CN105832518B - A kind of new armpit health care intelligent robot Three Degree Of Freedom massager - Google Patents
A kind of new armpit health care intelligent robot Three Degree Of Freedom massager Download PDFInfo
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- CN105832518B CN105832518B CN201610331297.9A CN201610331297A CN105832518B CN 105832518 B CN105832518 B CN 105832518B CN 201610331297 A CN201610331297 A CN 201610331297A CN 105832518 B CN105832518 B CN 105832518B
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- 230000036541 health Effects 0.000 title claims abstract description 16
- 230000001105 regulatory effect Effects 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000007664 blowing Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 6
- 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 6
- 229920006351 engineering plastic Polymers 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 17
- 230000000694 effects Effects 0.000 abstract description 14
- 210000004243 sweat Anatomy 0.000 abstract description 5
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 230000004630 mental health Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000002751 lymph Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010002383 Angina Pectoris Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000004356 Hysteria Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010034464 Periarthritis Diseases 0.000 description 1
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- 239000008280 blood Substances 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
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- 210000001217 buttock Anatomy 0.000 description 1
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- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007124 immune defense Effects 0.000 description 1
- 210000001937 intercostal nerve Anatomy 0.000 description 1
- 238000004898 kneading Methods 0.000 description 1
- 210000001165 lymph node Anatomy 0.000 description 1
- 210000003563 lymphoid tissue Anatomy 0.000 description 1
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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
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- 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
- A61H2201/01—Constructive details
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/08—Trunk
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The present invention relates to a kind of new armpit health care intelligent robot Three Degree Of Freedom massager, including elevation and subsidence regulating device, main body massage machine and local massage machine, and the quantity of part massage device is two, main body massage machine is fixed on directly over elevation and subsidence regulating device, part massage device is respectively symmetrically located at the left and right sides of main body massage machine, and part massage device is connected with elevation and subsidence regulating device.The present invention can carry out massage and air-cooled scattered sweat to human body oxter, and massage is comprehensive, massage effect is obvious, massage comfort level high, good health-care effect is served to human body oxter, also the physical and mental health for promoting human body to a certain extent, its main body massage machine uses 3 RPS parallel institution form, its stable movement, motion is flexible, in the present invention, outer cover in space of whole massage is driven to carry out the motion that a translation two rotates three degree of freedom direction altogether by 3-freedom parallel mechanism, massage motion personality work and massage effect is good.
Description
Technical field
The present invention relates to oxter health care intelligent machine field, specifically a kind of new armpit health care intelligent machine
Device people uses Three Degree Of Freedom massager.
Background technology
Massage is, using the internal organs of the traditional Chinese medical science, theory of channels and collaterals as theoretical foundation, and to combine the dissection and pathological diagnosis of doctor trained in Western medicine, and is used
Gimmick or apparatus rub back and forth, kneading or beat the privileged site of body surface to adjust organism physiology, pathological condition, reach reason
The method for treating purpose, in nature, it is in a kind for the treatment of method of physics, the treatment of massage, can be divided into therapeutic massage,
Sports massage and medical massage；For from position, massage can be divided into head massage, neck massaging, oxter massage, waist by
Rub, the massage of back massage, buttocks, leg massage and foot massage etc..
Oxter is commonly called as " armpit " or " armpit ", therebetween many sweat glands of cortex, and the nerve and blood vessel for dominating upper limbs is distributed with,
There are Lymph Node Groups in nest, summarize the lymph of the upper limbs wall of the chest and back shallow-layer, be referred to as in " the big health care special zone of human body three " by doctor；
Often pressing armpit can treat the circulation system diseases such as coronary heart diseases and angina pectoris, apoplexy sequela, and intercostal nerve
Bitterly, the nervous system disease such as hysteria, also mammary gland disease, scapulohumeral periarthritis etc.；Human anatomy is then disclosed, and does not only have sound at armpit
Arteries and veins blood vessel, and have substantial amounts of lymphoid tissue, blood conveying, immune defense function are responsible for, armpit is often pressed, by improving blood
Supply, stimulation lymph, can improve cardio-pulmonary function, improve a poor appetite, improve digestion power.
As can be seen here, oxter massage is healthy to people and health care of usually all plays important work
With still, current human body oxter is the position that people seldom touch in daily routines, is often easy to be ignored by everybody, more
It is far from being other health cares, and for now a small amount of human body oxter health care massage using manually massaging and press
Pinch, there is no good human body oxter massage related equipment.In view of the above circumstances, the invention provides a kind of new armpit medical treatment
Health care intelligent robot Three Degree Of Freedom massager.
The content of the invention
In order to make up the deficiencies in the prior art, used the invention provides a kind of new armpit health care intelligent robot
Three Degree Of Freedom massager.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of new armpit health care intelligent robot Three Degree Of Freedom massager, including elevation and subsidence regulating device, master
Body massage machine and local massage machine, and the quantity of part massage device is two；Described main body massage machine is fixed on liter
Directly over falling tone regulating device, part massage device is respectively symmetrically located at the left and right sides of main body massage machine, and part massage is filled
Put and be connected with elevation and subsidence regulating device.
As a further improvement on the present invention, described elevation and subsidence regulating device is pushed away including fixed disk, lifting disk, lifting electric
Bar, lifting lead, regulation rotating shaft and fixed mount；Described lifting disk is located at directly over fixed disk, and lifting electric push rod is located at
Between fixed disk and lifting disk, and lifting electric push rod bottom is connected with fixed disk, lifting electric push rod top and lifting disk
It is connected, lifting lead quantity is four, lifting lead lifts lead along lifting electric push rod using two grades of stretching structures
Central axis respectively symmetrically arrange that regulation rotating shaft passes through the upper end of lifting electric push rod, and regulation rotating shaft two ends pass through respectively
Fixed mount is fixedly connected, and fixed mount is in " X " type structure, and four legs of fixed mount are separately fixed at lifting lead
On, the lifting bearing being engaged with regulation rotating shaft is provided with fixed mount medium position；Elevation and subsidence regulating device is mainly used in this hair
The regulation of bright whole height on the vertical plane, and it is easy to adjust, it is oriented to, while part massage device can be driven by adjusting rotating shaft
Rotation on the vertical plane, and then adjust the setting angle of part massage device.
As a further improvement on the present invention, described main body massage machine includes 3-freedom parallel mechanism, massages outer
Cover, transmitting balls, back-up ring and air-supply arrangement；Described massage outer cover is located at directly over 3-freedom parallel mechanism, and massage is outer
Cover for hemispherical shell structure, massage outer cover material is PP engineering plastics, massage to be evenly arranged with respectively on outer cover outer surface and shake
Dynamic massage head and air-permeating hole, vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure, and vibration is pressed
An outer surface rub for flexible rubber material, back-up ring is located on the outside of massage outer cover, and back-up ring is mutually fixed with 3-freedom parallel mechanism,
Transmitting balls are uniformly arranged between back-up ring and massage outer cover, can be achieved by the cooperation for massaging outer cover, transmitting balls and back-up ring
The function of outer cover rotary motion in the horizontal plane is massaged, air-supply arrangement is located inside massage outer cover；Described freedom degree parallel connection
Mechanism include fixed platform, moving platform, ear mount, rotating shaft, electric pushrod, spherical hinge, connecting seat and limit spring, and ear mount, rotating shaft,
Electric pushrod, spherical hinge, the quantity of connecting seat and limit spring are three；The rounded shape knot of described fixed platform and moving platform
Structure, and moving platform is located at fixed platform surface, ear mount is located on the upper surface of fixed platform, and the installation center angle between ear mount
For 60 degree, connecting seat is located on moving platform lower surface, and ear mount is corresponded respectively with connecting seat；Described electric pushrod bottom
It is arranged in ear mount, is attached between electric pushrod top and connecting seat by spherical hinge, limit spring is around set by rotating shaft
In electric pushrod upper end；It uses 3-RPS parallel institution form to the present invention, and its stable movement, motion is flexible, in the present invention
In, drive outer cover in space of whole massage to carry out a translation two rotation three degree of freedom altogether by 3-freedom parallel mechanism
The motion in direction, massage motion personality work and massage effect is good.Described air-supply arrangement includes air supply motor, motor cabinet, air-supply
Rotating shaft, blowing fan and locking cap, air supply motor are fixed on moving platform upper surface by motor cabinet, air-supply rotating shaft one end and air-supply
Electric machine main shaft is connected, and the air-supply rotating shaft other end is connected with blowing fan, and passes through locking cap between blowing fan and air-supply rotating shaft
It is fixed；Air-supply arrangement can produce wind regime for the present invention, and the wind-force that air-supply arrangement is produced is by massaging on outer cover outer surface
Air-permeating hole discharge so that the present invention armpit can be blowed while massage human body oxter, serve drive sweat effect
Really, while also causing massage more comfortable pleasantly cool.
As a further improvement on the present invention, described part massage device include support, fixing axle, part massage head,
Support shaft, retainer ring, vibrating motor and vibrating spring, and number of holders is two；Described pedestal lower end is the bar of extension type
Shape and structure, pedestal upper end is forme fruste umbrella-shaped structure, and support is respectively symmetrically arranged in part massage head both sides, and part is pressed
Rub between head and pedestal upper end and to be attached by fixing axle, part massage head is in incomplete ring-shaped structure, part massage head
There is massaging strip along its circumferential direction spaced set on outer surface, support shaft is located at immediately below part massage head, and support shaft two
End is connected with support madial wall respectively, and vibrating motor is located at directly over support shaft, and vibrating motor is uniform along support shaft axial direction
Direction linearly arranges that vibrating motor lower end is arranged in support shaft by retainer ring, vibrating motor upper end and vibrating spring one
End is connected, and the vibrating spring other end is connected with part massage head madial wall；Vibration bullet is driven by the vibration of vibrating motor
The shake of spring, so as to realize the vibration of part massage head, serves the effect of vibromassage, and part massage device is mainly used in pair
The massage of human body oxter both sides.
Compared with prior art, the present invention has advantages below：
(1) present invention can carry out massage and air-cooled scattered sweat to human body oxter, and massage is comprehensively, and massage effect is bright
Aobvious, massage comfort level is high, serves good health-care effect to human body oxter, also the body and mind for promoting human body to a certain extent
Health.
(2) main body massage machine of the invention uses 3-RPS parallel institution form, and its stable movement, motion is flexible,
In the present invention, outer cover in space of whole massage is driven to carry out a translation two and rotate totally three by 3-freedom parallel mechanism
The motion in free degree direction, massage motion personality work and massage effect is good.
(3) air-supply arrangement of the invention can produce wind regime for the present invention, and the wind-force that air-supply arrangement is produced is outer by massage
Air-permeating hole discharge on cover outer surface so that armpit can be blowed while massaging human body oxter by the present invention, play
The effect of sweat is driven, while also causing massage more comfortable pleasantly cool.
(4) part massage device of the invention drives the shake of vibrating spring by the vibration of vibrating motor, so as to realize
The vibration of part massage head, serves the effect of vibromassage, part massage device be mainly used in human body oxter both sides by
Rub.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Dimensional structure diagram when Fig. 2 is elevation and subsidence regulating device of the present invention and local massage machine cooperation is (from front to back
See)；
Dimensional structure diagram when Fig. 3 is elevation and subsidence regulating device of the present invention and local massage machine cooperation is (from the bottom up
See)；
Fig. 4 is the front view of main body massage machine of the present invention；
Fig. 5 is that main body massage machine of the present invention removes the front view after 3-freedom parallel mechanism；
Fig. 6 is the front view of 3-freedom parallel mechanism of the present invention；
Fig. 7 is that main body massage machine of the present invention removes the dimensional structure diagram after 3-freedom parallel mechanism；
Fig. 8 is the dimensional structure diagram of part massage device of the present invention.
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 8, a kind of new armpit health care intelligent robot Three Degree Of Freedom massager, including
Elevation and subsidence regulating device 4, main body massage machine 5 and local massage machine 6, and the quantity of part massage device 6 is two；Described master
Body massage machine 5 is fixed on directly over elevation and subsidence regulating device 4, and part massage device 6 is respectively symmetrically positioned at main body massage machine 5
The left and right sides, and part massage device 6 and elevation and subsidence regulating device 4 are connected.
As shown in Figure 1, Figure 2 and Figure 3, described elevation and subsidence regulating device 4 includes fixed disk 41, lifting disk 42, lifting electric
Push rod 43, lifting lead 44, regulation rotating shaft 45 and fixed mount 46；Described lifting disk 42 is located at directly over fixed disk 41, rises
Electric pushrod 43 is dropped to be located between fixed disk 41 and lifting disk 42, and the bottom of lifting electric push rod 43 is connected with fixed disk 41,
The top of lifting electric push rod 43 is connected with lifting disk 42, and lifting lead 44 quantity is four, and lifting lead 44 uses two grades
Stretching structure, central axis of the lifting lead 44 along lifting electric push rod 43 respectively symmetrically arranges that regulation rotating shaft 45, which is passed through, to rise
The upper end of electric pushrod 43 drops, and regulation rotating shaft 45 two ends are fixedly connected by fixed mount 46 respectively, fixed mount 46 is in " X "
Type structure, and fixed mount 46 four legs be separately fixed at lifting lead 44 on, be provided with the medium position of fixed mount 46
The lifting bearing being engaged with regulation rotating shaft 45；Elevation and subsidence regulating device 4 is mainly used in the whole height of the present invention on the vertical plane
Regulation, it is and easy to adjust, be oriented to, while the rotation of part massage device 6 on the vertical plane can be driven by adjusting rotating shaft 45, enter
And adjust the setting angle of part massage device 6.
As shown in Figures 4 to 7, described main body massage machine 5 include 3-freedom parallel mechanism 51, massage outer cover 52,
Transmitting balls 53, back-up ring 54 and air-supply arrangement 55；Described massage outer cover 52 is located at directly over 3-freedom parallel mechanism 51, and
Massage outer cover 52 is hemispherical shell structure, and massage outer cover 52 material is PP engineering plastics, and massage outer cover 52 is distinguished on outer surface
It is evenly arranged with vibrating massaging head and air-permeating hole, vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemisphere
Shape structure, vibrating massaging head outer surface is flexible rubber material, and back-up ring 54 is located at the outside of massage outer cover 52, and back-up ring 54 and three is certainly
Mutually fixed by degree parallel institution 51, transmitting balls 53 are uniformly arranged between back-up ring 54 and massage outer cover 52, by massaging outer cover
52nd, the function of massage outer cover 52 rotary motion in the horizontal plane, air-supply arrangement can be achieved in the cooperation of transmitting balls 53 and back-up ring 54
55 are located inside massage outer cover 52；Described 3-freedom parallel mechanism 51 include fixed platform 511, moving platform 512, ear mount 513,
Rotating shaft 514, electric pushrod 515, spherical hinge 516, connecting seat 517 and limit spring 518, and ear mount 513, rotating shaft 514, electronic push away
Bar 515, spherical hinge 516, the quantity of connecting seat 517 and limit spring 518 are three；Described fixed platform 811 and moving platform 512
Rounded shape structure, and moving platform 512 is located at the surface of fixed platform 511, ear mount 513 is located on the upper surface of fixed platform 511,
And the installation center angle between ear mount 513 be 60 degree, connecting seat 517 be located at the lower surface of moving platform 512 on, and ear mount 513 and
Connecting seat 517 is corresponded respectively；The described bottom of electric pushrod 515 is arranged in ear mount 513 by rotating shaft 514, electronic to push away
It is attached between the top of bar 515 and connecting seat 517 by spherical hinge 516, limit spring 518 is around being enclosed on electric pushrod 515
End；It uses 3-RPS parallel institution form to the present invention, and its stable movement, motion is flexible, in the present invention, passes through three freely
Degree parallel institution 51 drives whole massage outer cover 52 to carry out the fortune that a translation two rotates three degree of freedom direction altogether in space
It is dynamic, massage motion personality work and massage effect is good.Described air-supply arrangement 55 includes air supply motor 551, motor cabinet 552, air-supply
Rotating shaft 553, blowing fan 554 and locking cap 555, air supply motor 551 are fixed on the upper surface of moving platform 512 by motor cabinet 552,
Air-supply one end of rotating shaft 553 is connected with the main shaft of air supply motor 551, and the air-supply other end of rotating shaft 553 is connected with blowing fan 554, and
It is fixed between blowing fan 554 and air-supply rotating shaft 553 by locking cap 555；Air-supply arrangement 55 can produce wind regime for the present invention,
And the wind-force that air-supply arrangement 55 is produced is discharged by massaging the air-permeating hole on the outer surface of outer cover 52 so that the present invention is to human body armpit
Armpit can be blowed while lower massage, serve the effect for driving sweat, while also causing massage more comfortable pleasantly cool.
As shown in figure 8, described part massage device 6 includes support 61, fixing axle 62, part massage first 63, support shaft
64th, retainer ring 65, vibrating motor 66 and vibrating spring 67, and the quantity of support 61 is two；The described lower end of support 61 is scalable
The strip structure of formula, the upper end of support 61 is forme fruste umbrella-shaped structure, and support 61 is respectively symmetrically arranged in part massage first 63
It is attached between both sides, and part massage first 63 and the upper end of support 61 by fixing axle 62, part massage first 63 is in incomplete
There is massaging strip along its circumferential direction spaced set on ring-shaped structure, first 63 outer surface of part massage, support shaft 64 is located at office
Immediately below portion's massage head 63, and the two ends of support shaft 64 are connected with the madial wall of support 61 respectively, and vibrating motor 66 is located at support shaft
Directly over 64, and vibrating motor 66 uniformly linearly arranges that the lower end of vibrating motor 66 passes through fixation along the axial direction of support shaft 64
Ring 65 be arranged on support shaft 64 on, the upper end of vibrating motor 66 is connected with the one end of vibrating spring 67, the other end of vibrating spring 67 and
First 63 madial wall of part massage is connected；The shake of vibrating spring 67 is driven by the vibration of vibrating motor 66, so that realization office
The vibration of portion's massage head 63, serves the effect of vibromassage, part massage device 6 be mainly used in human body oxter both sides by
Rub.
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, the simply explanation present invention of the description in above-described embodiment and specification
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 (2)
1. a kind of new armpit health care intelligent robot Three Degree Of Freedom massager, it is characterised in that：Including rising-falling tone
Regulating device, main body massage machine and local massage machine, and the quantity of part massage device is two；Described main body massage machine
It is fixed on directly over elevation and subsidence regulating device, part massage device is respectively symmetrically located at the left and right sides of main body massage machine, and office
Portion's massage machine is connected with elevation and subsidence regulating device；Wherein：
Described elevation and subsidence regulating device includes fixed disk, lifting disk, lifting electric push rod, lifting lead, regulation rotating shaft and consolidated
Determine frame；Described lifting disk is located at directly over fixed disk, and lifting electric push rod is located between fixed disk and lifting disk, and lifting electricity
Dynamic push rod bottom is connected with fixed disk, and lifting electric push rod top is connected with lifting disk, and lifting lead quantity is four, is risen
Lead is dropped using two grades of stretching structures, and central axis of the lifting lead along lifting electric push rod is respectively symmetrically arranged, is adjusted
Rotating shaft passes through the upper end of lifting electric push rod, and regulation rotating shaft two ends are fixedly connected by fixed mount respectively, and fixed mount is in
" X " type structure, and fixed mount four legs be separately fixed at lifting lead on, be provided with and adjust at fixed mount medium position
The lifting bearing that section rotating shaft is engaged；
Described main body massage machine includes 3-freedom parallel mechanism, massage outer cover, transmitting balls, back-up ring and air-supply arrangement；
Described massage outer cover is located at directly over 3-freedom parallel mechanism, and massage outer cover is hemispherical shell structure, massages outer cover
Material is PP engineering plastics, massages and is evenly arranged with vibrating massaging head and air-permeating hole, vibrating massaging head respectively on outer cover outer surface
With air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure, and vibrating massaging head outer surface is flexible rubber material, gear
Circle is located on the outside of massage outer cover, and back-up ring is mutually fixed with 3-freedom parallel mechanism, and transmitting balls are uniformly arranged on back-up ring and pressed
Rub between outer cover, air-supply arrangement is located inside massage outer cover；Described 3-freedom parallel mechanism include fixed platform, moving platform,
Ear mount, rotating shaft, electric pushrod, spherical hinge, connecting seat and limit spring, and ear mount, rotating shaft, electric pushrod, spherical hinge, connecting seat
Quantity with limit spring is three；The rounded shape structure of described fixed platform and moving platform, and moving platform is located at fixed platform
Surface, ear mount is located on the upper surface of fixed platform, and the installation center angle between ear mount is 60 degree, and connecting seat is located at dynamic flat
On platform lower surface, and ear mount is corresponded respectively with connecting seat；Described electric pushrod bottom is arranged in ear mount by rotating shaft,
It is attached between electric pushrod top and connecting seat by spherical hinge, limit spring is around being enclosed on electric pushrod upper end；
Described part massage device includes support, fixing axle, part massage head, support shaft, retainer ring, vibrating motor and vibration
Spring, and number of holders is two；Described pedestal lower end is the strip structure of extension type, and pedestal upper end is forme fruste umbrella
Shape structure, support is respectively symmetrically arranged in part massage head both sides, and passes through fixing axle between part massage head and pedestal upper end
It is attached, part massage head is in incomplete ring-shaped structure, part massage head is equidistantly set on outer surface along its circumferential direction
Massaging strip is equipped with, support shaft is located at immediately below part massage head, and support shaft two ends are connected with support madial wall respectively, vibrate
Motor is located at directly over support shaft, and vibrating motor is uniformly linearly arranged along support shaft axial direction, and vibrating motor lower end leads to
Retainer ring is crossed in support shaft, vibrating motor upper end is connected with vibrating spring one end, the vibrating spring other end and part
Massage head madial wall is connected.
2. a kind of new armpit health care intelligent robot Three Degree Of Freedom massager according to claim 1, its
It is characterised by：Described air-supply arrangement includes air supply motor, motor cabinet, air-supply rotating shaft, blowing fan and locking cap, and air supply motor leads to
Cross motor cabinet to be fixed on moving platform upper surface, air-supply rotating shaft one end is connected with air supply motor main shaft, the rotating shaft other end of blowing
It is connected with blowing fan, and is fixed between blowing fan and air-supply rotating shaft by locking cap.
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| CN105832518B true CN105832518B (en) | 2017-11-07 |
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| CN112516522A (en) * | 2020-11-27 | 2021-03-19 | 陈欣 | Pelvis motion control balance training robot |
| CN115737945B (en) * | 2022-11-18 | 2023-08-08 | 电子科技大学 | Flexible hand device for lymphatic drainage of robot |
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|---|---|---|---|---|
| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104068991A (en) * | 2014-07-10 | 2014-10-01 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation device |
| CN105478258A (en) * | 2015-12-24 | 2016-04-13 | 蔡惠文 | Multifunctional massage shower |
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2016
- 2016-05-18 CN CN201610331297.9A patent/CN105832518B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104068991A (en) * | 2014-07-10 | 2014-10-01 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation device |
| CN105478258A (en) * | 2015-12-24 | 2016-04-13 | 蔡惠文 | Multifunctional massage shower |
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