CN106038187A - Comprehensive adjustable armpit massaging intelligent robot - Google Patents
Comprehensive adjustable armpit massaging intelligent robot Download PDFInfo
- Publication number
- CN106038187A CN106038187A CN201610329212.3A CN201610329212A CN106038187A CN 106038187 A CN106038187 A CN 106038187A CN 201610329212 A CN201610329212 A CN 201610329212A CN 106038187 A CN106038187 A CN 106038187A
- Authority
- CN
- China
- Prior art keywords
- massage
- lifting
- massaging
- air
- fixed
- 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
- 230000001105 regulatory effect Effects 0.000 claims description 14
- 238000007664 blowing Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 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
- 238000009738 saturating Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 19
- 238000001816 cooling Methods 0.000 abstract description 3
- 230000036449 good health Effects 0.000 abstract 1
- 230000009323 psychological health Effects 0.000 abstract 1
- 210000004243 sweat Anatomy 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 14
- 230000001166 anti-perspirative effect Effects 0.000 description 4
- 239000003213 antiperspirant Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 230000036541 health Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000014616 translation Effects 0.000 description 3
- UUTKICFRNVKFRG-WDSKDSINSA-N (4R)-3-[oxo-[(2S)-5-oxo-2-pyrrolidinyl]methyl]-4-thiazolidinecarboxylic acid Chemical compound OC(=O)[C@@H]1CSCN1C(=O)[C@H]1NC(=O)CC1 UUTKICFRNVKFRG-WDSKDSINSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000002751 lymph Anatomy 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
- 208000006011 Stroke Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000036528 appetite Effects 0.000 description 1
- 235000019789 appetite Nutrition 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 208000030270 breast disease Diseases 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000002612 cardiopulmonary effect Effects 0.000 description 1
- 208000012839 conversion disease Diseases 0.000 description 1
- 208000029078 coronary artery disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 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
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000010827 pathological analysis Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 210000000106 sweat gland Anatomy 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000000779 thoracic wall Anatomy 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 210000001835 viscera Anatomy 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
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/001—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for without substantial movement between the skin and the device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
Landscapes
- Health & Medical Sciences (AREA)
- Dermatology (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)
Abstract
The invention relates to a comprehensive adjustable armpit massaging intelligent robot, which comprises a lifting adjusting device, a main body massaging device and two local massaging devices, wherein the main body massaging device is fixedly arranged above the lifting adjusting device; the local masaging devices are symmetrically arranged on the left and right sides of the main body massaging device; and the local massaging devices are fixedly connected to the lifting adjusting device. The intelligent robot disclosed by the invention can conduct massaging as well as air cooling and sweat dissipation on armpits of a human body, and the intelligent robot is comprehensive in massaging, significant in massaging effect and high in massaging comfort; the intelligent robot takes a good health care effect on the armpits of the human body; and the intelligent robot also promotes physical and psychological health of the human body to a certain degree.
Description
Technical field
The present invention relates to health care intelligent machine field, oxter, a kind of smog adjustable oxter massage intelligence
Robot.
Background technology
Massage is with the internal organs of the traditional Chinese medical science, theory of channels and collaterals as theoretical basis, and combines dissection and the pathological diagnosis of doctor trained in Western medicine, and uses
Maneuver or apparatus rub back and forth, kneading or beat the specific part of body surface to regulate organism physiology, pathological condition, reach reason
Treat purpose method, in nature, it is the Therapeutic Method of a kind of physics, in 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 " axillary fossa " or " armpit ", therebetween the many sweat glands of cortex, and nerve and the blood vessel of domination upper limb are distributed,
Also have Lymph Node Groups in nest, summarize upper limb thoracic wall and the lymph of back shallow-layer, be referred to as " human body three keep healthy greatly special zone " by doctor；
Often pressing axillary fossa can treat the blood circulation diseases such as coronary heart diseases and angina pectoris, apoplexy sequela, and intercostal nerves
Bitterly, the nervous system disease such as hysteria, also mastopathy, scapulohumeral periarthritis etc.；Human anatomy then discloses, and does not only have sound at axillary fossa
Arteries and veins blood vessel, and have substantial amounts of lymphoid tissue, it is responsible for blood conveying, immune defense function, often presses axillary fossa, by improving blood
Supply, stimulation lymph, can improve cardio-pulmonary function, appetite stimulator, improve digestion power.
As can be seen here, massage healthy to people and at ordinary times health care in oxter all plays important work
With, but, current human body oxter is the position that people seldom touch in daily routines, is often easy to be ignored, more by everybody
Be far from being other health care, and all use for the most a small amount of human body oxter health care massage and manually massage 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 adjustable axil of smog
Lower massage intelligent robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of smog adjustable oxter massage intelligent machine
People.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of smog adjustable oxter massage intelligent robot, including elevation and subsidence regulating device, main body massage machine drawn game
Portion's massage machine, and the quantity of part massage device is two；Described main body massage machine is fixed on elevation and subsidence regulating device and just goes up
Side, part massage device is respectively symmetrically the left and right sides being positioned at main body massage machine, and part massage device fills with lift adjustment
Put connected.
As a further improvement on the present invention, described elevation and subsidence regulating device includes that fixed disk, lifting disk, lifting electric push away
Bar, lifting lead, regulation rotating shaft and fixed mount；Described lifting disk is positioned at directly over fixed disk, and lifting electric push rod is positioned 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
Being connected, lifting lead quantity is four, and lifting lead uses two grades of stretching structures, and lifting lead is along lifting electric push rod
Central axis be respectively symmetrically layout, regulation rotating shaft is through the upper end of lifting electric push rod, and regulation rotating shaft two ends are passed 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, it is provided with at fixed mount medium position and regulates the lifting bearing that rotating shaft matches；Elevation and subsidence regulating device is mainly used in this
The regulation of bright whole height on the vertical plane, and easy to adjust, guide, regulation rotating shaft simultaneously can drive part massage device
Rotation on the vertical plane, and then the setting angle of regulation part massage device.
As a further improvement on the present invention, described main body massage machine includes outside Stewart parallel institution, massage
Cover, transmitting balls, back-up ring and air-supply arrangement；Described massage outer housing is positioned at directly over Stewart parallel institution, and massage outer housing
For hemispherical shell structure, massage outer housing material is PP engineering plastics, massages and is evenly arranged with vibration respectively on outer cover outer surface
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, vibromassage
Head outer surface is flexible rubber material, and back-up ring is positioned at outside massage outer housing, and back-up ring fixes with Stewart parallel institution, passes
Dynamic ball is uniformly arranged between back-up ring and massage outer housing, can realize pressing by the cooperation of massage outer housing, transmitting balls and back-up ring
Rubbing the function of outer housing rotary motion in the horizontal plane, air-supply arrangement is positioned at inside massage outer housing；Described Stewart parallel institution
Including fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；
Described connection seat and Triangulum quantity are three, and the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six,
Described fixed platform and moving platform the most rounded shape structure, and fixed platform lower end is provided with installation external screw thread, connects seat and is arranged on
On the lower surface of fixed platform, and connecting seat on fixed platform in equilateral triangle location arrangements, Triangulum is arranged on moving platform upper end
On face, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is equilateral triangle column structure, Triangulum
It is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and matches with lower spherical hinge lower end external screw thread
Installing screwed hole, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod top and block plate seat upper end phase
Connecting, block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around set
On electric pushrod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat；Pass through
The stretching motion up and down of electric pushrod, thus drive pumping of moving platform, and added dynamic flat by limit spring
The jitter of platform, improves the massage effect of the present invention, and main body massage machine uses the Stewart parallel institution of 6-SPS, with string
Online structure phase specific stiffness is big, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, and main body massage machine can carry out three in space
The motion in translation three rotation six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good, main body is pressed
The device that rubs is positioned at the center position of the present invention, and during use, main body massage machine contacts in the middle part of human body oxter, not only acts as
Main load-bearing effect, takes full advantage of feature that the Stewart parallel institution weight capacity of 6-SPS is strong, and with human body axil
Lower contact area is big, and massage effect is good.Described air-supply arrangement includes air supply motor, motor cabinet, air-supply rotating shaft, blowing fan and lock
Tight cap, air supply motor is fixed on moving platform upper surface by motor cabinet, and air-supply rotating shaft one end is connected with air supply motor main shaft,
The air-supply rotating shaft other end is connected with blowing fan, and is fixed by locking cap between blowing fan and air-supply rotating shaft；Air-supply dress
Putting can be that the present invention produces wind regime, and the wind-force that air-supply arrangement produces is discharged by the air-permeating hole massaging on outer cover outer surface, makes
Axillary fossa can be blown while massaging human body oxter by the present invention, serve the effect driving antiperspirant, also make simultaneously by
Rub 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 and is arranged in part massage head both sides, and local is pressed
Rubbing and be attached by fixing axle between head and pedestal upper end, part massage head is incomplete ring-shaped structure, part massage head
Massaging strip, support shaft is had to be positioned at immediately below part massage head along its circumferential direction spaced set on outer surface, and support shaft two
End is connected with support medial wall respectively, and vibrating motor is positioned at directly over support shaft, and vibrating motor is uniformly axial along support shaft
Direction is linearly arranged, 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 medial wall；Vibration bullet is driven by the vibration of vibrating motor
The shake of spring, thus realize the vibration of part massage head, serving the effect of vibromassage, it is right that part massage device is mainly used in
The massage of both sides, human body oxter.
Compared with prior art, the invention have the advantages that
(1) present invention can carry out massage and air-cooled scattered antiperspirant to human body oxter, and massage is comprehensive, and massage effect is bright
Aobvious, massage comfort level is high, and human body oxter serves good health-care effect, the body and mind promoting human body the most to a certain extent
Healthy.
(2) the main body massage machine of the present invention uses the Stewart parallel institution of 6-SPS, and bearing capacity is strong and fine motion is smart
Degree height, can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity
Hurry up, kinematic dexterity good, main body massage machine contacts in the middle part of human body oxter, has not only acted as main load-bearing effect, fully
Make use of the feature that the Stewart parallel institution weight capacity of 6-SPS is strong, and big with human body oxter contact area, massage effect
The best；And air-supply arrangement can be that the present invention produces wind regime, and the wind-force that air-supply arrangement produces is by massaging on outer cover outer surface
Air-permeating hole is discharged so that axillary fossa can be blown while massaging human body oxter by the present invention, serves the effect driving antiperspirant,
Also make to massage more comfortable cooling off oneself simultaneously.
(3) the part massage device of the present invention drives the shake of vibrating spring by the vibration of vibrating motor, thus realizes
The vibration of part massage head, serves the effect of vibromassage, part massage device be mainly used in both sides, human body oxter by
Rub.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 be elevation and subsidence regulating device of the present invention and local massage machine coordinate time perspective view (from front to back
See)；
Fig. 3 be elevation and subsidence regulating device of the present invention and local massage machine coordinate time perspective view (from the bottom up
See)；
Fig. 4 is the perspective view of main body massage machine of the present invention；
Fig. 5 is the front view of main body massage machine of the present invention；
Fig. 6 is the perspective view of Stewart parallel institution of the present invention；
Fig. 7 is the perspective view after main body massage machine of the present invention removes Stewart parallel institution；
Fig. 8 is the perspective view of part massage device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of smog adjustable oxter massage intelligent robot, 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 main body massage machine 5 is solid
Being scheduled on directly over elevation and subsidence regulating device 4, part massage device 6 is respectively symmetrically the left and right sides being positioned at main body massage machine 5, and office
Portion's massage machine 6 is connected with elevation and subsidence regulating device 4.
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 positioned at directly over fixed disk 41, rises
Fall electric pushrod 43 is between fixed disk 41 and lifting disk 42, and lifting electric push rod 43 bottom is connected with fixed disk 41,
Lifting electric push rod 43 top is connected with lifting disk 42, and lifting lead 44 quantity is four, and lifting lead 44 uses two grades
Stretching structure, lifting lead 44 is respectively symmetrically layout along the central axis of lifting electric push rod 43, and regulation rotating shaft 45 is through rising
Dropping the upper end of electric pushrod 43, and regulation rotating shaft 45 two ends are fixedly connected by fixed mount 46 respectively, fixed mount 46 is in " X "
Type structure, and four legs of fixed mount 46 be separately fixed at lifting lead 44 on, be provided with at fixed mount 46 medium position
The lifting bearing matched with regulation rotating shaft 45；Elevation and subsidence regulating device 4 is mainly used in present invention whole height on the vertical plane
Regulation, and easy to adjust, guide, regulation rotating shaft 45 simultaneously can drive part massage device 6 rotation on the vertical plane, enters
And regulate the setting angle of part massage device 6.
As shown in Fig. 4 to Fig. 5, described main body massage machine 5 includes Stewart parallel institution 51, massage outer housing 52, passes
Dynamic ball 53, back-up ring 54 and air-supply arrangement 55；Described massage outer housing 52 is positioned at directly over Stewart parallel institution 51, and presses
The outer housing 52 that rubs is hemispherical shell structure, and massage outer housing 52 material is PP engineering plastics, on massage outer housing 52 outer surface the most all
Even being provided with vibrating massaging head and air-permeating hole, vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical
Structure, vibrating massaging head outer surface is flexible rubber material, and back-up ring 54 is positioned at outside massage outer housing 52, and back-up ring 54 with
Stewart parallel institution 51 fixes, and transmitting balls 53 is uniformly arranged between back-up ring 54 and massage outer housing 52, outside massaging
The cooperation of cover 52, transmitting balls 53 and back-up ring 54 can realize massaging the function of outer housing 52 rotary motion in the horizontal plane, air-supply dress
Put 55 and be positioned at massage outer housing 52 inside；Described Stewart parallel institution 51 includes fixed platform 511, moving platform 512, connects seat
513, upper spherical hinge 514, electric pushrod 515, block plate seat 516, lower spherical hinge 517, Triangulum 518 and limit spring 519；Described
Connection seat 513 and Triangulum 518 quantity be three, upper spherical hinge 514, electric pushrod 515, block plate seat 516 and lower spherical hinge 517
Quantity be six, described fixed platform 511 and moving platform 512 the most rounded shape structure, and fixed platform 511 lower end is provided with peace
Dress external screw thread, connects seat 513 and is arranged on the lower surface of fixed platform 511, and connects seat 513 on fixed platform 511 in positive triangle
Shaped position is arranged, Triangulum 518 is arranged on moving platform 812 upper surface, and connects the installation between seat 513 and Triangulum 518
Position interlocks two-by-two, and Triangulum 518 is in equilateral triangle column structure, and Triangulum 518 is respectively symmetrically along its vertical center line and sets
It is equipped with inclined plane, inclined plane offers the installation screwed hole matched with lower spherical hinge 517 lower end external screw thread, electric pushrod
515 bottoms are connected with being connected seat 513 by upper spherical hinge 514, and electric pushrod 515 top is connected with block plate seat 516 upper end,
Block plate seat 516 lower end is connected with lower spherical hinge 517 one end, and lower spherical hinge 517 other end is arranged on Triangulum 518, spacing
Spring 519 is around being enclosed within electric pushrod 515, and limit spring 519 one end is connected with electric pushrod 515, and limit spring 519 is another
One end is connected with block plate seat 516；By the stretching motion up and down of electric pushrod 515, thus drive the most past of moving platform 512
Multiple motion, and the jitter of moving platform 512 is added by limit spring 519, improve the massage effect of the present invention, main body is pressed
The device 5 that rubs uses the Stewart parallel institution 51 of 6-SPS, and big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong
And fine motion precision is high, main body massage machine 5 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and
Space is little, movement velocity is fast, kinematic dexterity is good, and main body massage machine 5 is positioned at the center position of the present invention, uses
Time, main body massage machine 5 contacts in the middle part of human body oxter, has not only acted as main load-bearing effect, has taken full advantage of 6-SPS's
The feature that Stewart parallel institution 51 weight capacity is strong, and big with human body oxter contact area, 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 moving platform 512 upper surface by motor cabinet 552, and air-supply rotating shaft 553 one end is connected with air supply motor 551 main shaft
Connecing, air-supply rotating shaft 553 other end is connected with blowing fan 554, and passes through locking cap between blowing fan 554 and air-supply rotating shaft 553
555 are fixed；Air-supply arrangement 55 can be that the present invention produces wind regime, and the wind-force that air-supply arrangement 55 produces is by massage outer housing 52
Air-permeating hole on outer surface is discharged so that axillary fossa can be blown while massaging human body oxter by the present invention, serves
Drive the effect of antiperspirant, also make to massage more comfortable cooling off oneself simultaneously.
As shown in Figure 8, described part massage device 6 includes support 61, fixing axle 62, part massage 63, support shaft
64, retainer ring 65, vibrating motor 66 and vibrating spring 67, and support 61 quantity is two；Described support 61 lower end is scalable
The strip structure of formula, support 61 upper end is forme fruste umbrella-shaped structure, and support 61 is respectively symmetrically and is arranged in part massage 63
Being attached by fixing axle 62 between both sides, and part massage 63 and support 61 upper end, part massage 63 is in not exclusively
Ring-shaped structure, part massage 63 outer surface has massaging strip, support shaft 64 to be positioned at office along its circumferential direction spaced set
Immediately below portion's massage head 63, and support shaft 64 two ends are connected with support 61 medial wall respectively, and vibrating motor 66 is positioned at support shaft
Directly over 64, and vibrating motor 66 is uniformly linearly arranged along support shaft 64 axial direction, and vibrating motor 66 lower end is by fixing
Ring 65 is arranged in support shaft 64, and vibrating motor 66 upper end is connected with vibrating spring 67 one end, vibrating spring 67 other end with
Part massage 63 medial wall is connected；By the shake of the vibration drive vibrating spring 67 of vibrating motor 66, thus realization office
The vibration of portion's massage head 63, serves the effect of vibromassage, part massage device 6 be mainly used in both sides, human body oxter by
Rub.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a smog adjustable oxter massage intelligent robot, it is characterised in that: include that elevation and subsidence regulating device, main body are massaged
Device and local massage machine, and the quantity of part massage device is two；Described main body massage machine is fixed on lift adjustment
Directly over device, part massage device is respectively symmetrically the left and right sides being positioned at main body massage machine, and part massage device and liter
Falling tone regulating device is connected；Wherein:
Described elevation and subsidence regulating device includes fixed disk, lifting disk, lifting electric push rod, lifting lead, regulation rotating shaft and consolidates
Determine frame；Described lifting disk is positioned at directly over fixed disk, and lifting electric push rod is 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, rises
Fall lead uses two grades of stretching structures, lifting lead to be respectively symmetrically layout along the central axis of lifting electric push rod, regulation
Rotating shaft is through the upper end of lifting electric push rod, and regulation rotating shaft two ends are fixedly connected by fixed mount respectively, fixed mount in
" X " type structure, and four legs of fixed mount be separately fixed at lifting lead on, be provided with at fixed mount medium position and adjust
The lifting bearing that joint rotating shaft matches；
Described main body massage machine includes Stewart parallel institution, massage outer housing, transmitting balls, back-up ring and air-supply arrangement；Institute
The massage outer housing stated is positioned at directly over Stewart parallel institution, and massage outer housing is hemispherical shell structure, massages outer housing material
For PP engineering plastics, massaging and be evenly arranged with vibrating massaging head and air-permeating hole on outer cover outer surface respectively, vibrating massaging head is with saturating
Air holes interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure, and vibrating massaging head outer surface is flexible rubber material, back-up ring position
Outside massage outer housing, and back-up ring fixes with Stewart parallel institution, and transmitting balls is uniformly arranged on back-up ring and massage outer housing
Between, air-supply arrangement is positioned at inside massage outer housing；Described Stewart parallel institution include fixed platform, moving platform, connection seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, and fixed platform lower end is provided with installation external screw thread, connects seat and is arranged on the lower surface of fixed platform, and connect seat and exist
In equilateral triangle location arrangements on fixed platform, Triangulum is arranged on moving platform upper surface, and connects between seat and Triangulum
Installation site is interlocked two-by-two, and Triangulum is equilateral triangle column structure, and Triangulum is respectively symmetrically setting along its vertical center line
Having inclined plane, inclined plane offers the installation screwed hole matched with lower spherical hinge lower end external screw thread, electric pushrod bottom leads to
Crossing spherical hinge and be connected with being connected seat, electric pushrod top is connected with block plate seat upper end, block plate seat lower end and lower spherical hinge
One end is connected, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one
End is connected with electric pushrod, and the limit spring other end is connected with block plate seat.
A kind of smog adjustable oxter massage intelligent robot the most according to claim 1, it is characterised in that: described
Part massage device includes support, fixing axle, part massage head, support shaft, retainer ring, vibrating motor and vibrating spring, and props up
Frame quantity is two；Described pedestal lower end is the strip structure of extension type, and pedestal upper end is forme fruste umbrella-shaped structure,
Frame is respectively symmetrically and is arranged in part massage head both sides, and is attached by fixing axle between part massage head and pedestal upper end,
Part massage head is incomplete ring-shaped structure, and part massage head outer surface has massage along its circumferential direction spaced set
Bar, support shaft is positioned at immediately below part massage head, and support shaft two ends are connected with support medial wall respectively, and vibrating motor is positioned at
Directly over support shaft, and vibrating motor is uniformly linearly arranged along support shaft axial direction, and retainer ring is passed through in vibrating motor lower end
Being arranged in support shaft, vibrating motor upper end is connected with vibrating spring one end, in the vibrating spring other end and part massage head
Sidewall is connected.
A kind of smog adjustable oxter massage intelligent robot the most according to claim 1, it is characterised in that: described
Air-supply arrangement includes air supply motor, motor cabinet, air-supply rotating shaft, blowing fan and locking cap, and air supply motor is fixed on by motor cabinet
On moving platform upper surface, air-supply rotating shaft one end is connected with air supply motor main shaft, and the air-supply rotating shaft other end is connected with blowing fan,
And be fixed by locking cap between blowing fan and air-supply rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610329212.3A CN106038187B (en) | 2016-05-18 | 2016-05-18 | A kind of adjustable oxter massage intelligent robot of smog |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610329212.3A CN106038187B (en) | 2016-05-18 | 2016-05-18 | A kind of adjustable oxter massage intelligent robot of smog |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106038187A true CN106038187A (en) | 2016-10-26 |
| CN106038187B CN106038187B (en) | 2017-12-15 |
Family
ID=57176389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610329212.3A Active CN106038187B (en) | 2016-05-18 | 2016-05-18 | A kind of adjustable oxter massage intelligent robot of smog |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106038187B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107823738A (en) * | 2017-11-27 | 2018-03-23 | 倪敏芳 | A kind of neurosurgery aids in physiotherapy nursing intelligent robot |
| CN109077902A (en) * | 2018-06-25 | 2018-12-25 | 邵兆广 | A kind of axillary lymph knot based on structural mechanics is loose to rub pad |
| CN110292498A (en) * | 2019-08-02 | 2019-10-01 | 宁波市鄞州人民医院 | A kind of bed patient oxter ventilation support device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104257483A (en) * | 2014-07-06 | 2015-01-07 | 盛时永 | Cervical vertebra massage robot based on Stewart parallel mechanisms |
| CN105030479A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Ankle rehabilitation robot based on three-freedom-degree parallel mechanism |
| CN105476521A (en) * | 2015-12-24 | 2016-04-13 | 蔡惠文 | Massaging shower equipment based on parallel mechanism |
| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
-
2016
- 2016-05-18 CN CN201610329212.3A patent/CN106038187B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104257483A (en) * | 2014-07-06 | 2015-01-07 | 盛时永 | Cervical vertebra massage robot based on Stewart parallel mechanisms |
| CN105030479A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Ankle rehabilitation robot based on three-freedom-degree parallel mechanism |
| CN105476521A (en) * | 2015-12-24 | 2016-04-13 | 蔡惠文 | Massaging shower equipment based on parallel mechanism |
| CN105476819A (en) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107823738A (en) * | 2017-11-27 | 2018-03-23 | 倪敏芳 | A kind of neurosurgery aids in physiotherapy nursing intelligent robot |
| CN109077902A (en) * | 2018-06-25 | 2018-12-25 | 邵兆广 | A kind of axillary lymph knot based on structural mechanics is loose to rub pad |
| CN109077902B (en) * | 2018-06-25 | 2020-07-14 | 南通森德诺家纺科技有限公司 | Axillary loose lymph node kneading pad based on structural mechanics |
| CN111481413A (en) * | 2018-06-25 | 2020-08-04 | 邵兆广 | Axillary lymph node loosening and kneading pad and method based on structural mechanics |
| CN111481413B (en) * | 2018-06-25 | 2022-09-06 | 淮北联联信息科技有限公司 | Axillary loose lymph node massaging pad and method based on structural mechanics |
| CN110292498A (en) * | 2019-08-02 | 2019-10-01 | 宁波市鄞州人民医院 | A kind of bed patient oxter ventilation support device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106038187B (en) | 2017-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105796296B (en) | A kind of oxter Intelligent massaging device based on Stewart parallel institutions | |
| CN106109159B (en) | A kind of horizontal back chest group medicine health care massage machine people | |
| CN106038217B (en) | A kind of human body oxter massage intelligent robot | |
| CN105796298B (en) | A kind of full-automatic armpit health care massage intelligent robot | |
| CN108403405A (en) | It is a kind of for health care automatic massage bed | |
| CN105796297B (en) | A kind of automation armpit based on redundancy parallel mechanism rubs depressor | |
| CN106038187B (en) | A kind of adjustable oxter massage intelligent robot of smog | |
| CN106038253B (en) | One kind massage special four-degree-of-freedom sole massage device of intelligent robot | |
| CN106038188B (en) | A kind of armpit rubs pressure automatic machinery people | |
| CN106137704B (en) | A kind of back chest joint dedicated adjustable massaging device of massage robot | |
| CN105943350B (en) | A kind of oxter intelligent massaging head that there is radiating to drive sweat function | |
| CN105832518B (en) | A kind of new armpit health care intelligent robot Three Degree Of Freedom massager | |
| CN106038189B (en) | A kind of new armpit health care intelligent robot | |
| CN105919791B (en) | A kind of arm and chest junction automates massage apparatus | |
| CN105796307B (en) | A kind of full-automatic armpit health care massage instrument based on delta parallel institutions | |
| CN105919790B (en) | A kind of armpit Medical health-care massage actuator | |
| CN105832517B (en) | A kind of armpit rubs pressure automatic machinery people with rubbing pressure device | |
| CN105943351B (en) | A kind of new arm and chest junction automation massage apparatus specialized massage device | |
| CN105919789B (en) | A kind of symmetrical expression oxter bilateral part massage robot | |
| CN105997485A (en) | Four-DOF (degree of freedom) medical care foot massage robot | |
| CN205626463U (en) | Energy health ball | |
| CN105796308B (en) | A kind of new arm and chest junction automation massage device | |
| CN105943349B (en) | A kind of human body oxter part massage device | |
| CN105997460B (en) | A kind of back chest joint massage robot based on six degree of freedom delta parallel institutions | |
| CN105769533A (en) | Special massage head hood for head massage health-care robot |
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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Guo Shuchun Inventor after: Wang Ruijuan Inventor after: Wang Guocui Inventor before: Yu Tianle |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171117 Address after: 400056, Chongqing District, Banan City, South Village Red Star Village 12 clubs Applicant after: CHONGQING YONGLIN MACHINERY EQUIPMENT Co.,Ltd. Address before: 246001, Anhui, Anqing Province grand view district built new village cottage 47 Applicant before: Yu Tianle |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180126 Address after: 401320 Banan District, Banan District, Chongqing, No. 8-29, Yu Nan Road, No. 8-29 Patentee after: Chongqing Boshi Intellectual Property Service Co.,Ltd. Address before: 400056, Chongqing District, Banan City, South Village Red Star Village 12 clubs Patentee before: CHONGQING YONGLIN MACHINERY EQUIPMENT Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201124 Address after: 410300 No.177 Jianshou Avenue, economic development zone, Liuyang City, Changsha City, Hunan Province Patentee after: Liuyang Huarui Intellectual Property Operation Co.,Ltd. Address before: 401320 No. 249 Yunan Avenue, Banan District, Chongqing, 8-29 Patentee before: Chongqing Boshi Intellectual Property Service Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211228 Address after: 408527 4-2-37, No. 74, Yuanyuan East Road, Baima Town, Wulong District, Chongqing Patentee after: Chongqing Yuzan enterprise management consulting center Address before: No. 177, Jianshou Avenue, Jingkai District, Liuyang City, Changsha City, Hunan Province, 410300 Patentee before: Liuyang Huarui Intellectual Property Operation Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220718 Address after: 511300 1701, building 14, Xincheng entrepreneurship center, Zengcheng low carbon headquarters park, No. 400 Xincheng Avenue, Zengcheng District, Guangzhou, Guangdong Province Patentee after: Zhichun new material technology (Guangzhou) Co.,Ltd. Address before: 408527 4-2-37, No. 74, Yuanyuan East Road, Baima Town, Wulong District, Chongqing Patentee before: Chongqing Yuzan enterprise management consulting center |