spindle (21) that lower end is welded in mobile column (19), passes through screw thread on hollow lower thread spindle (21) Connected mode is provided with No.1 ball pivot (22), and the upper end of No.1 ball pivot (22) is connected through a screw thread mode and is provided with No.1 sleeve (23), the upper end of No.1 sleeve (23) is connected through a screw thread mode and is provided with No.1 hydraulic cylinder (24), No.1 hydraulic cylinder (24) Upper end is connected through a screw thread mode and is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) is connected through a screw thread mode and installed There are No. two ball pivots (26), the upper end of No. two ball pivots (26) is connected through a screw thread mode and is provided with hollow upper thread spindle (27), hollow Upper thread spindle (27) is welded on the lower surface of upper mounting plate (3).
- A kind of 5. special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that：The massage branch Chain (3315) number is at least seven.
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| CN107080677B (en) * | 2017-05-15 | 2019-06-11 | 毛新梅 | A kind of recycle presses pinch leg massor |
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| CN110353938B (en) * | 2019-07-08 | 2022-02-01 | 上海丁阁仕电子商务有限公司 | Rehabilitation seat with leg massage function |
| CN110623825B (en) * | 2019-09-24 | 2021-09-07 | 漯河市第一人民医院 | Massage equipment of paediatrics shank |
| CN112206128B (en) * | 2020-10-15 | 2022-12-30 | 重庆医科大学附属永川医院 | Be applicable to apoplexy old man walking training and use multi-functional nursing device |
| CN113290545B (en) * | 2021-06-23 | 2022-04-08 | 哈尔滨工业大学 | Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding |
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