CN105796309B - A kind of health care special-purpose ultrasonic shoulder massage robot - Google Patents
A kind of health care special-purpose ultrasonic shoulder massage robot Download PDFInfo
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- CN105796309B CN105796309B CN201610343304.7A CN201610343304A CN105796309B CN 105796309 B CN105796309 B CN 105796309B CN 201610343304 A CN201610343304 A CN 201610343304A CN 105796309 B CN105796309 B CN 105796309B
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- 230000036541 health Effects 0.000 title claims abstract description 10
- 230000033228 biological regulation Effects 0.000 claims abstract description 39
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- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims abstract description 7
- 239000000523 sample Substances 0.000 claims description 15
- 241000397426 Centroberyx lineatus Species 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 11
- 229920001821 foam rubber Polymers 0.000 claims description 7
- 210000005069 ears Anatomy 0.000 claims description 3
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- 230000003028 elevating effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 4
- 206010028391 Musculoskeletal Pain Diseases 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 2
- 208000007613 Shoulder Pain Diseases 0.000 description 2
- 230000000202 analgesic effect Effects 0.000 description 2
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- 210000004369 blood Anatomy 0.000 description 2
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Classifications
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- 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
- A61H23/0245—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with ultrasonic transducers, e.g. piezoelectric
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
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- 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)
- Percussion Or Vibration Massage (AREA)
- Massaging Devices (AREA)
Abstract
The present invention relates to a kind of health care special-purpose ultrasonic shoulder massage robot, including lower platform, the upper surface of lower platform is uniformly provided with six side chains in parallel in the axial direction, and the upper end of six side chains in parallel is uniformly arranged on upper mounting plate；Regulation motor is provided with by motor cabinet in the middle part of upper mounting plate upper surface, the output shaft of regulation motor is provided with adjusting screw by shaft coupling, the upper end of adjusting screw is provided with regulation support plate by bearing, the lower surface both sides for adjusting support plate are symmetrically installed with two spacing optical axises by No.1 rolling bearing units, and the lower end of two spacing optical axises is arranged on upper mounting plate by No. two rolling bearing units；Mode is connected through a screw thread in the middle part of adjusting screw and is symmetrically installed with adjusting slider, the both sides of adjusting slider are symmetrically arranged with two spacing circular holes, are connected between two spacing circular holes and two spacing optical axises by sliding matching mode.The present invention can realize the stable ultrasonic wave homogeneously kneaded function of shoulder, there is provided a kind of new way of shoulder massage.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of health care special-purpose ultrasonic shoulder massage machine
People.
Background technology
With the continuous improvement of people's living standards, prolonged reading, in face of computer screen, using mobile phone and play mah-jong
Phenomena such as be seen everywhere, but prolonged croucs can cause the deformity of spinal column, so that trapezius shoulders are chronically at
Tense situation, has brought the slight illness of many, such as cerebral anoxia, headache and insomnia, and dizziness is off one's dot etc..It is existing to solve this
The ailing mode of a little shoulders is predominantly massaged, and by effective massaging point, is loosened the anxiety for alleviating trapezius shoulders, is solved
Except the pain of patient.
Shoulder massaging way of the prior art is mainly that manual massage or automation massage apparatus massage two ways,
Artificial shoulder massage is predominantly massaged trapezius shoulders by hand so that trapezius shoulders loosening all muscles, alleviates shoulder
Portion's pain, but when this artificial shoulder massaging way exists and needs to manually adjust uneven massage position, massage force, massage
Between the poor defect such as low with operating efficiency of long, massage effect；And existing automation shoulder massaging way is mainly Cape massage side
Formula and wall-mounted massaging way, although the function of automation shoulder massage can be realized, Cape massaging way needs people
Work adjusts shoulder massage part, and cumbersome, operating efficiency is low, and the massage of wall-mounted massaging way height can not be adjusted,
The patient of different heights can not be met, the scope of application is small, and massage force is non-adjustable, and equipment has shake, massage in massage processes
Stability is poor, and massage range is small, and massage effect is poor.
The content of the invention
, can the invention provides a kind of health care special-purpose ultrasonic shoulder massage robot in order to solve the above problems
Need to manually adjust massage position, cumbersome and ineffective problem to solve artificial shoulder massaging way, can also
Solve that the existing existing massage of automation shoulder massaging way is highly non-adjustable, the scope of application is small, massage force is non-adjustable, massage
Scope is small, massage effect is poor, equipment has the problem shaken and massage stability difference in massage processes, it is possible to achieve shoulder is steady
Fixed ultrasonic wave homogeneously kneaded function, and with massage height adjustable, the scope of application is big, massage force is adjustable, massage range is big,
Massage effect is good, shake is not present in massage processes, massage stability is good, without artificial adjusting massage position, easy to operate
With operating efficiency it is high the advantages that, there is provided a kind of new way of shoulder massage.
To achieve these goals, the present invention is realized using following technical scheme：A kind of health care special-purpose ultrasonic
Shoulder massage robot, including lower platform, the upper surface of the lower platform are uniformly provided with six side chains in parallel in the axial direction,
The upper end of six side chains in parallel is uniformly arranged on upper mounting plate；The side chain in parallel is welded on hollow on lower platform including lower end
Lower thread spindle, mode is connected through a screw thread on hollow lower thread spindle No.1 ball pivot is installed, the upper end of No.1 ball pivot passes through screw thread
Connected mode is provided with No.1 sleeve, and the upper end of No.1 sleeve is connected through a screw thread mode and is provided with hydraulic cylinder, hydraulic cylinder it is upper
End is connected through a screw thread mode and is provided with No. two sleeves, and the upper end of No. two sleeves is connected through a screw thread mode and is provided with No. two balls
Hinge, the upper end of No. two ball pivots are connected through a screw thread mode and are provided with hollow upper thread spindle, and hollow upper thread spindle is welded on upper mounting plate
Lower surface on, the prismatic pair P that is formed when spherical pair S that the present invention is formed when being worked by No.1 ball pivot, hydraulic cylinder extension and
The spherical pair S formed during No. two ball pivot work constitutes SPS parallel connection side chains, and the lower platform in the present invention is as fixed platform, six
Individual SPS parallel connections side chain, upper mounting plate constitute 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have dynamic response
Good, rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, pass through six hydraulic cylinders on six side chains in parallel
Motion drive upper mounting plate make elevating movement, it is achieved thereby that the present invention lifting adjustable function so that the present invention be applied to not
It is big with the patient of height, the scope of application；Regulation motor, regulation motor are provided with by motor cabinet in the middle part of the upper mounting plate upper surface
Output shaft adjusting screw is provided with by shaft coupling, the upper end of adjusting screw is provided with regulation support plate, regulation branch by bearing
The lower surface both sides of plate are symmetrically installed with two spacing optical axises by No.1 rolling bearing units, and the lower end of two spacing optical axises passes through two
Number rolling bearing units are arranged on upper mounting plate；Mode is connected through a screw thread in the middle part of the adjusting screw and is symmetrically installed with regulation cunning
Block, the both sides of adjusting slider are symmetrically arranged with two spacing circular holes, passed through between two spacing circular holes and two spacing optical axises
Sliding matching mode is connected, and adjusting slider can be made to lower on stable under the auxiliary stopper of two spacing optical axises on adjusting screw
Section motion；The lower surface of the regulation support plate is symmetrically welded with four regulation pillars, and the lower end of four regulation pillars is welded on
On upper mounting plate, four regulation pillars play a part of even support regulation support plate；The right-hand member of the adjusting slider is welded with installation
Round platform, install and shoulder massaging manipulator is installed on round platform；When needing to carry out shoulder massage, first shoulder massaging manipulator is entered
Row is adjusted up and down so that shoulder massaging manipulator can be close to patient's shoulder, and regulation motor is first started working, regulation motor band
Dynamic adjusting screw rotates, and adjusting screw drives adjusting slider motion, spacing synkinesia of the adjusting slider in two spacing optical axises
The lower shoulder massaging manipulator driven on installation round platform is made to adjust up and down, until shoulder massaging manipulator is close on patient's shoulder
Regulation motor is stopped, and then shoulder massaging manipulator starts to carry out patient's shoulder ultrasonic wave homogeneously kneaded, and due to this
The shoulder massaging manipulator that invention to be arranged on above upper mounting plate by the premium properties of 6-SPS parallel institutions is pressed in ultrasonic wave
Plateau can be remained during rubbing, caused jitter phenomenon in massage processes is eliminated, adds massage processes
Stability, improve massage effect.
As a preferred technical solution of the present invention, the shoulder massaging manipulator includes being arranged on installation round platform
Massage upright post, the end of massage upright post are welded with U-shaped support, one layer of foam-rubber cushion are provided with the inwall of U-shaped support, is pressed in shoulder
Patient's neck is leaned against on foam-rubber cushion during rubbing, and foam-rubber cushion adds the level of comfort of patient's massage processes, the both ends of U-shaped support
Two massage machines are symmetrically installed with, massage machine can realize automatic uniform massage functions back and forth, without artificial adjustment shoulder
Portion's massage position, easy to operate, massage range is big, massages efficiency high；The massage machine includes being welded on U-shaped support outer wall
Massage support plate, the massage one end of support plate upper surface away from U-shaped support is welded with baffle plate, shifting is provided with by motor cabinet on baffle plate
Dynamic motor, mobile leading screw is provided with by shaft coupling on the output shaft of mobile motor, the both ends of mobile leading screw are symmetrical by bearing
In two fixed ears, the lower end of two fixed ears is symmetrically welded at massage support plate upper surface, massages and is set in the middle part of support plate
It is equipped with square stopper slot；Mode is connected through a screw thread in the middle part of the mobile leading screw mobile sliding block is installed, move the two of sliding block
End is symmetrically welded with two swallow-tail form travellers, and two swallow-tail form travellers are arranged on two swallow-tail forms by sliding matching mode respectively
On chute, two swallowtail-shaped slides are symmetrically welded at the both sides of massage support plate, pass through two swallow-tail form travellers and two swallow-tail forms
The spaced motion of chute, which enables, moves that sliding block is stable on mobile leading screw to be moved back and forth；The lower surface weldering of the mobile sliding block
Massage cylinder is connected to, is located in the middle part of massage cylinder in the square stopper slot on massage support plate, the lower end welding of massage cylinder
There is arc massage block, ultrasonic wave massage side chain is uniformly installed on the inwall of arc massage block, square stopper slot, which plays restriction, to be come
Return the effect of ultrasonic wave massage range；The ultrasonic wave massage side chain includes being arranged on arc massage block inwall by motor cabinet
Ultrasonic motor, ultrasonic probe is installed on the output shaft of ultrasonic motor, passes through ultrasonic motor and drives ultrasonic wave to visit
Head rotates, and ultrasonic probe is connected with extraneous supersonic generator, and extraneous supersonic generator can be sent to ultrasonic probe
The massage ultrasonic wave of different frequency, the massage force of different frequency massage ultrasonic wave is of different sizes, it is achieved thereby that present invention massage
The adjustable function of power size, and due to ultrasonic wave send it is more stable so that the massage force that patient's shoulder is subject to is very equal
It is even.
Ultrasonic wave shoulder massages cardinal principle：The high frequency ultrasound sent by ultrasonic wave is vibrated to promote blood, lymph
The more preferable Supply Organization of liquid energy, and attract leucocyte actively to be moved to scorching district center, microcirculation disorder is eliminated, film mistake is worn in stimulation
Journey, metabolic processes are thus strengthened, play a part of anti-inflammatory, analgesic, detumescence, promotion healing, improve the regeneration of tissue
Function and regulative mechanism, the present invention are exactly to alleviate patient's shoulder pain using the above-mentioned biological physical and chemical effect of ultrasonic wave to reach
Effect.
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 shoulder massaging manipulator carries out that in shoulder massage processes steady, stability can be remained to patient
Good, massage effect is good, and operating efficiency is high.
As a preferred technical solution of the present invention, the quantity of the ultrasonic wave massage side chain is at least 15, surpasses
The quantity of Acoustic massage side chain is more, and the level of comfort of massage is higher, and massage effect is better.
During work, the present invention is first arranged on the operation ground of required massage, it is then determined that the height of patient is adjusted
Shoulder massage height, drives the shoulder massaging manipulator on upper mounting plate to make by the motion of six hydraulic cylinders on six side chains in parallel
Elevating movement, it is achieved thereby that the lifting adjustable function of the present invention so that the present invention is applied to the patient of different heights, is applicable model
Enclose greatly, when the present invention reaches suitable shoulder massage height, hydraulic cylinder is stopped；Then shoulder massaging manipulator is carried out again
Regulation up and down so that shoulder massaging manipulator can be close to patient's shoulder, and regulation motor is first started working, and regulation motor drives
Adjusting screw rotates, and adjusting screw drives adjusting slider motion, and adjusting slider is under the spacing synkinesia of two spacing optical axises
The shoulder massaging manipulator on installation round platform is driven to make to adjust up and down, until shoulder massaging manipulator is close to the up-regulation of patient's shoulder
Section motor is stopped；Further according to patient's shoulder situation adjust ultrasonic wave massage force size, by extraneous supersonic generator to
Ultrasonic probe sends the massage ultrasonic wave of suitable frequency, because the massage force of different frequency massage ultrasonic wave is of different sizes, from
And realize the adjustable function of massage force size of the present invention, and due to ultrasonic wave send it is more stable so that patient's shoulder
The massage force being subject to is highly uniform；Last shoulder massaging manipulator starts to carry out back and forth patient's shoulder ultrasonic wave massage, two
Two mobile motors on massage machine start simultaneously at work, and mobile motor drives mobile leading screw to rotate, and mobile leading screw, which drives, to be moved
Movable slider, mobile sliding block drive massage cylinder massaging under the spaced motion of two swallow-tail form travellers and two swallowtail-shaped slides
Moved back and forth in square stopper slot on support plate, massage cylinder drives the ultrasonic wave on arc massage block inwall to massage side chain back and forth
Motion, and the ultrasonic motor on ultrasonic wave massage side chain drives ultrasonic probe to carry out ultrasonic wave rotary massage, is slided mobile
The present invention is realized under the moving back and forth of block and under the ultrasonic wave rotary massage of ultrasonic probe to the stable ultrasound of patient's shoulder
Ripple homogeneously kneaded function, and moved because the lower platform in the present invention is used as fixed platform, six SPS parallel connections side chains, upper mounting plate
Platform constitutes 6-SPS parallel institutions, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability
The advantages that good and kinematic accuracy is high, the shoulder that the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
Portion's massaging manipulator can remain plateau in ultrasonic wave massage processes, eliminate caused shake in massage processes
Phenomenon, the stability of massage processes is added, improves massage effect.
The beneficial effects of the invention are as follows：
1st, the present invention drives the shoulder massage machine on upper mounting plate by the motion of six hydraulic cylinders on six side chains in parallel
Hand makees elevating movement, it is achieved thereby that the lifting adjustable function of the present invention so that the present invention is applied to the patient of different heights, fits
It is big with scope；
2nd, the lower platform in the present invention constitutes 6- as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform
SPS parallel institutions, the shoulder massage machine that the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
Hand can remain plateau in ultrasonic wave massage processes, eliminate caused jitter phenomenon in massage processes, increase
The stability of massage processes, improves massage effect；
3rd, the present invention makes ultrasonic probe send the massage ultrasonic wave of different frequency by extraneous supersonic generator, passes through
The shoulder of different frequency massages ultrasonic wave to realize the adjustable function of massage force of the present invention, and different frequency massages the massage of ultrasonic wave
Power is of different sizes, and due to ultrasonic wave send it is more stable so that the massage force that patient's shoulder is subject to is highly uniform；
4th, two massage machines of shoulder massage machine of the present invention on hand can realize automatic uniform massage functions back and forth,
Without artificially adjusting shoulder massage position, easy to operate, massage range is big, massages efficiency high；
5th, the present invention solves artificial shoulder massaging way and needs to manually adjust massage position, cumbersome and operating efficiency
Low problem, also solves that the existing existing massage of automation shoulder massaging way is highly non-adjustable, the scope of application is small, massage force
The problem that non-adjustable, massage range is small, massage effect is poor, equipment has shake and massage stability difference in massage processes is spent,
Realize the stable ultrasonic wave homogeneously kneaded function of shoulder, and with massage height adjustable, the scope of application is big, massage force can
Adjust, massage range is big, massage effect is good, shake is not present in massage processes, massage stability is good, without artificial adjusting massage
A kind of the advantages that position, high easy to operate and operating efficiency, there is provided new way of shoulder 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 is the full sectional view after present invention removal shoulder massaging manipulator；
Fig. 3 is the structural representation of shoulder massaging manipulator of the present invention；
Fig. 4 is the top view of shoulder massaging manipulator of the present invention；
Fig. 5 is Fig. 4 of the present invention C-C to sectional view.
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 5, a kind of health care special-purpose ultrasonic shoulder massage robot, including lower platform 1, it is described
The upper surface of lower platform 1 is uniformly provided with six side chains 2 in parallel in the axial direction, and the upper end of six side chains 2 in parallel is uniformly installed
On upper mounting plate 3；The side chain in parallel 2 includes the hollow lower thread spindle 21 that lower end is welded on lower platform 1, hollow lower thread spindle
Mode is connected through a screw thread on 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 is provided with one
Number sleeve 23, the upper end of No.1 sleeve 23 are connected through a screw thread mode and are provided with hydraulic cylinder 24, and the upper end of hydraulic cylinder 24 passes through spiral shell
Line connected mode is provided with No. two sleeves 25, and the upper end of No. two sleeves 25 is connected through a screw thread mode and is provided with 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, and hollow upper thread spindle 27 is welded on flat
On the lower surface of platform 3, shifting that spherical pair S, hydraulic cylinder 24 that the present invention is formed when being worked by No.1 ball pivot 22 are formed when stretching
The spherical pair S that dynamic secondary P and No. two ball pivot 26 is formed when working constitutes SPS parallel connections side chain 2, and the lower platform 1 in the present invention is made
For fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 6-SPS parallel institutions, 6-SPS parallel institutions are constituted as moving platform
Have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, pass through six side chains 2 in parallel
The motion of upper six hydraulic cylinders 24 drives upper mounting plate 3 to make elevating movement, it is achieved thereby that the lifting adjustable function of the present invention so that
The present invention is applied to the patient of different heights, and the scope of application is big；Tune is provided with by motor cabinet in the middle part of the upper surface of upper mounting plate 3
Motor 4 is saved, the output shaft of regulation motor 4 is provided with adjusting screw 5 by shaft coupling, and the upper end of adjusting screw 5 is pacified by bearing
Equipped with regulation support plate 6, the lower surface both sides of regulation support plate 6 are symmetrically installed with two spacing optical axises 7 by No.1 rolling bearing units 6a,
The lower end of two spacing optical axises 7 is arranged on upper mounting plate 3 by No. two rolling bearing units 6b；The middle part of the adjusting screw 5 passes through
Thread connecting mode is symmetrically installed with adjusting slider 8, and the both sides of adjusting slider 8 are symmetrically arranged with two spacing circular holes, two limits
It is connected between circle of position hole and two spacing optical axises 7 by sliding matching mode, adjusting slider 8 is auxiliary two spacing optical axises 7
Help it is spacing under can make stable regulation motion up and down on adjusting screw 5；The lower surface of the regulation support plate 6 is symmetrically welded with four
Pillar 6c is adjusted, four regulation pillar 6c lower end is welded on upper mounting plate 3, and four regulation pillar 6c play even support tune
Save the effect of support plate 6；The right-hand member of the adjusting slider 8 is welded with installation round platform 8a, and shoulder massage is provided with installation round platform 8a
Manipulator 9；When needing to carry out shoulder massage, first shoulder massaging manipulator 9 is carried out to adjust up and down so that shoulder massage machine
Hand 9 can be close to patient's shoulder, and regulation motor 4 is first started working, and regulation motor 4 drives adjusting screw 5 to rotate, adjusting screw
5 drive adjusting sliders 8 are moved, and adjusting slider 8 is driven under the spacing synkinesia of two spacing optical axises 7 on installation round platform 8a
Shoulder massaging manipulator 9 is made to adjust up and down, stops work until shoulder massaging manipulator 9 is close to regulation motor 4 on patient's shoulder
Make, then shoulder massaging manipulator 9 starts to carry out ultrasonic wave homogeneously kneaded to patient's shoulder, and because the present invention is by 6-SPS
The shoulder massaging manipulator 9 that the premium properties of parallel institution to be arranged on the top of upper mounting plate 3 energy in ultrasonic wave massage processes
Plateau is enough remained, eliminates caused jitter phenomenon in massage processes, adds the stability of massage processes, is improved
Massage effect.
The shoulder massaging manipulator 9 includes the massage upright post 91 being arranged on installation round platform 8a, the end of massage upright post 91
End is welded with U-shaped support 92, one layer of foam-rubber cushion 93 is provided with the inwall of U-shaped support 92, patient's neck in shoulder massage processes
Portion is leaned against on foam-rubber cushion 93, and foam-rubber cushion 93 adds the level of comfort of patient's massage processes, and the both ends of U-shaped support 92 are symmetrically installed
There are two massage machines 94, massage machine 94 can realize automatic uniform massage functions back and forth, be pressed without artificial adjustment shoulder
Rub position, easy to operate, massage range is big, massages efficiency high；The massage machine 94 includes being welded on the U-shaped outer wall of support 92
Massage support plate 941, massage the one end of the upper surface of support plate 941 away from U-shaped support 92 be welded with baffle plate 942, pass through on baffle plate 942
Motor cabinet is provided with mobile motor 943, and mobile leading screw 944 is provided with by shaft coupling on the output shaft of mobile motor 943, mobile
The both ends of leading screw 944 are symmetrically mounted on two fixed ear 944a by bearing, and two fixed ear 944a lower end is symmetrically welded
In massage support plate 941 upper surface, the middle part of massage support plate 941 is provided with square stopper slot；The middle part of the mobile leading screw 944 leads to
To cross thread connecting mode and mobile sliding block 945 is installed, the both ends of mobile sliding block 945 are symmetrically welded with two swallow-tail form travellers 946,
Two swallow-tail form travellers 946 are arranged on two swallowtail-shaped slides 947 by sliding matching mode respectively, two swallowtail-shaped slides
947 are symmetrically welded at the both sides of massage support plate 941, pass through the spacing of two swallow-tail form travellers 946 and two swallowtail-shaped slides 947
Motion enables mobile sliding block 945 is stable on mobile leading screw 944 to move back and forth；The lower surface weldering of the mobile sliding block 945
Massage cylinder 945a is connected to, is located in the middle part of massage cylinder 945a in the square stopper slot on massage support plate 941, massage cylinder
945a lower end is welded with arc massage block 948, and ultrasonic wave massage side chain is uniformly provided with the inwall of arc massage block 948
949, square stopper slot plays a part of limiting ultrasonic wave massage range back and forth；The ultrasonic wave massage side chain 949 includes passing through
Motor cabinet is arranged on the ultrasonic motor 9491 on the inwall of arc massage block 948, is installed on the output shaft of ultrasonic motor 9491
Have ultrasonic probe 9492, drive ultrasonic probe 9492 to rotate by ultrasonic motor 9491, ultrasonic probe 9492 with it is outer
Boundary's supersonic generator is connected, and extraneous supersonic generator can send the massage ultrasound of different frequency to ultrasonic probe 9492
Ripple, the massage force of different frequency massage ultrasonic wave is of different sizes, it is achieved thereby that the adjustable function of massage force size of the present invention, and
Due to ultrasonic wave send it is more stable so that the massage force that patient's shoulder is subject to is highly uniform.
Ultrasonic wave shoulder massages cardinal principle：The high frequency ultrasound sent by ultrasonic wave is vibrated to promote blood, lymph
The more preferable Supply Organization of liquid energy, and attract leucocyte actively to be moved to scorching district center, microcirculation disorder is eliminated, film mistake is worn in stimulation
Journey, metabolic processes are thus strengthened, play a part of anti-inflammatory, analgesic, detumescence, promotion healing, improve the regeneration of tissue
Function and regulative mechanism, the present invention are exactly to alleviate patient's shoulder pain using the above-mentioned biological physical and chemical effect of ultrasonic wave to reach
Effect.
The central axis of the central axis and upper mounting plate 3 of the lower platform 1 coincides, by the firm of 6-SPS parallel institutions
The advantages that degree height and good stability, can make lower platform 1 and the keeping parallelism of upper mounting plate 3 all the time, so that shoulder massage machine
Hand 9 carries out to remain steady in shoulder massage processes to patient, and stability is good, and massage effect is good, and operating efficiency is high.
The quantity of the ultrasonic wave massage side chain 949 is at least 15, and the quantity of ultrasonic wave massage side chain 949 is more,
The level of comfort of massage is higher, and massage effect is better.
During work, the present invention is first arranged on the operation ground of required massage, it is then determined that the height of patient is adjusted
Shoulder massage height, the shoulder massage machine on upper mounting plate 3 is driven by the motion of six hydraulic cylinders 24 on six side chains 2 in parallel
Hand 9 makees elevating movement, it is achieved thereby that the lifting adjustable function of the present invention so that and the present invention is applied to the patient of different heights,
The scope of application is big, and when the present invention reaches suitable shoulder massage height, hydraulic cylinder 24 is stopped；Then again to shoulder massager
Tool hand 9 adjust up and down so that and shoulder massaging manipulator 9 can be close to patient's shoulder, and regulation motor 4 is first started working,
Regulation motor 4 drives adjusting screw 5 to rotate, and adjusting screw 5 drives adjusting slider 8 to move, and adjusting slider 8 is in two spacing optical axises
The shoulder massaging manipulator 9 on installation round platform 8a is driven to make to adjust up and down under 7 spacing synkinesia, until shoulder massage machine
Hand 9 is close to regulation motor 4 on patient's shoulder and is stopped；Ultrasonic wave massage force size is adjusted further according to patient's shoulder situation,
The massage ultrasonic wave of suitable frequency is sent to ultrasonic probe 9492 by extraneous supersonic generator, because different frequency is massaged
The massage force of ultrasonic wave is of different sizes, it is achieved thereby that the adjustable function of massage force size of the present invention, and because ultrasonic wave is sent
It is more stable, so that the massage force that patient's shoulder is subject to is highly uniform；Last shoulder massaging manipulator 9 starts to patient's shoulder
Portion carries out back and forth ultrasonic wave and massaged, and two mobile motors 943 on two massage machines 94 start simultaneously at work, mobile motor
943 drive mobile leading screw 944 to rotate, and mobile leading screw 944 drives mobile sliding block 945, and mobile sliding block 945 is in two swallow-tail form travellers
946 and two swallowtail-shaped slides 947 spaced motion under drive massage cylinder 945a massage support plate 941 on square stopper slot
In move back and forth, massage cylinder 945a drives the ultrasonic wave massage side chain 949 on the inwall of arc massage block 948 to move back and forth, and
Ultrasonic motor 9491 on ultrasonic wave massage side chain 949 drives ultrasonic probe 9492 to carry out ultrasonic wave rotary massage, is moving
The present invention is realized under the moving back and forth of movable slider 945 and under the ultrasonic wave rotary massage of ultrasonic probe 9492 to patient's shoulder
Stable ultrasonic wave homogeneously kneaded function, and due to the lower platform 1 in the present invention as fixed platform, six SPS parallel connections side chains 2,
Upper mounting plate 3 constitutes 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, carrying
The advantages that ability is big, stability is good and kinematic accuracy is high, the present invention to be arranged on by the premium properties of 6-SPS parallel institutions
Shoulder massaging manipulator 9 on upper mounting plate 3 can remain plateau in ultrasonic wave massage processes, eliminate and massaged
Caused jitter phenomenon in journey, adds the stability of massage processes, improves massage effect, solves artificial shoulder massage side
Formula needs to manually adjust massage position, cumbersome and ineffective problem, also solves existing automation shoulder massage
The existing massage of mode is highly non-adjustable, the scope of application is small, massage force is non-adjustable, massage range is small, massage effect is poor, massage
During equipment exist shake and massage stability difference problem, reached 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 (3)
- A kind of 1. health care special-purpose ultrasonic shoulder massage robot, it is characterised in that：It is described lower flat including lower platform (1) The upper surface of platform (1) is uniformly provided with six side chains (2) in parallel in the axial direction, and the upper end of six side chains (2) in parallel is uniformly pacified On upper mounting plate (3)；The side chain in parallel (2) includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), empty Mode is connected through a screw thread under the heart on thread spindle (21) No.1 ball pivot (22) is installed, the upper end of No.1 ball pivot (22) passes through screw thread Connected mode is provided with No.1 sleeve (23), and the upper end of No.1 sleeve (23) is connected through a screw thread mode and is provided with hydraulic cylinder (24), the upper end of hydraulic cylinder (24) is connected through a screw thread mode and is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) leads to Cross thread connecting mode and No. two ball pivots (26) be installed, the upper ends of No. two ball pivots (26) be connected through a screw thread mode be provided with it is hollow Upper thread spindle (27), hollow upper thread spindle (27) are welded on the lower surface of upper mounting plate (3)；In upper mounting plate (3) upper surface Portion is provided with regulation motor (4) by motor cabinet, and the output shaft of regulation motor (4) is provided with adjusting screw (5) by shaft coupling, The upper end of adjusting screw (5) is provided with regulation support plate (6) by bearing, and the lower surface both sides of regulation support plate (6) pass through No.1 band Seat bearing (6a) is symmetrically installed with two spacing optical axises (7), and the lower end of two spacing optical axises (7) passes through No. two rolling bearing units (6b) On upper mounting plate (3)；Mode, which is connected through a screw thread, in the middle part of the adjusting screw (5) is symmetrically installed with adjusting slider (8), The both sides of adjusting slider (8) are symmetrically arranged with two spacing circular holes, logical between two spacing circular holes and two spacing optical axises (7) Sliding matching mode is crossed to be connected；The lower surface of the regulation support plate (6) is symmetrically welded with four regulation pillars (6c), four regulations The lower end of pillar (6c) is welded on upper mounting plate (3)；The right-hand member of the adjusting slider (8) is welded with installation round platform (8a), peace Shoulder massaging manipulator (9) is installed on dress round platform (8a)；The shoulder massaging manipulator (9) includes the massage upright post (91) being arranged on installation round platform (8a), massage upright post (91) End be welded with U-shaped support (92), one layer of foam-rubber cushion (93) is provided with the inwall of U-shaped support (92), U-shaped support (92) Both ends are symmetrically installed with two massage machines (94)；The massage machine (94) includes being welded on U-shaped support (92) outer wall Support plate (941) is massaged, the massage one end of support plate (941) upper surface away from U-shaped support (92) is welded with baffle plate (942), baffle plate (942) mobile motor (943) is provided with by motor cabinet on, is provided with the output shaft of mobile motor (943) by shaft coupling Mobile leading screw (944), the both ends of mobile leading screw (944) are symmetrically mounted on two fixed ears (944a) by bearing, and two solid The lower end for determining ear (944a) is symmetrically welded at massage support plate (941) upper surface, and square limit is provided with the middle part of massage support plate (941) Position groove；Mode is connected through a screw thread in the middle part of the mobile leading screw (944) mobile sliding block (945), mobile sliding block (945) are installed Both ends be symmetrically welded with two swallow-tail form travellers (946), two swallow-tail form travellers (946) are pacified by sliding matching mode respectively On two swallowtail-shaped slides (947), two swallowtail-shaped slides (947) are symmetrically welded at the both sides of massage support plate (941)；Institute The lower surface for stating mobile sliding block (945) is welded with massage cylinder (945a), and massage branch is located in the middle part of massage cylinder (945a) In square stopper slot on plate (941), the lower end of massage cylinder (945a) is welded with arc massage block (948), arc massage block (948) ultrasonic wave massage side chain (949) is uniformly installed on inwall；The ultrasonic wave massage side chain (949) includes the ultrasonic wave being arranged on by motor cabinet on arc massage block (948) inwall Motor (9491), ultrasonic probe (9492) is installed on the output shaft of ultrasonic motor (9491).
- A kind of 2. health care special-purpose ultrasonic shoulder massage robot according to claim 1, it is characterised in that：It is described The central axis of the central axis of lower platform (1) and upper mounting plate (3) coincides.
- A kind of 3. health care special-purpose ultrasonic shoulder massage robot according to claim 1, it is characterised in that：It is described The quantity of ultrasonic wave massage side chain (949) is at least 15.
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| CN201610343304.7A CN105796309B (en) | 2016-05-22 | 2016-05-22 | A kind of health care special-purpose ultrasonic shoulder massage robot |
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| CN107877483A (en) * | 2017-11-27 | 2018-04-06 | 倪立秧 | A kind of full-automatic Respiratory Medicine medical treatment glass wares suction means |
| CN107753260B (en) * | 2017-11-27 | 2018-09-25 | 王冰建 | A kind of massage diagnosis and treatment all-in-one machine for orthopaedics patient with cervical Spondylopathy's physical therapy |
| CN108836824A (en) * | 2018-04-24 | 2018-11-20 | 苏州高新区鼎正精密机电有限公司 | A kind of helmet for treating nervous headache |
| CN113304037B (en) * | 2021-03-26 | 2022-11-22 | 上海大学 | Series-parallel massage robot integrating multiple intelligent perceptions |
| CN114397914A (en) * | 2021-10-10 | 2022-04-26 | 中国人民解放军空军工程大学航空机务士官学校 | Four-point support type ferrograph leveling method |
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| CN2756209Y (en) * | 2004-12-03 | 2006-02-08 | 程冬林 | Electric multifunction massage device |
| ITRM20060387A1 (en) * | 2006-07-20 | 2008-01-21 | Ospedale Pidiatrico Bambino Gesu | MOTORIZED PLATFORM FOR TREATMENT OF THERAPY FOR PATIENTS |
| EP2405834B1 (en) * | 2009-03-10 | 2016-07-20 | Stryker European Holdings I, LLC | External fixation system |
| CN102631275B (en) * | 2011-12-14 | 2013-10-02 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| ITMI20112325A1 (en) * | 2011-12-20 | 2013-06-21 | Consiglio Nazionale Ricerche | DEVICE AND METHOD FOR REHABILITATION OF FOOT MOVEMENTS |
| CN103070757B (en) * | 2013-01-08 | 2014-10-15 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN104721016B (en) * | 2015-03-25 | 2017-03-01 | 北京航空航天大学 | A kind of 3UPS parallel metamorphic mechanism for lower limb rehabilitation robot |
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Effective date of registration: 20210721 Address after: 541004 room B507, block B, Chuangye building, No. 5 community (No. 13-1), Xinjian District, Kongming West Road, Qixing District, Guilin City, Guangxi Zhuang Autonomous Region Patentee after: Guilin Shikang Medical Technology Co.,Ltd. Address before: No. 157 Xichang Road, Suzhou City, Anhui, Anhui Patentee before: ANHUI HUATENG AGRICULTURAL TECHNOLOGY Co.,Ltd. |