CN105943353A - Medical arm-massage robot based on parallel mechanism - Google Patents
Medical arm-massage robot based on parallel mechanism Download PDFInfo
- Publication number
- CN105943353A CN105943353A CN201610343640.1A CN201610343640A CN105943353A CN 105943353 A CN105943353 A CN 105943353A CN 201610343640 A CN201610343640 A CN 201610343640A CN 105943353 A CN105943353 A CN 105943353A
- Authority
- CN
- China
- Prior art keywords
- massage
- arm
- welded
- plate
- post
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000397426 Centroberyx lineatus Species 0.000 claims description 10
- 210000005069 ears Anatomy 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 29
- 230000000694 effects Effects 0.000 description 18
- 230000008901 benefit Effects 0.000 description 15
- 230000036544 posture Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 13
- 230000004044 response Effects 0.000 description 4
- 230000017531 blood circulation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 208000014994 muscles ache Diseases 0.000 description 1
- 230000002265 prevention 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/04—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with hydraulic or pneumatic 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/004—With mechanical drive, e.g. spring mechanism or vibrating unit being hit for starting vibration and then applied to the body of a patient
-
- 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
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- 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
- A61H2205/06—Arms
Landscapes
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Engineering & Computer Science (AREA)
- Percussion Or Vibration Massage (AREA)
- Massaging Devices (AREA)
Abstract
The invention relates to a medical arm-massage robot based on a parallel mechanism. The medical arm-massage robot based on parallel mechanism comprises a lower platform, the upper end surface of which is uniformly provided with six parallel branch chains. The upper ends of the six parallel branch chains are uniformly arranged on an upper platform. The parallel branch chains comprise hollow lower threaded shafts welded on the lower platform. The hollow lower threaded shafts are equipped with first spherical hinges. Upper ends of the first spherical hinges are equipped with second sleeves in a threaded manner. Upper ends of the second sleeves are equipped with second spherical hinges in a threaded manner. Upper ends of the second spherical hinges are equipped with hollow upper threaded shafts in a threaded manner. The hollow upper threaded shafts are welded on the lower end surface of the upper platform. The middle of the upper end surface of the upper platform is equipped with an arm massage manipulator. The medical arm-massage robot based on the parallel mechanism has following beneficial effects: arms have the function of stably and automatically elevating and massaging; and a new way of arm massage is provided.
Description
Technical field
The present invention relates to medical instruments field, a kind of medical arm-massage machine people based on parallel institution.
Background technology
Present people, owing to being busy with one's work, work the most for a long time, either manual work person or computer working
Family, often all in the duty of over loading.Manual work person mainly completes work by both hands, carries out for a long time
Mechanical movement can cause to arm muscles aches, and goes down for a long time and can cause the generation of a lot of body illness, as cybraian is also,
Often maintaining a posture can make local blood supply insufficiency, trick is ached, and goes down for a long time and can cause injury greatly to health.One
A little middle-aged and elderly people, in order to take exercises, often take a ball of invigorating blood circulation to play in hands, and prevention senile disease is had by the most movable arm
The biggest help, but the most agile for some special old peoples, such as trick, and arm motion can seem the most painstaking,
They realize the blood circulation of arm with greater need for artificial arm-massage or automatization's arm-massage, reach the purpose taken exercise.
Existing artificial arm massaging way is mainly by massaging arm muscles so that arm muscles loosens, and alleviates arm
Pain, but exist at this artificial arm massaging way and need to manually adjust that massage position, massage force be uneven, the massage time
The defects such as length, massage effect difference and inefficiency；Although and existing automatization arm-massage mode can realize automatization's arm by
The function rubbed, however it is necessary that patient oneself to regulate arm-massage position, massage range is little, complex operation, inefficiency,
But also there is arm-massage width and can not regulate, it is impossible to meeting the patient that dissimilar arm is wide, the scope of application is little, sets in massage processes
Standby existence shakes, and massages the defect such as stability difference and massage effect difference.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of medical arm-massage machine people based on parallel institution, can solve
Artificial arm massaging way needs to manually adjust that massage position, massage force be uneven, complex operation and an ineffective difficult problem,
Can also solve that the arm-massage width that existing automatization arm-massage mode exists is non-adjustable, the scope of application is little, massage range is little,
Massage effect is poor, equipment exists shake and a difficult problem for massage stability difference in massage processes, it is possible to achieve stable automatic of arm
Lifting massage functions, and have that arm-massage width is adjustable, the scope of application is big, massage range is big, massage effect is good, massaged
Journey does not exist shake, massage stability good, without artificial adjusting massage position, easy and simple to handle and work efficiency advantages of higher,
Provide the new way of a kind of arm-massage.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of medical arm based on parallel institution is pressed
Rub robot, and including lower platform, the upper surface of described lower platform is the most uniformly provided with six side chains in parallel, six parallel connections
The upper end of side chain is uniformly arranged on upper mounting plate；Described side chain in parallel includes the hollow lower thread spindle that lower end is welded on lower platform,
The mode that is threaded connection on hollow lower thread spindle is provided with a ball pivot, and the upper end of a ball pivot is threaded connection mode and installs
Having a sleeve, the upper end of a sleeve is threaded connection mode and is provided with a hydraulic cylinder, and the upper end of a hydraulic cylinder is passed through
Thread connecting mode is provided with No. two sleeves, and the upper end of No. two sleeves is threaded connection mode and is provided with No. two ball pivots, No. two balls
The upper end of hinge is threaded connection mode and is provided with hollow upper thread spindle, and hollow upper thread spindle is welded on the lower surface of upper mounting plate,
The moving sets P formed when spherical pair S formed when the present invention is by a ball pivot job, a hydraulic cylinder extension and No. two ball pivots
Spherical pair S formed during work constitutes SPS parallel connection side chain, and the lower platform in the present invention is as fixed platform, six SPS also
Connection side chain, upper mounting plate constitute 6-SPS parallel institution as moving platform, and 6-SPS parallel institution has that dynamic response is good, rigidity
High, bearing capacity big, good stability and kinematic accuracy advantages of higher, transported by six hydraulic cylinders on six side chains in parallel
Dynamic drive upper mounting plate to make the most repeatedly to move, by the advantage of 6-SPS parallel institution, the present invention can be realized stable automatic
Lifting massage functions, it is not necessary to patient oneself regulates arm-massage position, massage range is big, easy and simple to handle, and work efficiency is high, and
Owing to the advantage of 6-SPS parallel institution makes the shake situation that this invention removes in work process, stability is good；On described
Arm-massage machinery hands is installed in the middle part of platform upper surface.
As a preferred technical solution of the present invention, described arm-massage machinery hands includes being arranged in the middle part of upper mounting plate upper surface
L-type fixes post, and L-type is fixed the end of post and is welded with fixed plate, and the upper end of fixed plate is provided with recess, right on the inwall of fixed plate
Claim be welded with two fixing ears, two fixing ears are provided with rotary shaft by bearing, the middle part of rotary shaft pass through subtract be provided with from
Moving gear, driven gear is meshed in the recess of fixed plate with driving gear, is fixed on the defeated of rotary electric machine in the middle part of driving gear
On shaft, rotary electric machine is arranged on fixed plate sidewall by motor cabinet；The two ends of described rotary shaft are symmetrically installed with two to connection
Ear, two pairs of engaging lugs are welded on the left side wall of connecting plate, and the right side wall of connecting plate is symmetrically installed with two arm massagers,
Two arm massagers can realize the automatic massage function of arm；Owing to different patients needs not according to self level of comfort
Same massage posture, the present invention can adjust arm-massage posture according to client need, and rotary electric machine be started working, rotary electric machine
Drive driving gear rotates, and driving gear drives driven gear to rotate, and driven gear drives rotary shaft to rotate on two fixing ears,
Rotary shaft drives two to rotate engaging lug, and two pairs of engaging lugs drive two arm massagers being arranged on connecting plate to rotate, from
And have adjusted the arm massager massage posture to patient, add level of comfort, add massage effect.
As a preferred technical solution of the present invention, described arm massager includes the massage being welded on connecting plate right side wall
Support plate, the inwall of massage support plate is provided with No. two hydraulic cylinders and four expansion links, No. two hydraulic cylinders and the top of four expansion links
Being provided with massage slide block, the left end of massage slide block is welded with swallow-tail form traveller, by sliding between swallow-tail form traveller and swallowtail-shaped slide
Dynamic fit system is connected, and swallowtail-shaped slide is welded on the right side wall of connecting plate, drives massage slide block to move by No. two hydraulic cylinders,
Massage slide block can be stable under four expansion links and the swallow-tail form traveller spaced motion with swallowtail-shaped slide make stretching motion, from
And have adjusted the distance between two arm massagers so that the present invention is suitable for the patient of different arm width, and the scope of application is big,
Work efficiency is high；The two ends up and down of described massage slide block are symmetrically arranged with two L-types and connect post, and two L-types connect column symmetry even
Being connected on the back of arc massage piece, the centre position, back of arc massage piece is provided with connecting shaft, and connecting shaft is the most uniform
Being provided with six elastic massage side chains, the top of six elastic massage side chains is installed in the right side of expansion plate, and elastic massage props up
Chain can play patient's arm automatic elastic massage functions；The right side of described massage slide block is uniformly provided with five No. three hydraulic pressure
Cylinder, the top of five No. three hydraulic cylinders is arranged on the left side of expansion plate, can stable drive be stretched by five No. three hydraulic cylinders
Stretching motion back and forth made by contracting plate, and the stretching speed of No. three hydraulic cylinders is different, and the massage force of elastic massage side chain is different, therefore originally
Invention can regulate the massage force of elastic massage side chain according to the stretching speed of No. three hydraulic cylinders of regulation, adds arm-massage
Level of comfort, massage excellent in efficiency, work efficiency is high；Described elastic massage side chain includes be welded on expansion plate right side No. one
Ring hooks, and a ring hooks upper connection stay cord, and the end of stay cord connects has No. two rings to hook, and No. two rings link and are connected on elastic force post,
The end of elastic force post is arranged in connecting shaft, and the top of elastic force post is provided with flexible massage ball, when five No. three hydraulic cylinders start to make
During stretching motion, No. three hydraulic cylinders drive telescoping visor movement, and expansion plate drives six elastic massage side chains to move simultaneously, and elasticity is pressed
The side chain that rubs pulls No. two rings to hook motion by stay cord, and No. two rings hook and drive the flexible massage ball on elastic force post to move back and forth, by bullet
The elastic performance of power post makes flexible massage ball can clash into arc massage piece the most back and forth, by arc massage piece to patient's hands
The uniform vibration force of arm reaches the arm-massage function to patient.
As a preferred technical solution of the present invention, the central axis of described lower platform coincides with the central axis of upper mounting plate,
The advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform and upper mounting plate keeping parallelism all the time, from
And patient is carried out in arm lifting massage processes by arm-massage machinery hands and can remain steady, stability is good, presses
Rubbing effective, work efficiency is high.
As a preferred technical solution of the present invention, described driving gear is 2:1 with the gear ratio of driven gear, by reducing
Gear ratio reduces the rotary speed of rotary shaft, thus reduces arm massager and patient massages the speed of posture.
As a preferred technical solution of the present invention, the material of described arc massage piece is soft rubber, and soft rubber can be effective
Increasing arm-massage level of comfort, massage effect is good.
During work, the present invention is first arranged on the operation ground of required massage, first determines two arms according to the arm width of patient
Distance between massage machine, No. two hydraulic cylinders start working, and No. two hydraulic cylinders drive massage slide blocks to move, and massage slide block is four
Can be stable under root expansion link and swallow-tail form traveller and the spaced motion of swallowtail-shaped slide make stretching motion, thus have adjusted two
Distance between arm massager so that the present invention is suitable for the patient of different arm width, the scope of application is big, and work efficiency is high；
Then regulating the arm-massage machinery hands massage posture to patient's arm according to client need, rotary electric machine is started working, and rotates electricity
Machine drives driving gear to rotate, and driving gear drives driven gear to rotate, and driven gear drives rotary shaft to turn on two fixing ears
Dynamic, rotary shaft drives two to rotate engaging lug, and two pairs of engaging lugs drive two arm massagers being arranged on connecting plate to rotate,
Thus have adjusted the arm massager massage posture to patient, add level of comfort, add massage effect；Last arm
Massage machine is started working, and when five No. three hydraulic cylinders start to make stretching motion, No. three hydraulic cylinders drive telescoping visor movement, stretch
Contracting strip is moved six elastic massage side chains and is moved simultaneously, and elastic massage side chain pulls No. two rings to hook motion by stay cord, and No. two rings hook
Driving the flexible massage ball on elastic force post to move back and forth, the elastic performance by elastic force post makes flexible massage ball constantly to come
Return and clash into arc massage piece, reach the arm-massage function to patient by arc massage piece to the uniform vibration force of patient's arm,
Meanwhile a hydraulic cylinder is started working, and it is the most anti-that six hydraulic cylinders on six side chains in parallel drive upper mounting plate to make
Multiple motion, makes the present invention can realize stable automatic lifting massage functions by the advantage of 6-SPS parallel institution, and due to
Lower platform in the present invention constitutes 6-SPS parallel machine as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform
Structure, 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher,
The present invention makes the arm-massage machinery hands being arranged on upper mounting plate in arm-massage mistake by the premium properties of 6-SPS parallel institution
Journey can remain plateau, eliminate the jitter phenomenon produced in massage processes, add the stability of massage processes,
Improve massage effect.
The invention has the beneficial effects as follows:
1, the present invention drives massage slide block move mode to regulate the distance of two arm massagers by No. two hydraulic cylinders so that
The present invention is suitable for the patient of different arm width, and the scope of application is big, and work efficiency is high；
2, the rotary electric machine of the present invention drives two arm massagers being arranged on connecting plate to rotate by gear drive, saves
The arm massager massage posture to patient, adds level of comfort, adds massage effect；And the present invention is by No. three liquid
The motion of cylinder pressure drives six elastic massage side chains the most constantly to clash into six No. on arc massage piece and six side chains in parallel
Hydraulic cylinder drive the arm-massage machinery hands on upper mounting plate make motion the most repeatedly realize the stable automatic lifting of the present invention by
Rubbing function, it is not necessary to the artificial arm-massage position that adjusts, easy and simple to handle, massage range is big, and massage efficiency is high；
3, the fixed frame in the present invention constitutes 6-SPS as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform
Parallel institution, the present invention makes the arm-massage machinery hands being arranged on upper mounting plate exist by the premium properties of 6-SPS parallel institution
Plateau can be remained during arm-massage, eliminate the jitter phenomenon produced in massage processes, add and massaged
The stability of journey, improves massage effect；
4, the present invention solve artificial arm massaging way need to manually adjust that massage position, massage force be uneven, complex operation and
An ineffective difficult problem, also solves the arm-massage width model non-adjustable, applicable that existing automatization arm-massage mode exists
Enclose little, massage range is little, massage effect is poor, equipment exists shake and a difficult problem for massage stability difference in massage processes, it is achieved
The automatic lifting massage functions that arm is stable, and have that arm-massage width is adjustable, the scope of application is big, massage range is big, by
Rub effective, massage processes does not exist shake, massage stability good, without artificial adjusting massage position, easy and simple to handle and
Work efficiency advantages of higher, it is provided that the new way of a kind of arm-massage.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of arm-massage machinery hands of the present invention；
Fig. 3 is the top view of arm-massage machinery hands of the present invention；
Fig. 4 is the front view of arm-massage machinery hands of the present invention.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of medical arm-massage machine people based on parallel institution, including lower platform 1, described lower flat
The upper surface of platform 1 is the most uniformly provided with six side chains 2 in parallel, and the upper end of six side chains 2 in parallel is uniformly arranged on
On platform 3；Described side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on lower platform 1, hollow lower thread spindle 21
On be threaded connection mode a number ball pivot 22 be installed, the upper end of a ball pivot 22 is threaded connection mode and is provided with No. one
Sleeve 23, the upper end of a sleeve 23 is threaded connection mode and is provided with a hydraulic cylinder 24, the upper end of a hydraulic cylinder 24
The mode of being threaded connection is provided with No. two sleeves 25, and the upper end of No. two sleeves 25 is threaded connection mode and is provided with No. two balls
Hinge 26, the upper end of No. two ball pivots 26 is threaded connection mode and is provided with hollow upper thread spindle 27, and hollow upper thread spindle 27 welds
On the lower surface of upper mounting plate 3, spherical pair S, the hydraulic cylinder 24 that are formed when the present invention is worked by a ball pivot 22 are stretched
Spherical pair S that the moving sets P formed during contracting and No. two ball pivots 26 are formed when working constitutes SPS parallel connection side chain 2, and the present invention
In lower platform 1 constitute 6-SPS parallel machine as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as moving platform
Structure, 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher,
Upper mounting plate 3 is driven to make the most repeatedly to move, by 6-SPS by six hydraulic cylinder 24 motions on six side chains 2 in parallel
The advantage of parallel institution makes the present invention can realize stable automatic lifting massage functions, it is not necessary to patient oneself regulates arm-massage
Position, massage range is big, easy and simple to handle, and work efficiency is high, and owing to the advantage of 6-SPS parallel institution makes the present invention eliminate
Shake situation in work process, stability is good；In the middle part of described upper mounting plate 3 upper surface, arm-massage machinery hands 9 is installed.
Described arm-massage machinery hands 9 includes that being arranged on the L-type in the middle part of upper mounting plate 3 upper surface fixes post 91, and L-type fixes post 91
End be welded with fixed plate 92, the upper end of fixed plate 92 is provided with recess, and the inwall of fixed plate 92 is symmetrically welded with two
Fixing ear 93, two fixing ears 93 are provided with rotary shaft 94 by bearing, the middle part of rotary shaft 94 pass through to subtract be provided with driven
Gear 95, driven gear 95 is meshed in the recess of fixed plate 92 with driving gear 96, is fixed in the middle part of driving gear 96
On the output shaft of rotary electric machine 97, rotary electric machine 97 is arranged on fixed plate 92 sidewall by motor cabinet；Described rotary shaft 94
Two ends be symmetrically installed with two couples of engaging lug 94a, two couples of engaging lug 94a are welded on the left side wall of connecting plate 98, connecting plate 98
Right side wall on be symmetrically installed with two arm massagers 99, two arm massagers 99 can realize arm automatic by
Rub function；Owing to different patients needs different massage postures according to self level of comfort, the present invention can be according to client need
Adjusting arm-massage posture, rotary electric machine 97 is started working, and rotary electric machine 97 drives driving gear 96 to rotate, driving gear
96 drive driven gear 95 to rotate, and driven gear 95 drives rotary shaft 94 to rotate on two fixing ears 93, rotary shaft 94
Driving two to rotate engaging lug 94a, two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98
Rotate, thus have adjusted the arm massager 99 massage posture to patient, add level of comfort, add massage effect.
Described arm massager 99 includes the massage support plate 991 being welded on connecting plate 98 right side wall, massage support plate 991
No. two hydraulic cylinders 992 and four expansion links 993, No. two hydraulic cylinders 992 and the top of four expansion links 993 are installed on inwall
Being provided with massage slide block 994, the left end of massage slide block 994 is welded with swallow-tail form traveller 994a, swallow-tail form traveller 994a and dovetail
Being connected by sliding matching mode between shape chute 994b, swallowtail-shaped slide 994b is welded on the right side wall of connecting plate 98, logical
Crossing No. two hydraulic cylinders 992 drives massage slide block 994 to move, and massage slide block 994 is at four expansion links 993 and swallow-tail form traveller 994a
Can be stable with under the spaced motion of swallowtail-shaped slide 994b make stretching motion, thus have adjusted two arm massagers 99
Between distance so that the present invention is suitable for the patient of different arm width, and the scope of application is big, and work efficiency is high；Described massage is sliding
The two ends up and down of block 994 are symmetrically arranged with two L-types and connect post 994c, and two L-types connect post 994c and are symmetrically connected to arc
The back of massage piece 996, the centre position, back of arc massage piece 996 is provided with connecting shaft 995, and connecting shaft 995 is along axis
Direction is evenly arranged with six elastic massage side chains 997, and the top of six elastic massage side chains 997 is installed in expansion plate 998
Right side, elastic massage side chain 997 can play patient's arm automatic elastic massage functions；Described massage slide block 994
Right side is uniformly provided with five No. three hydraulic cylinders 999, and the top of five No. three hydraulic cylinders 999 is arranged on a left side for expansion plate 998
End face, drive expansion plate 998 that can be stable by five No. three hydraulic cylinders 999 makees stretching motion back and forth, No. three hydraulic cylinders 999
Stretching speed different, the massage force of elastic massage side chain 997 is different, and therefore the present invention can be according to No. three hydraulic cylinders of regulation
The stretching speed of 999 regulates the massage force of elastic massage side chain 997, adds the level of comfort of arm-massage, massage effect
Rate is good, and work efficiency is high；Described elastic massage side chain 997 includes that the ring being welded on expansion plate 998 right side hooks 9971,
A number ring hooks to connect on 9971 stay cord 9972, and the end of stay cord 9972 connects has No. two rings to hook on 9973, and No. two rings hook 9973
Being connected on elastic force post 9974, the end of elastic force post 9974 is arranged in connecting shaft 995, and the top of elastic force post 9974 is provided with
Flexible massage ball 9975, when five No. three hydraulic cylinders 999 start to make stretching motion, No. three hydraulic cylinders 999 drive expansion plate 998
Motion, expansion plate 998 drives six elastic massage side chains 997 to move simultaneously, and elastic massage side chain 997 is drawn by stay cord 9972
Dynamic No. two rings hook 9973 motions, and No. two rings hook 9973 and drive the flexible massage ball 9975 on elastic force posts 9974 to move back and forth, borrow
The elastic performance helping elastic force post 9974 makes flexible massage ball 9975 can clash into arc massage piece 996 the most back and forth, passes through
Arc massage piece 996 reaches the arm-massage function to patient to the uniform vibration force of patient's arm.
The central axis of described lower platform 1 coincides with the central axis of upper mounting plate 3, and the rigidity by 6-SPS parallel institution is high
Advantage can make lower platform 1 and upper mounting plate 3 keeping parallelism all the time with stability is good etc., so that arm-massage machinery hands 9
Carrying out patient to remain steady in arm lifting massage processes, stability is good, and massage effect is good, and work efficiency is high.
Described driving gear 96 is 2:1 with the gear ratio of driven gear 95, reduces the rotation of rotary shaft 94 by reducing gear ratio
Rotary speed, thus reduce arm massager 99 and patient is massaged the speed of posture.
The material of described arc massage piece 996 is soft rubber, and soft rubber can effectively increase arm-massage level of comfort, massage
Effective.
During work, the present invention is first arranged on the operation ground of required massage, first determines two arms according to the arm width of patient
Distance between massage machine 99, No. two hydraulic cylinders 992 start working, and No. two hydraulic cylinders 992 drive massage slide blocks 994 to move,
Massage slide block 994 can be steady under four expansion links 993 and swallow-tail form traveller 994a with the spaced motion of swallowtail-shaped slide 994b
Fixed makees stretching motion, thus have adjusted the distance between two arm massagers 99 so that the present invention is suitable for different arm width
The patient of degree, the scope of application is big, and work efficiency is high；Then according to client need regulation arm-massage machinery hands 9 to patient's arm
Massage posture, rotary electric machine 97 starts working, and rotary electric machine 97 drives driving gear 96 to rotate, and driving gear 96 drives
Driven gear 95 rotates, and driven gear 95 drives rotary shaft 94 to rotate on two fixing ears 93, and it is two right that rotary shaft 94 drives
Engaging lug 94a rotates, and two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98 to rotate, from
And have adjusted the arm massager 99 massage posture to patient, add level of comfort, add massage effect；Last arm
Massage machine 99 is started working, and when five No. three hydraulic cylinders 999 start to make stretching motion, No. three hydraulic cylinders 999 drive flexible
Plate 998 moves, and expansion plate 998 drives six elastic massage side chains 997 to move simultaneously, and elastic massage side chain 997 passes through stay cord
9972 pull No. two rings to hook 9973 motions, and No. two rings hook 9973 and drive the flexible massage ball 9975 on elastic force posts 9974 to backhaul
Dynamic, the elastic performance by elastic force post 9974 makes flexible massage ball 9975 can clash into arc massage piece 996 the most back and forth,
Reach the arm-massage function to patient to the uniform vibration force of patient's arm by arc massage piece 996, meanwhile No. one
Hydraulic cylinder 24 is started working, and six hydraulic cylinder 24 motions on six side chains 2 in parallel drive upper mounting plate 3 to make the most repeatedly
Motion, the advantage by 6-SPS parallel institution makes the present invention can realize stable automatic lifting massage functions, and due to this
Lower platform 1 in invention constitutes 6-SPS also as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as moving platform
Online structure, 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy high
Advantage, the present invention makes the arm-massage machinery hands 9 being arranged on upper mounting plate 3 exist by the premium properties of 6-SPS parallel institution
Plateau can be remained during arm-massage, eliminate the jitter phenomenon produced in massage processes, add and massaged
The stability of journey, improves massage effect；Solve artificial arm massaging way to need to manually adjust massage position, massage force not
Uniformly, complex operation and an ineffective difficult problem, also solve the arm-massage width that existing automatization arm-massage mode exists
Spend non-adjustable, the scope of application is little, massage range is little, massage effect is poor, equipment exists shake and massage stability in massage processes
A difficult problem for energy difference, has reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (6)
1. a medical arm-massage machine people based on parallel institution, it is characterised in that: include lower platform (1), described lower platform (1)
Upper surface six side chains in parallel (2) are the most uniformly installed, the upper end of six side chains in parallel (2) is uniformly arranged on flat
On platform (3)；Described side chain (2) in parallel includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), hollow lower thread spindle
(21) mode that is threaded connection on is provided with a ball pivot (22), and the upper end of a ball pivot (22) is threaded connection mode and installs
Having a sleeve (23), the upper end of a sleeve (23) is threaded connection mode and is provided with a hydraulic cylinder (24), a hydraulic pressure
The upper end of cylinder (24) is threaded connection mode and is provided with No. two sleeves (25), the upper end side of being threaded connection of No. two sleeves (25)
Formula is provided with No. two ball pivots (26), and the upper end of No. two ball pivots (26) is threaded connection 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)；In the middle part of described upper mounting plate (3) upper surface, arm-massage is installed
Mechanical hand (9)；
Described arm-massage machinery hands (9) includes that being arranged on the L-type in the middle part of upper mounting plate (3) upper surface fixes post (91), and L-type is fixed
The end of post (91) is welded with fixed plate (92), and the upper end of fixed plate (92) is provided with recess, symmetrical on the inwall of fixed plate (92)
It is welded with two fixing ears (93), two fixing ears (93) are provided with rotary shaft (94), the middle part of rotary shaft (94) by bearing
Being provided with driven gear (95) by subtracting, driven gear (95) is meshed in the recess of fixed plate (92) with driving gear (96),
Driving gear (96) middle part is fixed on the output shaft of rotary electric machine (97), and rotary electric machine (97) is arranged on fixed plate by motor cabinet
(92) on sidewall；The two ends of described rotary shaft (94) are symmetrically installed with two pairs of engaging lugs (94a), and two pairs of engaging lugs (94a) are welded on
On the left side wall of connecting plate (98), the right side wall of connecting plate (98) is symmetrically installed with two arm massagers (99).
A kind of medical arm-massage machine people based on parallel institution the most according to claim 1, it is characterised in that: described
The central axis of lower platform (1) coincides with the central axis of upper mounting plate (3).
A kind of medical arm-massage machine people based on parallel institution the most according to claim 1, it is characterised in that: described
Driving gear (96) is 2:1 with the gear ratio of driven gear (95).
A kind of medical arm-massage machine people based on parallel institution the most according to claim 1, it is characterised in that: described
Arm massager (99) includes the massage support plate (991) being welded on connecting plate (98) right side wall, the inwall of massage support plate (991)
On No. two hydraulic cylinders (992) and four expansion links (993), No. two hydraulic cylinders (992) and the top of four expansion links (993) are installed
Being provided with massage slide block (994), the left end of massage slide block (994) is welded with swallow-tail form traveller (994a), swallow-tail form traveller (994a)
Being connected by sliding matching mode with between swallowtail-shaped slide (994b), swallowtail-shaped slide (994b) is welded on the right side of connecting plate (98)
On sidewall；The two ends up and down of described massage slide block (994) are symmetrically arranged with two L-types and connect post (994c), and two L-types connect post
(994c) being symmetrically connected to the back of arc massage piece (996), the centre position, back of arc massage piece (996) is provided with connecting shaft
(995), connecting shaft (995) is evenly arranged with six elastic massage side chains (997), six elastic massage side chains (997) in the axial direction
Top be installed in the right side of expansion plate (998)；The right side of described massage slide block (994) is uniformly provided with five No. three liquid
Cylinder pressure (999), the top of five No. three hydraulic cylinders (999) is arranged on the left side of expansion plate (998).
A kind of medical arm-massage machine people based on parallel institution the most according to claim 4, it is characterised in that: described
Elastic massage side chain (997) includes that the ring being welded on expansion plate (998) right side hooks (9971), and a ring hooks and connects on (9971)
Being connected to stay cord (9972), the end of stay cord (9972) connects has No. two rings to hook on (9973), and No. two rings hook (9973) and are connected to elastic force
On post (9974), the end of elastic force post (9974) is arranged in connecting shaft (995), the top of elastic force post (9974) be provided with flexible by
Rub ball (9975).
A kind of medical arm-massage machine people based on parallel institution the most according to claim 4, it is characterised in that: described
The material of arc massage piece (996) is soft rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343640.1A CN105943353B (en) | 2016-05-22 | 2016-05-22 | A kind of medical arm-massage machine people based on parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343640.1A CN105943353B (en) | 2016-05-22 | 2016-05-22 | A kind of medical arm-massage machine people based on parallel institution |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105943353A true CN105943353A (en) | 2016-09-21 |
| CN105943353B CN105943353B (en) | 2018-02-13 |
Family
ID=56909429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610343640.1A Active CN105943353B (en) | 2016-05-22 | 2016-05-22 | A kind of medical arm-massage machine people based on parallel institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105943353B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963615A (en) * | 2017-04-13 | 2017-07-21 | 周佰利 | A kind of medical massage instrument |
| CN107773406A (en) * | 2017-11-27 | 2018-03-09 | 刘静 | A kind of nursing section special medical massage robot with automatic infusion function |
| CN107811829A (en) * | 2017-11-27 | 2018-03-20 | 倪敏芳 | A kind of neurosurgery back nerve system health care massage instrument |
| CN107823738A (en) * | 2017-11-27 | 2018-03-23 | 倪敏芳 | A kind of neurosurgery aids in physiotherapy nursing intelligent robot |
| CN112243697A (en) * | 2020-11-05 | 2021-01-22 | 郑晨翔 | Transmission shaft device for swing arm type agricultural machine |
| CN113143733A (en) * | 2021-05-10 | 2021-07-23 | 孙朝兵 | Fascia rifle with adjustable |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002136561A (en) * | 2000-10-31 | 2002-05-14 | Nidec Shibaura Corp | Massager |
| JP2005000403A (en) * | 2003-06-12 | 2005-01-06 | Omron Healthcare Co Ltd | Massage machine |
| CN103191009A (en) * | 2013-03-26 | 2013-07-10 | 蔡建洲 | Crus massage device |
| CN203762982U (en) * | 2014-01-03 | 2014-08-13 | 郑正林 | Automatic bathing massage and rubbing device |
| CN204050245U (en) * | 2014-09-28 | 2014-12-31 | 王泽江 | A kind of device for massaging limbs |
| CN104771298A (en) * | 2015-04-20 | 2015-07-15 | 湖州职业技术学院 | Leg massager |
| CN204521478U (en) * | 2015-04-20 | 2015-08-05 | 湖州职业技术学院 | Leg massor |
| CN204890540U (en) * | 2015-08-27 | 2015-12-23 | 姜振辉 | Device is massaged to shank for neurosurgery |
-
2016
- 2016-05-22 CN CN201610343640.1A patent/CN105943353B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002136561A (en) * | 2000-10-31 | 2002-05-14 | Nidec Shibaura Corp | Massager |
| JP2005000403A (en) * | 2003-06-12 | 2005-01-06 | Omron Healthcare Co Ltd | Massage machine |
| CN103191009A (en) * | 2013-03-26 | 2013-07-10 | 蔡建洲 | Crus massage device |
| CN203762982U (en) * | 2014-01-03 | 2014-08-13 | 郑正林 | Automatic bathing massage and rubbing device |
| CN204050245U (en) * | 2014-09-28 | 2014-12-31 | 王泽江 | A kind of device for massaging limbs |
| CN104771298A (en) * | 2015-04-20 | 2015-07-15 | 湖州职业技术学院 | Leg massager |
| CN204521478U (en) * | 2015-04-20 | 2015-08-05 | 湖州职业技术学院 | Leg massor |
| CN204890540U (en) * | 2015-08-27 | 2015-12-23 | 姜振辉 | Device is massaged to shank for neurosurgery |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963615A (en) * | 2017-04-13 | 2017-07-21 | 周佰利 | A kind of medical massage instrument |
| CN107773406A (en) * | 2017-11-27 | 2018-03-09 | 刘静 | A kind of nursing section special medical massage robot with automatic infusion function |
| CN107811829A (en) * | 2017-11-27 | 2018-03-20 | 倪敏芳 | A kind of neurosurgery back nerve system health care massage instrument |
| CN107823738A (en) * | 2017-11-27 | 2018-03-23 | 倪敏芳 | A kind of neurosurgery aids in physiotherapy nursing intelligent robot |
| CN112243697A (en) * | 2020-11-05 | 2021-01-22 | 郑晨翔 | Transmission shaft device for swing arm type agricultural machine |
| CN113143733A (en) * | 2021-05-10 | 2021-07-23 | 孙朝兵 | Fascia rifle with adjustable |
| CN113143733B (en) * | 2021-05-10 | 2022-12-23 | 米狗实业(深圳)有限公司 | Fascia rifle with adjustable |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105943353B (en) | 2018-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105943353A (en) | Medical arm-massage robot based on parallel mechanism | |
| CN105919785B (en) | A kind of mechanical hand of the medical leg massage of both legs formula | |
| CN104606035A (en) | Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage | |
| CN105796299B (en) | A kind of special leg massage robot of nursing rehabilitation | |
| CN106038191B (en) | A kind of leg massage machine people for medical treatment and nursing | |
| CN105832508A (en) | Medical leg massage robot | |
| CN105796309B (en) | A kind of health care special-purpose ultrasonic shoulder massage robot | |
| CN112754882B (en) | Massaging device applied to limb nursing | |
| CN105997471B (en) | A kind of ultrasonic wave shoulder massage robot based on six-degree-of-freedom parallel connection mechanism | |
| CN108392385A (en) | A kind of back is automatic massage bed | |
| CN106038190A (en) | Medical arm massage robot | |
| CN106038215A (en) | Shoulder breadth-adjustable medical shoulder massaging robot | |
| CN106063762B (en) | A kind of leg massage machine people for health care | |
| CN106038219A (en) | Arm massaging robot for medical neurological department | |
| CN112169269A (en) | Arm rehabilitation device | |
| CN105853179B (en) | A kind of brain ultrasonic wave massage robot for Neurology | |
| CN105943354A (en) | Posture-adjustable medical arm massage robot | |
| CN105919788A (en) | Comfortable type medical shoulder massage device | |
| CN106236538B (en) | A kind of massage machine of facial paralysis disease adjuvant treatment machine people | |
| CN105796310B (en) | A kind of medical shoulder massage robot | |
| CN105943330B (en) | A kind of adjustable height medical treatment leg massage rigid mounting | |
| CN105796311A (en) | Orthopaedic arm massage equipment | |
| CN106038218A (en) | Medical arm massage device capable of alleviating pain | |
| CN105796312A (en) | Arm-width-adjustable medical arm massaging manipulator | |
| CN106038186B (en) | A kind of brain massage robot for medical cranial surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Peixun Inventor after: Liu Jigang Inventor after: Yu Aimei Inventor before: Shen Yonggen |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180105 Address after: 261514 Shandong city of Weifang province Gaomi City Shuangyang Town People's Road No. 3 Applicant after: Liu Peixun Applicant after: Liu Jigang Address before: 246001, room 3, building 80, No. 409, Tianzhu mountain road, Anqing Development Zone, Anhui, China Applicant before: ANQING HAINA INFORMATION TECHNOLOGY CO., LTD. |
|
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Peixun Inventor after: Liu Jigang Inventor after: Yu Aimei Inventor before: Shen Yonggen |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20180117 Address after: 261514 Shandong city of Weifang province Gaomi City Shuangyang Town People's Road No. 3 Applicant after: Liu Peixun Applicant after: Liu Jigang Address before: 246001, room 3, building 80, No. 409, Tianzhu mountain road, Anqing Development Zone, Anhui, China Applicant before: ANQING HAINA INFORMATION TECHNOLOGY CO., LTD. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211221 Address after: 257100 Room 301, building 1, No. 23, Gangcheng Road, Port Economic Development Zone, Dongying City, Shandong Province Patentee after: Dongying Jinhui Technology Consulting Co.,Ltd. Address before: 261514 No. 3, Renmin Road, Shuangyang Town, Gaomi City, Weifang City, Shandong Province Patentee before: Liu Peixun Patentee before: Ji Gang Liu |
|
| TR01 | Transfer of patent right |