CN106038190A

CN106038190A - Medical arm massage robot

Info

Publication number: CN106038190A
Application number: CN201610343637.XA
Authority: CN
Inventors: 沈永根
Original assignee: Anqing Haina Information Technology Co Ltd
Current assignee: First Affiliated Hospital of Shantou University Medical College
Priority date: 2016-05-22
Filing date: 2016-05-22
Publication date: 2016-10-26
Anticipated expiration: 2036-05-22
Also published as: CN106038190B

Abstract

The invention relates to a medical arm massage robot. The medical arm massage robot comprises a fixing rack, wherein six parallel branched chains are respectively mounted on the upper end surfaces of six movable columns, and the upper ends of the six parallel branched chains are uniformly mounted on an upper platform; two mounting lugs are symmetrically welded to the upper end surface of the upper platform, a movable lead screw is mounted between the two mounting lugs through a bearing, a movable motor is mounted on the left end of the movable lead screw through a coupler, the movable motor is fixed to a motor frame, and the motor frame is mounted on the upper platform through screws; a movable sliding block is mounted in the middle of the movable lead screw through threads, two L-shaped limiting rods are symmetrically welded to two ends of the movable sliding block, the two L-shaped limiting rods are respectively mounted on two No.2 linear sliding rails, and the two No.2 linear sliding rails are symmetrically mounted on the upper platform through screws; a mounting round table is welded to the upper end of the movable sliding block, and an arm massage mechanical arm is mounted in the middle of the upper end surface of the mounting round table. With the adoption of the medical arm massage robot, the stable automatic rising-lowering massage function for the arm is realized, and thus a novel path for arm massage is provided.

Description

A kind of medical treatment arm-massage machine people

Technical field

The present invention relates to medical instruments field, a kind of medical treatment arm-massage machine people.

Background technology

Present people, owing to being busy with one's work, work the most for a long time, either manual work person or electricity Brain working people, often all in the duty of over loading.Manual work person mainly completes work by both hands, time long Between make mechanical movement to cause to arm muscles and ache, go down for a long time and can cause the generation of a lot of body illness, cybraian is also As being, often maintaining a posture can make local blood supply insufficiency, trick is ached, and goes down for a long time and can cause greatly to health Injury.Some middle-aged and elderly people, in order to take exercises, often take a ball of invigorating blood circulation to play in hands, and the most movable arm is to prevention Senile disease is very helpful, but the most agile for some special old peoples, such as trick, and arm motion can seem special Other they realize the blood circulation of arm with greater need for artificial arm-massage or automatization's arm-massage painstakingly, reach forging The purpose of refining.

Existing artificial arm massaging way is mainly by massaging arm muscles so that arm muscles loosens, slow Solve arm pain, but this artificial arm massaging way exist need to manually adjust massage position, massage force uneven, by Rub time length, massage effect difference and the defect such as inefficiency；And although existing automatization arm-massage mode can realize automatically Change arm-massage function, however it is necessary that patient oneself to regulate arm-massage position, massage range is little, complex operation, work Efficiency is low, but also there is massage height and can not regulate, and arm-massage width can not regulate, it is impossible to meets dissimilar arm high, different The patient that arm is wide, the scope of application is little, and in massage processes, equipment exists shake, and massage stability difference and massage effect difference etc. lack Fall into.

Summary of the invention

In order to solve the problems referred to above, the invention provides a kind of medical treatment arm-massage machine people, artificial arm can be solved Massaging way needs to manually adjust that massage position, massage force be uneven, complex operation and an ineffective difficult problem, it is also possible to solve The arm-massage height that certainly existing automatization arm-massage mode exists is non-adjustable, arm-massage width is non-adjustable, the scope of application Little, massage range is little, massage effect is poor, equipment exists shake and a difficult problem for massage stability difference, Ke Yishi in massage processes The automatic lifting massage functions that existing arm is stable, and there is arm-massage height adjustable, arm-massage width is adjustable, the scope of application Greatly, massage range is big, massage effect good, there is not shake in massage processes, massage stability is 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.

To achieve these goals, the present invention realizes by the following technical solutions: a kind of medical treatment arm-massage machine people, Including fixed frame, described fixed frame includes lower platform, is provided with transmission by bearing in the middle part of the upper surface of described lower platform Axle, the middle part of power transmission shaft is provided with travelling gear by key, and travelling gear is nibbled mutually with six transmission branch chain the most respectively Close, by the way of six transmission branch chain are from the rotation of six angles band nutating gear simultaneously, add transmission twisting resistance, improve The stationarity of transmission, transmission branch chain includes the driving motor that bottom is arranged on lower platform by motor cabinet, driving motor Outfan is connected with drive shaft by shaft coupling, and the middle part of drive shaft is provided with driving gear by key, drives gear and transmission Gear is meshed, and six drive shaft upper ends in six transmission branch chain are all connected with support platform by bearing, driving motor band Dynamic drive shaft turns, drive shaft drives and drives pinion rotation, thus constitutes and driven gear driven travelling gear to rotate by six Planetary gear mechanism, improve the stationarity of transmission；The middle part of described support platform is connected with power transmission shaft by bearing, The lower surface of support platform has six roots of sensation support column, the lower surface of six roots of sensation support column to be installed in lower platform along the square uniform welding of axis On, six roots of sensation support column plays the most fixing function supporting platform, so that power transmission shaft is in the drive of planetary gear mechanism Down can be stable rotate on platform supporting；The upper end of described power transmission shaft is connected with turn-screw by shaft coupling, turn-screw Middle part be threaded connection mode driving block be installed, driving block is regular hexagon structure, six ends of driving block Face is respectively welded the six roots of sensation and moves post, and the six roots of sensation moves the end of post and is separately mounted on six line slide rails, passes through transmission The regular hexagon structure of slide block makes the six roots of sensation being welded on driving block move post can be at six under the drive of turn-screw Making stable elevating movement on a number line slide rail, six line slide rails are separately mounted to six pieces of gripper shoes by screw On, the lower end of six pieces of gripper shoes is respectively welded on lower platform, and six pieces of gripper shoes play six line slide rails of fixing support Effect, add the mobile post stability at a corresponding line slide rail；On the upper end inwall of described six pieces of gripper shoes respectively Being welded with the spacing pillar of the six roots of sensation, the middle part of six roots of sensation limited post offers six square limited mouths, the end of the spacing pillar of the six roots of sensation respectively End is respectively welded on fixed station, and the middle part of fixed station is connected with the upper end of turn-screw by bearing；The described six roots of sensation moves post Upper surface be separately installed with six side chains in parallel, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate, and each also The middle part of connection side chain is all located in the square limited mouth of corresponding spacing pillar, and the square limited mouth of spacing pillar plays restriction also The effect of connection side chain range of movement, moves post by the six roots of sensation and drives six side chains in parallel to make elevating movement respectively, and six parallel connections are propped up Chain synchronizes to drive upper mounting plate to make elevating movement, by the stable drive performance of planetary gear mechanism, improves lifting process In stability so that the present invention can realize stable lifting adjustable function so that it is high that the present invention is applicable to dissimilar arm Patient, the scope of application is big；Described side chain in parallel includes the hollow lower thread spindle that lower end is welded on mobile post, hollow lower screw thread The mode that is threaded connection on axle is provided with a ball pivot, and the upper end of a ball pivot is threaded connection mode and is provided with a set Cylinder, 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 by screw thread even The mode of connecing 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 ball pivots Upper end 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, this The moving sets P formed when spherical pair S formed when inventing by a ball pivot job, a hydraulic cylinder extension and No. two ball pivot works Spherical pair S formed when making constitutes SPS parallel connection side chain, and the fixed frame in the present invention is as fixed platform, six SPS parallel connections Side chain, upper mounting plate constitute 6-SPS parallel institution as moving platform, 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, by six hydraulic cylinders on six side chains in parallel 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 by Advantage in 6-SPS parallel institution makes the shake situation that this invention removes in work process, and stability is good；Described flat Platform upper surface is symmetrically welded with two mounting ears, is provided with mobile leading screw by bearing between two mounting ears, mobile leading screw Left end is provided with mobile motor by shaft coupling, and mobile motor is fixed on motor rack, and motor rack is arranged on upper flat by screw On platform；The middle part of described mobile leading screw is provided with mobile slide block by screw thread, and the two ends of mobile slide block are symmetrically welded with two L-types Gag lever post, two L-type gag lever posts are separately mounted on two No. two line slide rails, and two No. two line slide rails are symmetrical by screw It is arranged on upper mounting plate, makes mobile slide block permissible by the spaced motion of two L-type gag lever posts and two No. two line slide rails Stable in the mobile upper left right motion of leading screw；The upper end of described mobile slide block is welded with installation round platform, installs in the middle part of round platform upper surface Arm-massage machinery hands is installed, when patient arm is attached to mutually arm massaging machine tool on hand after, regulate arm-massage machinery hands Tightness, mobile motor starts working, and mobile motor drives mobile screw turns, by two L-type gag lever posts and two The spaced motion of No. two line slide rails make that mobile slide block can be stable in the mobile upper left right motion of leading screw, mobile slide block drives Arm-massage machinery hands on round platform is installed synchronize to move left and right, thus have adjusted between arm-massage machinery hands and patient's arm Tightness, add arm-massage effect.

As a preferred technical solution of the present invention, described arm-massage machinery hands includes being arranged on installation round platform upper end The L-type of Middle face 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, fixed plate Being symmetrically welded with two fixing ears on inwall, two fixing ears are provided with rotary shaft by bearing, the middle part of rotary shaft is passed through Subtracting and be provided with driven gear, driven gear is meshed in the recess of fixed plate with driving gear, is fixed in the middle part of driving gear On the output shaft of rotary electric machine, rotary electric machine is arranged on fixed plate sidewall by motor cabinet；The two ends of described rotary shaft are symmetrical Being provided with two pairs of engaging lugs, 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；Due to different patient's roots Needing different massage postures according to self level of comfort, the present invention can adjust arm-massage posture according to client need, rotates Motor is started working, and rotary electric machine drives driving gear to rotate, and driving gear drives driven gear to rotate, and driven gear drives and turns Moving axis rotates on two fixing ears, and rotary shaft drives two to rotate engaging lug, and two pairs of engaging lugs drive and are arranged on connecting plate Two arm massagers rotate, thus 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 being welded on connecting plate right side wall Massage support plate, the inwall of massage support plate is provided with No. two hydraulic cylinders and four expansion links, No. two hydraulic cylinders and four stretch The top of bar is provided with massage slide block, and the left end of massage slide block is welded with swallow-tail form traveller, swallow-tail form traveller and swallowtail-shaped slide Between be connected by sliding matching mode, swallowtail-shaped slide is welded on the right side wall of connecting plate, is driven by No. two hydraulic cylinders Massage slide block moves, and massage slide block can be stablized under the spaced motion with swallowtail-shaped slide at four expansion links and swallow-tail form traveller Make stretching motion, thus have adjusted the distance between two arm massagers so that the present invention is suitable for different arm width Patient, the scope of application is big, and work efficiency is high；The two ends up and down of described massage slide block are symmetrically arranged with two L-types and connect posts, and two Root L-type connects column symmetry and is connected to the back of arc massage piece, and the centre position, back of arc massage piece is provided with connecting shaft, even Spindle is evenly arranged with six elastic massage side chains in the axial direction, and the top of six elastic massage side chains is installed in expansion plate Right side, elastic massage side chain can play patient's arm automatic elastic massage functions；The right side of described massage slide block Uniformly being provided with five No. three hydraulic cylinders, the top of five No. three hydraulic cylinders is arranged on the left side of expansion plate, by five three Number drive expansion plate that hydraulic cylinder can be stable makees stretching motion back and forth, and the stretching speed of No. three hydraulic cylinders is different, elastic massage The massage force of side chain is different, and therefore the present invention can regulate elastic massage according to the stretching speed of No. three hydraulic cylinders of regulation and props up The massage force of chain, adds the level of comfort of arm-massage, massages excellent in efficiency, and work efficiency is high；Described elastic massage side chain Hooking including the ring being welded on expansion plate right side, a ring hooks upper connection stay cord, and the end of stay cord connects No. two rings On hook, No. two rings link and are connected on elastic force post, and the end of elastic force post is arranged in connecting shaft, and the top of elastic force post is provided with flexibility Massage ball, when five No. three hydraulic cylinders start to make stretching motion, five No. three hydraulic cylinders drive telescoping visor movement simultaneously, flexible 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 Drive the flexible massage ball on elastic force post to move back and forth, make the flexible massage ball can be continuous by the elastic performance of elastic force post Clash into arc massage piece back and forth, reach the arm-massage to patient by arc massage piece to the uniform vibration force of patient's arm Function.

As a preferred technical solution of the present invention, use mutually between described six transmission branch chain and six roots of sensation support column Staggered mode is arranged on lower platform, has both added the stationary performance of transmission, too increases support column to supporting uniformly propping up of platform Support performance.

As a preferred technical solution of the present invention, the central axis phase of the central axis of described lower platform and upper mounting plate Overlapping, 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 holding all the time Parallel, so that patient is carried out to remain steady in arm lifting massage processes by arm-massage machinery hands, stable Performance is good, and massage effect is good, and 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, passes through Reduce gear ratio and reduce the rotary speed of rotary shaft, thus reduce arm massager and patient is massaged 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 is permissible Effective increase 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 that the arm height of patient is to regulate hands Arm massage height, six driving motors in six transmission branch chain start simultaneously at work, and six driving motors drive six respectively Drive shaft turns, six drive shafts drive six to drive pinion rotation, and six drive the motion of gear driven travelling gear, driving cog Wheel drives drive axis, and power transmission shaft drives turn-screw to rotate, and turn-screw drives driving block motion, due to driving block Regular hexagon structure make the six roots of sensation being welded on driving block move post can be at six No. one under the drive of turn-screw Making stable elevating movement on line slide rail, the six roots of sensation moves post and drives six side chains in parallel to make elevating movement respectively, six parallel connections Side chain synchronizes to drive the arm-massage machinery hands on upper mounting plate to make elevating movement, by the stable drive of planetary gear mechanism Performance, improves the stability in lifting process, so that the present invention can realize stable lifting adjustable function so that this Invention is applicable to the patient that dissimilar arm is high, and the scope of application is big, and when the present invention reaches suitable arm-massage height, driving motor stops Only work；Arm width further according to patient determines that the distance between two arm massagers, No. two hydraulic cylinders are started working, two Number hydraulic cylinder drives massage slide block to move, and massage slide block is in the spacing fortune of four expansion links and swallow-tail form traveller with swallowtail-shaped slide Dynamic lower can be stable make stretching motion, thus have adjusted the distance between two arm massagers 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 arm-massage machinery hands pair is regulated according to client need The massage posture of patient's arm, rotary electric machine starts working, and rotary electric machine drives driving gear to rotate, and driving gear drives driven Pinion rotation, driven gear drives rotary shaft to rotate on two fixing ears, and rotary shaft drives two to rotate engaging lug, and two to even Lug drives two arm massagers being arranged on connecting plate to rotate, thus have adjusted arm massager to patient by Rub posture, add level of comfort, add massage effect；When patient arm is attached to mutually arm massaging machine tool on hand after, adjust Saving the tightness of arm-massage machinery hands, mobile motor is started working, and mobile motor drives mobile screw turns, by two The spaced motion of L-type gag lever post and two No. two line slide rails make that mobile slide block can be stable in the mobile upper left right fortune of leading screw Dynamic, mobile slide block drives the arm-massage machinery hands installed on round platform to synchronize to move left and right, thus have adjusted arm-massage machinery Tightness between hands and patient's arm, adds arm-massage effect；Last arm massager is started working, and first regulates The motion frequency of No. three hydraulic cylinders be adjusted to appropriate level after No. three hydraulic cylinders when starting to make stretching motion, five No. three hydraulic cylinders Driving telescoping visor movement, expansion plate drives six elastic massage side chains to move simultaneously, and elastic massage side chain is drawn by stay cord simultaneously Dynamic No. two rings hook motion, and No. two rings hook and drive the flexible massage ball on elastic force post to move back and forth, by the elastic performance of elastic force post Make flexible massage ball can clash into arc massage piece the most back and forth, vibrated uniformly to patient's arm by arc massage piece Power reaches the arm-massage function to patient, and meanwhile a hydraulic cylinder is started working, six on six side chains in parallel A number hydraulic cylinder drives the arm-massage machinery hands on upper mounting plate to make the most repeatedly to move, by 6-SPS parallel institution Advantage makes the present invention can realize stable automatic lifting massage functions, and owing to the fixed frame in the present invention is as allocating Platform, six SPS parallel connection side chains, upper mounting plates constitute 6-SPS parallel institution as moving platform, and 6-SPS parallel institution has dynamically Respond, rigidity is high, bearing capacity big, good stability and kinematic accuracy advantages of higher, and the present invention is by 6-SPS parallel institution Premium properties makes the arm-massage machinery hands being arranged on upper mounting plate can remain steady shape during arm-massage State, eliminates the jitter phenomenon produced in massage processes, adds the stability of massage processes, improve massage effect.

The invention has the beneficial effects as follows:

1, the present invention is by six planetary gear mechanisms driving gear band nutating gear simultaneously to rotate, thus carries Dynamic six side chains in parallel move stable moving up and down on post in the six roots of sensation, and six parallel connections are propped up and synchronized to drive the arm on upper mounting plate to press Elevating movement made by the mechanical hand that rubs, and by the stable drive performance of planetary gear mechanism, improves stablizing in lifting process Property, so that the present invention can realize stable lifting adjustable function so that the present invention is applicable to the patient that dissimilar arm is high, suitable Big by scope；

2, the present invention by No. two hydraulic cylinders drive massage slide block move modes regulate two arm massagers away from From 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；

3, the rotary electric machine of the present invention drives two arm massagers being arranged on connecting plate to turn by gear drive Dynamic, have adjusted the arm massager massage posture to patient, add level of comfort, add massage effect；

4, the present invention drives the arm-massage machinery hands above mobile slide block to move left and right by mobile motor, thus regulates Tightness between arm-massage machinery hands and patient's arm, adds arm-massage effect；

5, the present invention by the motion of No. three hydraulic cylinders drive six elastic massage side chains the most constantly clash into arc by It is the most anti-that six hydraulic cylinders on sheet and six side chains in parallel that rub drive the arm-massage machinery hands on upper mounting plate to make Multiple motion realizes the automatic lifting massage functions that the present invention is stable, it is not necessary to the artificial arm-massage position that adjusts, easy and simple to handle, presses Scope of rubbing is big, and massage efficiency is high；

6, the fixed frame in the present invention constitutes as moving platform as fixed platform, six SPS parallel connection side chains, upper mounting plates 6-SPS parallel institution, the present invention makes the arm massaging machine being arranged on upper mounting plate by the premium properties of 6-SPS parallel institution Tool hands can remain plateau during arm-massage, eliminates the jitter phenomenon produced in massage processes, increases The stability of massage processes, improves massage effect；

7, the present invention solves artificial arm massaging way needs to manually adjust that massage position, massage force be uneven, operation A loaded down with trivial details and ineffective difficult problem, also solving arm-massage height that existing automatization arm-massage mode exists can not Adjust, arm-massage width is non-adjustable, the scope of application is little, massage range is little, massage effect is poor, equipment exists shake in massage processes With the massage poor difficult problem of stability, it is achieved that the automatic lifting massage functions that arm is stable, and there is arm-massage height can Adjust, arm-massage width is adjustable, the scope of application is big, massage range is big, massage effect is good, there is not shake in massage processes, press The stability that rubs is good, without artificial adjusting massage position, easy and simple to handle and work efficiency advantages of higher, it is provided that a kind of arm is pressed The new way rubbed.

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 full sectional view that the present invention removes after arm-massage machinery hands；

Fig. 3 is that the A-A of Fig. 2 of the present invention is to sectional view；

Fig. 4 is that the B-B of Fig. 2 of the present invention is to sectional view；

Fig. 5 is the structural representation of arm-massage machinery hands of the present invention；

Fig. 6 is the top view of arm-massage machinery hands of the present invention；

Fig. 7 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 knot Conjunction is specifically illustrating, and the present invention is expanded on further.

As shown in Figures 1 to 7, a kind of medical treatment arm-massage machine people, including fixed frame 1, described fixed frame 1 includes Lower platform 11, is provided with power transmission shaft 12 by bearing in the middle part of the upper surface of described lower platform 11, and key is passed through at the middle part of power transmission shaft 12 Being provided with travelling gear 13, travelling gear 13 is meshed with six transmission branch chain 14 the most respectively, by six transmissions The mode that side chain 14 rotates from six angles band nutating gear 13 simultaneously adds transmission twisting resistance, improves the steady of transmission Property, transmission branch chain 14 includes the driving motor 141 that bottom is arranged on lower platform 11 by motor cabinet, driving motor 141 defeated Going out end to be connected with drive shaft 142 by shaft coupling, the middle part of drive shaft 142 is provided with driving gear 143 by key, drives gear 143 are meshed with travelling gear 13, and six drive shaft 142 upper ends in six transmission branch chain 14 by bearing all with support platform 15 be connected, driving motor 41 drives drive shaft 142 to rotate, drive shaft 142 drive drive gear 143 rotate, thus constitute by Six drive the planetary gear mechanism that gear 143 band nutating gear 13 rotates, improve the stationarity of transmission；Described The middle part of support platform 15 is connected with power transmission shaft 12 by bearing, and the lower surface supporting platform 15 has the six roots of sensation to prop up along the square uniform welding of axis Dagger 16, the lower surface of six roots of sensation support column 16 is installed on lower platform 11, and six roots of sensation support column 16 plays the most fixing support platform The function of 15, so that what power transmission shaft 12 can be stable under the drive of planetary gear mechanism turns on support platform 15 Dynamic；The upper end of described power transmission shaft 12 is connected with turn-screw 17 by shaft coupling, and the middle part of turn-screw 17 is threaded connection Mode is provided with driving block 18, and driving block 18 is regular hexagon structure, and six end faces of driving block 18 are respectively welded The six roots of sensation moves post 19, and the six roots of sensation moves the end of post 19 and is separately mounted on six line slide rails 110, by driving block 18 Regular hexagon structure make the six roots of sensation being welded on driving block 18 move post 19 can be six under the drive of turn-screw 17 Making stable elevating movement on an individual line slide rail 110, six line slide rails 110 are separately mounted to six pieces by screw In gripper shoe 111, the lower end of six pieces of gripper shoes 111 is respectively welded on lower platform 11, and six pieces of gripper shoes 111 play fixing support The effect of six line slide rails 110, adds the mobile post 19 stability at a corresponding line slide rail 110；Described six Being respectively welded the spacing pillar of the six roots of sensation 112 on the upper end inwall of block gripper shoe 111, the middle part of six roots of sensation limited post 112 is offered respectively Having six square limited mouths, the end of the spacing pillar of the six roots of sensation 112 to be respectively welded on fixed station 113, the middle part of fixed station 113 leads to Cross bearing to be connected with the upper end of turn-screw 17；The described six roots of sensation moves the upper surface of post 19 and is separately installed with six side chains 2 in parallel, The upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3, and the middle part of each side chain 2 in parallel is all located in corresponding spacing In the square limited mouth of pillar 112, the square limited mouth of spacing pillar 112 plays the effect limiting side chain 2 range of movement in parallel, Moving post 19 by the six roots of sensation drives six side chains 2 in parallel to make elevating movement respectively, and six side chains 2 in parallel synchronize to drive upper mounting plate 3 Make elevating movement, by the stable drive performance of planetary gear mechanism, improve the stability in lifting process, so that Obtain the present invention and can realize stable lifting adjustable function so that the present invention is applicable to the patient that dissimilar arm is high, and the scope of application is big； Described side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on mobile post 19, and hollow lower thread spindle 21 passes through spiral shell Stricture of vagina connected mode is provided with a ball pivot 22, and the upper end of a ball pivot 22 is threaded connection mode and is provided with a sleeve 23, The upper end of a number sleeve 23 is threaded connection mode and is provided with a hydraulic cylinder 24, and screw thread is passed through in the upper end of a hydraulic cylinder 24 Connected mode 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 ball pivots 26, and two The upper end of number ball pivot 26 is threaded connection mode and is provided with hollow upper thread spindle 27, and hollow upper thread spindle 27 is welded on upper mounting plate On the lower surface of 3, formed when spherical pair S formed, a hydraulic cylinder 24 stretch when the present invention is worked by a ball pivot 22 Spherical pair S formed when moving sets P and No. two ball pivots 26 work constitutes SPS parallel connection side chain 2, and the fixed frame in the present invention 1 constitutes 6-SPS parallel institution, 6-SPS parallel machine as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as moving platform Structure has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, is propped up by six parallel connections Six hydraulic cylinder 24 motions on chain 2 drive upper mounting plate 3 to make the most repeatedly to move, by the advantage of 6-SPS parallel institution Make the present invention can realize stable automatic lifting massage functions, it is not necessary to patient oneself regulates arm-massage position, massage model Enclosing big, easy and simple to handle, work efficiency is high, and owing to the advantage of 6-SPS parallel institution makes to this invention removes in work process Shake situation, stability is good；Described upper mounting plate 3 upper surface is symmetrically welded with two mounting ear 3a, two mounting ear 3a it Between by bearing mobile leading screw 4 is installed, the left end of mobile leading screw 4 is provided with mobile motor 5, mobile motor 5 by shaft coupling Being fixed on motor rack 5a, motor rack 5a is arranged on upper mounting plate 3 by screw；Screw thread is passed through at the middle part of described mobile leading screw 4 Being provided with mobile slide block 6, the two ends of mobile slide block 6 are symmetrically welded with two L-type gag lever posts 7, and two L-type gag lever posts 7 are pacified respectively Being contained on two No. two line slide rails 8, two No. two line slide rails 8 are symmetrically mounted on upper mounting plate 3 by screw, by two The spaced motion of L-type gag lever post 7 and two No. two line slide rails 8 makes mobile slide block 6 can stablize left and right on mobile leading screw 4 Motion；The upper end of described mobile slide block 6 is welded with installation round platform 6a, installs and is provided with arm massaging machine in the middle part of round platform 6a upper surface Tool hands 9, after arm is attached on arm massaging machine tool hands 9 by patient mutually, the tightness of regulation arm-massage machinery hands 9, moves Galvanic electricity machine 5 is started working, and mobile motor 5 drives mobile leading screw 4 to rotate, sliding by two L-type gag lever posts 7 and two No. two straight lines The spaced motion of rail 8 makes the side-to-side movement on mobile leading screw 4 that mobile slide block 6 can be stable, and mobile slide block 6 drives installs circle Arm-massage machinery hands 9 on platform 6a synchronizes to move left and right, thus have adjusted the tightness of arm-massage machinery hands 9, increases Arm-massage effect.

Described arm-massage machinery hands 9 includes that being arranged on the L-type in the middle part of installation round platform 6a upper surface fixes post 91, and L-type is solid The end of fixed column 91 is welded with fixed plate 92, and the upper end of fixed plate 92 is provided with recess, and the inwall of fixed plate 92 is symmetrically welded Having two fixing ears 93, two fixing ears 93 are provided with rotary shaft 94 by bearing, the middle part of rotary shaft 94 is by subtracting installation Driven gear 95, driven gear 95 is had to be meshed in the recess of fixed plate 92 with driving gear 96, solid in the middle part of driving gear 96 Being scheduled 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 The two ends of 94 are symmetrically installed with two couples of engaging lug 94a, and two couples of engaging lug 94a are welded on the left side wall of connecting plate 98, connecting plate Being symmetrically installed with two arm massagers 99 on the right side wall of 98, two arm massagers 99 can realize the automatic of arm Massage functions；Owing to different patients needs different massage postures according to self level of comfort, the present invention can be according to patient Needing to adjust 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, and rotary shaft 94 drives Two couples of engaging lug 94a rotate, and two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98 to 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, massages support plate 991 Inwall 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 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, two L-types connect post 994c be symmetrically connected to arc by Rubbing the back of sheet 996, the centre position, back of arc massage piece 996 is provided with connecting shaft 995, and connecting shaft 995 is in the axial direction Being evenly arranged with six elastic massage side chains 997, the top of six elastic massage side chains 997 is installed in the right side of expansion plate 998 End face, elastic massage side chain 997 can play patient's arm automatic elastic massage functions；The right-hand member of described massage slide block 994 Face is uniformly provided with five No. three hydraulic cylinders 999, and the top of five No. three hydraulic cylinders 999 is arranged on the left side of expansion plate 998, Drive expansion plate 998 that can be stable by five No. three hydraulic cylinders 999 makees stretching motion back and forth, stretching of No. three hydraulic cylinders 999 Contracting speed is different, and the massage force of elastic massage side chain 997 is different, and therefore the present invention can be according to No. three hydraulic cylinders 999 of regulation Stretching speed regulate the massage force of elastic massage side chain 997, add the level of comfort of arm-massage, massage efficiency Good, work efficiency is high；Described elastic massage side chain 997 includes being welded on a ring of expansion plate 998 right side and hooks 9971, No. one 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 connections On elastic force 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, and when five No. three hydraulic cylinders 999 start to make stretching motion, No. three hydraulic cylinders 999 drive expansion plate 998 to move, Expansion plate 998 drives six elastic massage side chains 997 to move simultaneously, and elastic massage side chain 997 pulls No. two by stay cord 9972 Ring hooks 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, by elastic force post The elastic performance of 9974 makes flexible massage ball 9975 can clash into arc massage piece 996 the most back and forth, is massaged by arc Sheet 996 reaches the arm-massage function to patient to the uniform vibration force of patient's arm.

Interlaced mode is used to be arranged on lower platform 11 between described six transmission branch chain 14 and six roots of sensation support column 16, Both add the stationary performance of transmission, too increase the support column 16 even support performance to supporting platform 15.

The central axis of described lower platform 11 coincides with the central axis of upper mounting plate 3, firm by 6-SPS parallel institution The advantages such as degree height is good with stability can make lower platform 11 and upper mounting plate 3 keeping parallelism all the time, so that arm massaging machine Patient is carried out to remain steady in arm lifting massage processes by tool hands 9, and stability is good, and massage effect is good, work Efficiency is high.

Described driving gear 96 is 2:1 with the gear ratio of driven gear 95, reduces rotary shaft 94 by reducing gear ratio Rotary speed, thus reduce arm massager 99 and patient 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 effect is good.

During work, the present invention is first arranged on the operation ground of required massage, first determines that the arm height of patient is to regulate hands Arm massage height, six driving motors 141 in six transmission branch chain 14 start simultaneously at work, and six driving motors 141 are respectively Driving six drive shafts 142 to rotate, six drive shafts 142 drive six to drive gear 143 to rotate, and six drive gear 143 to carry Nutating gear 13 moves, and travelling gear 13 drives power transmission shaft 12 to rotate, and power transmission shaft 12 drives turn-screw 17 to rotate, driving wire Thick stick 17 drives driving block 18 to move, due to the regular hexagon structure of driving block 18 make to be welded on driving block 18 six Root moves post 19 can make stable elevating movement, the six roots of sensation under the drive of turn-screw 17 on six line slide rails 110 Mobile post 19 drives six side chains 2 in parallel to make elevating movement respectively, and six side chains 2 in parallel synchronize to drive the arm on upper mounting plate 3 Massaging manipulator 9 makees elevating movement, and by the stable drive performance of planetary gear mechanism, improve in lifting process is steady Qualitative, so that the present invention can realize stable lifting adjustable function so that the present invention is applicable to the patient that dissimilar arm is high, The scope of application is big, and when the present invention reaches suitable arm-massage height, driving motor 141 quits work；Arm width further according to patient Determining that the distance between two arm massagers 99, No. two hydraulic cylinders 992 are started working, No. two hydraulic cylinders 992 drive to be pressed The slide block 994 that rubs moves, and massage slide block 994 is in four expansion links 993 and the limit of swallow-tail form traveller 994a and swallowtail-shaped slide 994b Position motion lower can be stable make stretching motion, thus have adjusted the distance between two arm massagers 99 so that this The bright patient being suitable for different arm width, the scope of application is big, and work efficiency is high；Then arm massaging machine is regulated according to client need The tool hands 9 massage posture to patient's arm, rotary electric machine 97 starts working, and rotary electric machine 97 drives driving gear 96 to rotate, main Moving gear 96 drives driven gear 95 to rotate, and driven gear 95 drives rotary shaft 94 to rotate on two fixing ears 93, rotary shaft 94 drive two to rotate engaging lug 94a, and 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； After arm is attached on arm massaging machine tool hands 9 by patient mutually, the tightness of regulation arm-massage machinery hands 9, mobile motor 5 Starting working, mobile motor 5 drives mobile leading screw 4 to rotate, by two L-type gag lever posts 7 and the limit of two No. two line slide rails 8 Position motion makes the side-to-side movement on mobile leading screw 4 that mobile slide block 6 can be stable, and mobile slide block 6 drives to be installed on round platform 6a Arm-massage machinery hands 9 synchronize to move left and right, thus have adjusted the tightness of arm-massage machinery hands 9, add arm Massage effect；Last arm massager 99 is started working, when five No. three hydraulic cylinders 999 start to make stretching motion, and No. three Hydraulic cylinder 999 drives expansion plate 998 to move, and expansion plate 998 drives six elastic massage side chains 997 to move simultaneously, elastic massage Side chain 997 pulls No. two rings to hook 9973 motions by stay cord 9972, and No. two rings hook 9973 and drive the flexibility on elastic force posts 9974 to press The ball 9975 that rubs moves back and forth, and the elastic performance by elastic force post 9974 makes flexible massage ball 9975 to clash into the most back and forth Arc massage piece 996, reaches the arm-massage merit to patient to the uniform vibration force of patient's arm by arc massage piece 996 Can, meanwhile a hydraulic cylinder 24 is started working, and six hydraulic cylinder 24 motions on six side chains 2 in parallel drive upper flat Platform 3 is made the most repeatedly to move, and the advantage by 6-SPS parallel institution makes the present invention can realize stable automatic lifting massage Function, and due to the fixed frame 1 in the present invention as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as moving platform group Dynamic response is good, rigidity is high, bearing capacity is big, good stability and fortune to have become 6-SPS parallel institution, 6-SPS parallel institution to have Dynamic precision advantages of higher, the present invention makes the arm-massage being arranged on upper mounting plate 3 by the premium properties of 6-SPS parallel institution Mechanical hand 9 can remain plateau during arm-massage, eliminates the jitter phenomenon produced in massage processes, increases Having added the stability of massage processes, improve massage effect, solving artificial arm massaging way needs to manually adjust massage position Put, massage force is uneven, complex operation and an ineffective difficult problem, also solves existing automatization arm-massage mode and exists Arm-massage height non-adjustable, arm-massage width is non-adjustable, the scope of application is little, massage range is little, massage effect is poor, massage During equipment exist shake and massage stability difference a difficult problem, reached purpose.

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

1. a medical arm-massage machine people, it is characterised in that: include fixed frame (1), under described fixed frame (1) includes Platform (11), is provided with power transmission shaft (12), the middle part of power transmission shaft (12) by bearing in the middle part of the upper surface of described lower platform (11) Being provided with travelling gear (13) by key, travelling gear (13) is meshed with six transmission branch chain (14) the most respectively, Transmission branch chain (14) includes the driving motor (141) that bottom is arranged on lower platform (11), driving motor (141) by motor cabinet Outfan be connected with drive shaft (142) by shaft coupling, the middle part of drive shaft (142) is provided with driving gear by key (143), gear (143) is driven to be meshed with travelling gear (13), and six drive shafts (142) on six transmission branch chain (14) Upper end is all connected with support platform (15) by bearing；The middle part of described support platform (15) is connected with power transmission shaft (12) by bearing, There is six roots of sensation support column (16) lower surface supporting platform (15) along the square uniform welding of axis, and the lower surface of six roots of sensation support column (16) is equal It is arranged on lower platform (11)；The upper end of described power transmission shaft (12) is connected with turn-screw (17) by shaft coupling, turn-screw (17) middle part is threaded connection mode and is provided with driving block (18), and driving block (18) is regular hexagon structure, transmission Six end faces of slide block (18) are respectively welded the six roots of sensation and move post (19), and the six roots of sensation moves the end of post (19) and is separately mounted to six On a number line slide rail (110), six No. one line slide rail (110) is separately mounted on six pieces of gripper shoes (111) by screw, The lower end of six pieces of gripper shoes (111) is respectively welded on lower platform (11)；Divide on the upper end inwall of described six pieces of gripper shoes (111) Not being welded with the spacing pillar of the six roots of sensation (112), the middle part of six roots of sensation limited post (112) offers six square limited mouths, the six roots of sensation respectively The end of spacing pillar (112) is respectively welded on fixed station (113), and bearing and driving wire are passed through in the middle part of fixed station (113) The upper end of thick stick (17) is connected；The described six roots of sensation moves the upper surface of post (19) and is separately installed with six side chains in parallel (2), six parallel connections The upper end of side chain (2) is uniformly arranged on upper mounting plate (3), and the middle part of each side chain (2) in parallel is all located in corresponding spacing In the square limited mouth of post (112)；Described upper mounting plate (3) upper surface is symmetrically welded with two mounting ears (3a), two mounting ears (3a) being provided with mobile leading screw (4) by bearing between, the left end of mobile leading screw (4) is provided with mobile motor by shaft coupling (5), mobile motor (5) is fixed on motor rack (5a), and motor rack (5a) is arranged on upper mounting plate (3) by screw；Described shifting The middle part of movable wire thick stick (4) is provided with mobile slide block (6) by screw thread, and the two ends of mobile slide block (6) are symmetrically welded with two L-type limits Position bar (7), two L-type gag lever posts (7) are separately mounted on two No. two line slide rails (8), and two No. two line slide rails (8) are led to Cross screw to be symmetrically mounted on upper mounting plate (3)；The upper end of described mobile slide block (6) is welded with installation round platform (6a), installs round platform (6a) arm-massage machinery hands (9) is installed in the middle part of upper surface；

Described arm-massage machinery hands (9) includes that being arranged on the L-type in the middle part of installation round platform (6a) upper surface fixes post (91), L-type The end of fixing post (91) is welded with fixed plate (92), and the upper end of fixed plate (92) is provided with recess, the inwall of fixed plate (92) On be symmetrically welded with two fixing ears (93), two fixing ears (93) are provided with rotary shaft (94), rotary shaft by bearing (94) middle part is provided with driven gear (95) by subtracting, recessed in fixed plate (92) of driven gear (95) and driving gear (96) Being meshed in portion, driving gear (96) middle part is fixed on the output shaft of rotary electric machine (97), and rotary electric machine (97) passes through motor Seat is arranged on fixed plate (92) sidewall；The two ends of described rotary shaft (94) are symmetrically installed with two pairs of engaging lugs (94a), and two to even Lug (94a) is welded on the left side wall of connecting plate (98), the right side wall of connecting plate (98) is symmetrically installed with two arms by Rub device (99)；

Described arm massager (99) includes the massage support plate (991) being welded on connecting plate (98) right side wall, massages support plate (991) being provided with No. two hydraulic cylinders (992) and four expansion links (993) on inwall, No. two hydraulic cylinders (992) and four stretch The top of bar (993) is provided with massage slide block (994), and the left end of massage slide block (994) is welded with swallow-tail form traveller (994a), swallow Being connected by sliding matching mode between tail shape traveller (994a) with swallowtail-shaped slide (994b), swallowtail-shaped slide (994b) welds On the right side wall of connecting plate (98)；The two ends up and down of described massage slide block (994) are symmetrically arranged with two L-types and connect post (994c), two L-types connection post (994c) are symmetrically connected to the back of arc massage piece (996), the back of the body of arc massage piece (996) Centre position, portion is provided with connecting shaft (995), and connecting shaft (995) is evenly arranged with six elastic massage side chains in the axial direction (997), the top of six elastic massage side chains (997) is installed in the right side of expansion plate (998)；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 stretches The left side of contracting plate (998).

A kind of medical treatment arm-massage machine people the most according to claim 1, it is characterised in that: described six transmission branch chain (14) interlaced mode and is used to be arranged on lower platform (11) between six roots of sensation support column (16).

A kind of medical treatment arm-massage machine people the most according to claim 1, it is characterised in that: in described lower platform (11) Mandrel line coincides with the central axis of upper mounting plate (3).

A kind of medical treatment arm-massage machine people the most according to claim 1, it is characterised in that: described side chain (2) bag in parallel Include the hollow lower thread spindle (21) that lower end is welded on mobile post (19), hollow lower thread spindle (21) is threaded connection mode Being provided with a ball pivot (22), the upper end of a ball pivot (22) is threaded connection mode and is provided with a sleeve (23), No. one The upper end of sleeve (23) is threaded connection mode and is provided with a hydraulic cylinder (24), and spiral shell is passed through in the upper end of a hydraulic cylinder (24) Stricture of vagina connected mode 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 ball pivots (26), 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) it is welded on the lower surface of upper mounting plate (3).

A kind of medical treatment arm-massage machine people the most according to claim 1, it is characterised in that: described driving gear (96) with The gear ratio of driven gear (95) is 2:1.

A kind of medical treatment arm-massage machine people the most according to claim 1, it is characterised in that: described elastic massage side chain (997) including that the ring being welded on expansion plate (998) right side hooks (9971), a ring hooks (9971) upper connection 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 post (9974), on, 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 treatment arm-massage machine people the most according to claim 1, it is characterised in that: described arc massage piece (996) material is soft rubber.