CN106038219B - A kind of arm-massage machine people for medical neurology department - Google Patents
A kind of arm-massage machine people for medical neurology department Download PDFInfo
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- CN106038219B CN106038219B CN201610343962.6A CN201610343962A CN106038219B CN 106038219 B CN106038219 B CN 106038219B CN 201610343962 A CN201610343962 A CN 201610343962A CN 106038219 B CN106038219 B CN 106038219B
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- sliding block
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/004—With mechanical drive, e.g. spring mechanism or vibrating unit being hit for starting vibration and then applied to the body of a patient
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Massaging Devices (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The present invention relates to a kind of arm-massage machine people for medical neurology department, including lower platform, the upper surface of lower platform is uniformly provided with six side chains in parallel in the axial direction, and the upper end of six side chains in parallel is uniformly arranged on upper mounting plate；Upper mounting plate upper surface is symmetrically welded with two mounting ears, and mobile leading screw is provided with by bearing between two mounting ears, and the left end of mobile leading screw is provided with mobile motor by shaft coupling, and mobile motor is fixed on motor rack；The middle part of mobile leading screw is provided with mobile sliding block by screw thread, and the both ends of mobile sliding block are symmetrically welded with two L-type gag lever posts, and two L-type gag lever posts are separately mounted on two No. two line slide rails, and two No. two line slide rails are symmetrically mounted on upper mounting plate by screw；The upper end of mobile sliding block is welded with installation round platform, and installation round platform is provided with arm-massage machinery hand in the middle part of upper surface.The present invention realizes the stable automatic lifting massage functions of arm, there is provided a kind of new way of arm-massage.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of arm-massage machine people for medical neurology department.
Background technology
Present people are often worked for a long time due to being busy with one's work, either manual work person or electricity
Brain working people, often all in the working condition of excess load.Manual work person mainly completes work by both hands, when long
Between make mechanical movement can cause to ache to arm muscles, the generation of many body illnesses, cybraian can be caused for a long time by going down
It is the same, often maintains a posture to cause local blood supply insufficiency, trick is ached, and going down can cause greatly for a long time to body
Injury.Some the elderly often play, frequent movable arm is to prevention to take exercises by a promoting blood circulation ball in hand
Disease of old people is very helpful, but not agile enough for some special the elderlys, such as trick, and arm motion can seem special
Other painstaking, they realize the blood circulation of arm with greater need for artificial arm-massage or automation arm-massage, reach forging
The purpose of refining.
Existing artificial arm-massage mode is predominantly by massaging arm muscles so that arm muscles loosen, and delay
Solve arm pain, but this artificial arm-massage mode exist need to manually adjust massage position, massage force it is uneven, by
Rub the defects such as the time is long, massage effect difference is low with operating efficiency；And although existing automation arm-massage mode can be realized automatically
Change the function of arm-massage, but need patient oneself to adjust arm-massage position, massage range is small, cumbersome, work
Efficiency is low, but also arm-massage width be present and can not adjust, it is impossible to meets the wide patient of dissimilar arm, the scope of application is small, massage
During equipment shake be present, massage stability difference and the defects of massage effect difference.
The content of the invention
, can be with the invention provides a kind of arm-massage machine people for medical neurology department in order to solve the above problems
Solve artificial arm-massage mode need to manually adjust massage position, massage force it is uneven, cumbersome and ineffective
Problem, can also solve it is existing automation arm-massage mode existing for arm-massage width is non-adjustable, the scope of application is small, massage
Scope is small, massage effect is poor, equipment has the problem shaken and massage stability difference in massage processes, it is possible to achieve arm steady
Fixed automatic lifting massage functions, and with arm-massage width is adjustable, the scope of application is big, massage range is big, massage effect is good,
It is good, high without artificial adjusting massage position, easy to operate and operating efficiency in the absence of shake, massage stability in massage processes
The advantages that, there is provided a kind of new way of arm-massage.
To achieve these goals, the present invention is realized using following technical scheme：A kind of hand for medical neurology department
Arm massage robot, including lower platform, the upper surface of the lower platform are uniformly provided with six side chains in parallel in the axial direction, and six
The upper end of individual side chain in parallel is uniformly arranged on upper mounting plate；The side chain in parallel includes lower end and is welded under hollow on lower platform
Thread spindle, mode is connected through a screw thread on hollow lower thread spindle No.1 ball pivot is installed, the upper end of No.1 ball pivot is connected by screw thread
The mode of connecing is provided with No.1 sleeve, and the upper end of No.1 sleeve is connected through a screw thread mode and is provided with No.1 hydraulic cylinder, No.1 hydraulic pressure
The upper end of cylinder is connected through a screw thread mode and is provided with No. two sleeves, and the upper end of No. two sleeves is connected through a screw thread mode and is provided with two
Number ball pivot, the upper end of No. two ball pivots are connected through a screw thread mode and are provided with hollow upper thread spindle, and hollow upper thread spindle is welded on
The shifting formed on the lower surface of platform, when spherical pair S that the present invention is formed when being worked by No.1 ball pivot, No.1 hydraulic cylinder extension
The spherical pair S formed during dynamic secondary P and No. two ball pivot work constitutes SPS parallel connection side chains, and the lower platform in the present invention is as fixed
Platform, six SPS parallel connections side chains, upper mounting plate constitute 6-SPS parallel institutions as moving platform, and 6-SPS parallel institutions have dynamic
The advantages that state responds, rigidity height, large carrying capacity, stability are good and kinematic accuracy is high, passes through six on six side chains in parallel
Individual No.1 hydraulic cylinder drives upper mounting plate to make to move repeatedly up and down, causes the present invention can by the advantages of 6-SPS parallel institutions
To realize stable automatic lifting massage functions, arm-massage position is adjusted without patient oneself, massage range is big, operation letter
Just, operating efficiency is high, and because the advantages of 6-SPS parallel institutions causes this invention removes the shake situation in the course of work,
Stability is good；The upper mounting plate upper surface is symmetrically welded with two mounting ears, is provided between two mounting ears by bearing
Mobile leading screw, the left end of mobile leading screw are provided with mobile motor by shaft coupling, and mobile motor is fixed on motor rack, motor rack
It is arranged on by screw on upper mounting plate；The middle part of the mobile leading screw is provided with mobile sliding block by screw thread, moves the two of sliding block
End is symmetrically welded with two L-type gag lever posts, and two L-type gag lever posts are separately mounted on two No. two line slide rails, two No. two
Line slide rail is symmetrically mounted on upper mounting plate by screw, passes through the spacing of two L-type gag lever posts and two No. two line slide rails
Motion allows mobile sliding block to stablize the side-to-side movement on mobile leading screw；The upper end of the mobile sliding block is welded with installation circle
Platform, installation round platform is provided with arm-massage machinery hand in the middle part of upper surface, when arm is mutually attached to arm massaging machine tool on hand by patient
Afterwards, the tightness of arm-massage machinery hand is adjusted, mobile motor is started working, and mobile motor drives mobile leading screw to rotate, and leads to
Cross two L-type gag lever posts and two No. two line slide rails spaced motion allow move that sliding block stablizes on mobile leading screw
Side-to-side movement, mobile sliding block drive the arm-massage machinery hand on installation round platform synchronously to move left and right, so as to have adjusted arm by
Rub the tightness of manipulator, adds arm-massage effect.
As a preferred technical solution of the present invention, the arm-massage machinery hand includes being arranged on installation round platform upper end
The L-type fixed column of Middle face, the end of L-type fixed column are welded with fixed plate, and the upper end of fixed plate is provided with recess, fixed plate
It is symmetrically welded with two fixed ears on inwall, rotary shaft, the middle part installation of rotary shaft is provided with by bearing in two fixed ears
There is driven gear, driven gear is meshed with driving gear in the recess of fixed plate, and rotation electricity is fixed in the middle part of driving gear
On the output shaft of machine, rotary electric machine is arranged in fixed plate side wall by motor cabinet；The both ends of the rotary shaft are symmetrically installed with
Two pairs of engaging lugs, two pairs of engaging lugs are welded on the left side wall of connecting plate, and two hands are symmetrically installed with the right side wall of connecting plate
Arm massage machine, two arm massagers can realize the automatic massage function of arm；Because different patients is according to itself
Level of comfort needs different massage postures, and the present invention can be needed to adjust arm-massage posture according to patient, and rotary electric machine is opened
Beginning work, rotary electric machine drive driving gear to rotate, and driving gear drives driven gear to rotate, and driven gear drives rotary shaft to exist
Rotated in two fixed ears, rotary shaft drives two pairs of engaging lugs to rotate, and two pairs of engaging lugs drive two be arranged on connecting plate
Arm massager rotates, and so as to have adjusted massage posture of the arm massager to patient, adds level of comfort, adds
Massage effect.
As a preferred technical solution of the present invention, the arm massager includes being welded on connecting plate right side wall
Massage support plate, massage and No. two hydraulic cylinders and four expansion links be installed on the inwall of support plate, No. two hydraulic cylinders and four are flexible
The top of bar is provided with massage sliding block, and the left end for massaging sliding 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 passed through No. two hydraulic cylinders and is driven
Sliding block movement is massaged, massage sliding block can be stablized under four expansion links and the spaced motion of swallow-tail form traveller and swallowtail-shaped slide
Make stretching motion, so as to have adjusted the distance between two arm massagers so that the present invention be applicable different arm width
Patient, the scope of application is big, and operating efficiency is high；The upper and lower ends of the massage sliding block are symmetrically arranged with two L-type connecting poles, and two
Root L-type connecting pole is symmetrically connected to the back of arc massage piece, and the back centre position 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 be played to patient's arm automatic elastic massage functions；The right side of the massage sliding block
Five No. three hydraulic cylinders are uniformly installed, the top of five No. three hydraulic cylinders is arranged on the left side of expansion plate, passes through five three
The drive expansion plate that number hydraulic cylinder can be stablized 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, therefore the present invention can massage branch according to the stretching speed of No. three hydraulic cylinders of regulation come regulation elasticity
The massage force of chain, the level of comfort of arm-massage is added, massage excellent in efficiency, operating efficiency is high；The elastic massage side chain
No.1 ring including being welded on expansion plate right side hooks, and No.1 ring hooks and is connected with drawstring, and the end of drawstring is connected with No. two rings
On hook, No. two rings are linked and are connected in Elastic force post, and the end of Elastic force post is arranged in connecting shaft, and the top installation of Elastic force post is flexible
Massage ball, when five No. three hydraulic cylinders start to make stretching motion, No. three hydraulic cylinders drive telescoping visor movement, and expansion plate drives six
Individual elastic massage side chain moves simultaneously, and elastic massage side chain pulls No. two rings to hook motion by drawstring, and No. two rings, which hook, drives elastic force
Flexible massage ball on post moves back and forth, and by the elastic performance of Elastic force post flexible massage ball is constantly hit back and forth
Arc massage piece, the arm-massage function to patient is reached to the uniform vibration force of patient's arm by arc massage piece.
As a preferred technical solution of the present invention, the central axis of the lower platform and the central axis phase of upper mounting plate
Overlap, it is high and lower platform and upper mounting plate holding can be made all the time the advantages that stability is good by the rigidity of 6-SPS parallel institutions
It is parallel, so that arm-massage machinery hand carries out to remain steady in arm lifting massage processes to patient, it is stable
Performance is good, and massage effect is good, and operating efficiency is high.
As a preferred technical solution of the present invention, the gearratio of the driving gear and driven gear is 2:1, pass through
Reduce gearratio to reduce the rotary speed of rotary shaft, the speed of posture is massaged so as to reduce arm massager to patient.
As a preferred technical solution of the present invention, the material of the arc massage piece is soft rubber, and soft rubber can be with
Effective increase arm-massage level of comfort, massage effect are good.
During work, the present invention is first arranged on the operation ground of required massage, first determines two according to the arm of patient is wide
The distance between individual arm massager, No. two hydraulic cylinders are started working, and No. two hydraulic cylinders drive massage sliding block movement, and massage is slided
What block can be stablized under four expansion links and the spaced motion of swallow-tail form traveller and swallowtail-shaped slide makees stretching motion, so as to adjust
The distance between two arm massagers are saved so that the present invention is applicable the patient of different arm width, and the scope of application is big, work
Make efficiency high；Then needed to adjust massage posture of the arm-massage machinery hand to patient's arm according to patient, rotary electric machine starts
Work, rotary electric machine drive driving gear to rotate, and driving gear drives driven gear to rotate, and driven gear drives rotary shaft two
Rotated in individual fixed ear, rotary shaft drives two pairs of engaging lugs to rotate, and two pairs of engaging lugs drive two hands being arranged on connecting plate
Arm massage machine rotate, so as to have adjusted massage posture of the arm massager to patient, add level of comfort, add by
Rub effect；After arm is mutually attached to arm massaging machine tool on hand by patient, the tightness of arm-massage machinery hand is adjusted, it is mobile
Motor is started working, and mobile motor drives mobile leading screw to rotate, and passes through the limit of two L-type gag lever posts and two No. two line slide rails
The side-to-side movement on mobile leading screw that movement sliding block is stablized is moved in position, and the arm on round platform is installed in mobile sliding block drive
Massaging manipulator synchronously moves left and right, and so as to have adjusted the tightness of arm-massage machinery hand, adds arm-massage effect；
Last arm massager is started working, and when five No. three hydraulic cylinders start to make stretching motion, No. three hydraulic cylinders drive flexible
Plate moves, and expansion plate drives six elastic massage side chains to move simultaneously, and elastic massage side chain pulls No. two rings to hook fortune by drawstring
Dynamic, No. two rings, which hook, drives the flexible massage ball in Elastic force post to move back and forth, and causes flexible massage by the elastic performance of Elastic force post
Ball can constantly hit arc massage piece back and forth, be reached by arc massage piece to the uniform vibration force of patient's arm to disease
The arm-massage function of people, at the same time No.1 hydraulic cylinder start working, six No.1 hydraulic cylinders fortune on six side chains in parallel
It is dynamic to drive upper mounting plate to make to move repeatedly up and down, by the advantages of 6-SPS parallel institutions cause the present invention can realize it is stable from
Dynamic lifting massage functions, and moved because the lower platform in the present invention is used as fixed platform, six SPS parallel connections side chains, upper mounting plate
Platform constitutes 6-SPS parallel institutions, and 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability
The advantages that good and kinematic accuracy is high, the hand that the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
Arm massaging manipulator can remain plateau during arm-massage, and it is existing to eliminate caused shake in massage processes
As adding the stability of massage processes, improving massage effect.
The beneficial effects of the invention are as follows：
1st, the present invention by No. two hydraulic cylinders drive massage sliding block move modes adjust two arm massagers away from
From so that the present invention is applicable the patient of different arm width, and the scope of application is big, and operating efficiency is high；
2nd, rotary electric machine of the invention drives two arm massagers being arranged on connecting plate to turn by gear drive
It is dynamic, massage posture of the arm massager to patient has been saved, level of comfort has been added, adds massage effect；
3rd, the present invention drives the arm-massage machinery hand above mobile sliding block to move left and right by mobile motor, so as to adjust
Tightness between arm-massage machinery hand and patient's arm, adds arm-massage effect；
4th, the present invention by the motion of No. three hydraulic cylinders come drive six elastic massage side chains back and forth constantly hit arc by
It is anti-up and down that the six No.1 hydraulic cylinders to rub on piece and six side chains in parallel drive the arm-massage machinery hand on upper mounting plate to make
It is multiple to move to realize the stable automatic lifting massage functions of the present invention, it is easy to operate without artificial adjustment arm-massage position, press
Scope of rubbing is big, massages efficiency high；
5th, the fixed frame in the present invention constitutes as fixed platform, six SPS parallel connections side chains, upper mounting plates as moving platform
6-SPS parallel institutions, the arm massaging machine that the present invention to be arranged on upper mounting plate by the premium properties of 6-SPS parallel institutions
Tool hand can remain plateau during arm-massage, eliminate caused jitter phenomenon in massage processes, increase
The stability of massage processes, improves massage effect；
6th, the present invention, which solves artificial arm-massage mode, needs to manually adjust that massage position, massage force be uneven, operation
Cumbersome and ineffective problem, also solve it is existing automation arm-massage mode existing for arm-massage width can not
Adjust, the scope of application is small, massage range is small, massage effect is poor, equipment has shake and massages stability difference in massage processes
Problem, the stable automatic lifting massage functions of arm are realized, and with arm-massage width is adjustable, the scope of application is big, massage
Scope is big, massage effect is good, shake is not present in massage processes, massage stability is good, without artificial adjusting massage position, behaviour
Make the advantages that easy and operating efficiency is high, there is provided a kind of new way of arm-massage.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the full sectional view after present invention removal arm-massage machinery hand；
Fig. 3 is the structural representation of arm-massage machinery hand of the present invention；
Fig. 4 is the top view of arm-massage machinery hand of the present invention；
Fig. 5 is the front view of arm-massage machinery hand of the present invention.
Specific embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 5, a kind of arm-massage machine people for medical neurology department, including lower platform 1, under described
The upper surface of platform 1 is uniformly provided with six side chains 2 in parallel in the axial direction, and the upper end of six side chains 2 in parallel is uniformly arranged on
On upper mounting plate 3；The side chain in parallel 2 includes the hollow lower thread spindle 21 that lower end is welded on lower platform 1, hollow lower thread spindle 21
On be connected through a screw thread mode No.1 ball pivot 22 be installed, the upper end of No.1 ball pivot 22 is connected through a screw thread mode and is provided with No.1
Sleeve 23, the upper end of No.1 sleeve 23 are connected through a screw thread mode and are provided with No.1 hydraulic cylinder 24, the upper end of No.1 hydraulic cylinder 24
The mode of being connected through a screw thread is provided with No. two sleeves 25, and the upper end of No. two sleeves 25 is connected through a screw thread mode and is provided with No. two balls
Hinge 26, the upper end of No. two ball pivots 26 is connected through a screw thread mode and is provided with hollow upper thread spindle 27, and hollow upper thread spindle 27 welds
On the lower surface of upper mounting plate 3, spherical pair S that the present invention is formed when work by No.1 ball pivot 22, No.1 hydraulic cylinder 24 stretch
When the prismatic pair P that the is formed and No. two ball pivots 26 spherical pair S that are formed when working constitute SPS parallel connections side chain 2, and in the present invention
Lower platform 1 constitutes 6-SPS parallel institutions, 6-SPS as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 as moving platform
Parallel institution has the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, passes through six
Six No.1 hydraulic cylinders 24 motion on side chain 2 in parallel drives upper mounting plate 3 to make to move repeatedly up and down, by 6-SPS parallel institutions
The advantages of cause the present invention to realize stable automatic lifting massage functions, adjust arm-massage position without patient oneself,
Massage range is big, easy to operate, and operating efficiency is high, and because the advantages of 6-SPS parallel institutions make it that this invention removes work
During shake situation, stability is good；The upper surface of upper mounting plate 3 is symmetrically welded with two mounting ear 3a, two installations
Mobile leading screw 4 is provided with by bearing between ear 3a, the left end of mobile leading screw 4 is provided with mobile motor 5 by shaft coupling, mobile
Motor 5 is fixed on motor rack 5a, and motor rack 5a is arranged on upper mounting plate 3 by screw；The middle part of the mobile leading screw 4 passes through
Screw thread is provided with mobile sliding block 6, and the both ends of mobile sliding block 6 are symmetrically welded with two L-type gag lever posts 7, and two L-type gag lever posts 7 divide
An Zhuan not be 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, are passed through
The spaced motion of two L-type gag lever posts 7 and two No. two line slide rails 8, which allows, to be moved sliding block 6 and stablizes on mobile leading screw 4
Side-to-side movement；The upper end of the mobile sliding block 6 is welded with installation round platform 6a, be provided with the middle part of installation round platform 6a upper surfaces arm by
Rub manipulator 9, after arm is mutually attached on arm massaging machine tool hand 9 by patient, the elastic journey of regulation arm-massage machinery hand 9
Degree, mobile motor 5 are started working, and mobile motor 5 drives mobile leading screw 4 to rotate, and passes through two L-type gag lever posts 7 and two No. two
The spaced motion of line slide rail 8, which allows, moves the side-to-side movement on mobile leading screw 4 that sliding block 6 is stablized, and mobile sliding block 6 drives
Arm-massage machinery hand 9 on installation round platform 6a synchronously moves left and right, so as to have adjusted the elastic journey of arm-massage machinery hand 9
Degree, adds arm-massage effect.
The arm-massage machinery hand 9 includes being arranged on the L-type fixed column 91 in the middle part of installation round platform 6a upper surfaces, 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, is symmetrically welded on the inwall of fixed plate 92
There are two fixed ears 93, rotary shaft 94 is provided with by bearing in two fixed ears 93, the middle part of rotary shaft 94 is provided with driven
Gear 95, driven gear 95 are meshed with driving gear 96 in the recess of fixed plate 92, and the middle part of driving gear 96, which is fixed on, to be turned
On the output shaft of dynamic motor 97, rotary electric machine 97 is arranged in the side wall of fixed plate 92 by motor cabinet；The two of the rotary shaft 94
End is 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, the right side of connecting plate 98
Two arm massagers 99 are symmetrically installed with side wall, two arm massagers 99 can realize the automatic massage work(of arm
Energy；Because different patients needs different massage postures according to itself level of comfort, the present invention can need to adjust according to patient
Whole arm-massage posture, rotary electric machine 97 are started working, and rotary electric machine 97 drives driving gear 96 to rotate, and driving gear 96 drives
Driven gear 95 rotates, and driven gear 95 drives rotary shaft 94 to be rotated in two fixed ears 93, and rotary shaft 94 drives two pairs of companies
Lug 94a is rotated, and two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98 to rotate, so as to adjust
Massage posture of the arm massager 99 to patient has been saved, level of comfort has been added, adds massage effect.
The arm massager 99 includes the massage support plate 991 being welded on the right side wall of connecting plate 98, massages support plate 991
Inwall on the tops of No. two hydraulic cylinders 992 and four expansion links 993, No. two hydraulic cylinders 992 and four expansion links 993 is installed
Massage sliding block 994 is installed, the left end of massage sliding block 994 is welded with swallow-tail form traveller 994a, swallow-tail form traveller 994a and dovetail
It is connected between shape chute 994b by sliding matching mode, swallowtail-shaped slide 994b is welded on the right side wall of connecting plate 98, is led to
Crossing No. two hydraulic cylinders 992 drives massage sliding block 994 to move, and massage sliding block 994 is in four expansion links 993 and swallow-tail form traveller 994a
Make stretching motion with what can be stablized under swallowtail-shaped slide 994b spaced motion, so as to have adjusted two arm massagers 99
The distance between so that the present invention is applicable the patient of different arm width, and the scope of application is big, and operating efficiency is high；The massage is slided
The upper and lower ends of block 994 are symmetrically arranged with two L-type connecting pole 994c, two L-type connecting pole 994c be symmetrically connected to arc by
Rub the back of piece 996, the back centre position of arc massage piece 996 is provided with connecting shaft 995, and connecting shaft 995 is in the axial direction
Six elastic massage side chains 997 are evenly arranged with, 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 be played to patient's arm automatic elastic massage functions；The right-hand member of the massage sliding 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,
The drive expansion plate 998 that can be stablized by five No. three hydraulic cylinders 999 makees stretching motion back and forth, and No. three hydraulic cylinders 999 are stretched
Contracting speed is different, and the massage force of elastic massage side chain 997 is different, therefore the present invention can be according to No. three hydraulic cylinders 999 of regulation
Stretching speed carry out the massage force of regulation elasticity massage side chain 997, add the level of comfort of arm-massage, massage efficiency
Good, operating efficiency is high；The No.1 ring that the elastic massage side chain 997 includes being welded on the right side of expansion plate 998 hooks 9971, No.1
Ring hooks and drawstring 9972 is connected with 9971, and the end of drawstring 9972 is connected with No. two rings and hooked on 9973, and No. two rings hook 9973 connections
In Elastic force post 9974, the end of Elastic force post 9974 is arranged in connecting shaft 995, and the top installation of Elastic force post 9974 is flexible to press
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 drawstring 9972
Ring hooks 9973 motions, and the flexible massage ball 9975 that No. two rings are hooked in 9973 drive Elastic force posts 9974 moves back and forth, by Elastic force post
9974 elastic performance allows flexible massage ball 9975 constantly to hit arc massage piece 996 back and forth, is massaged by arc
Piece 996 reaches the arm-massage function to patient to the uniform vibration force of patient's arm.
The central axis of the central axis and upper mounting plate 3 of the lower platform 1 coincides, by the firm of 6-SPS parallel institutions
The advantages that degree height and good stability, can make lower platform 1 and the keeping parallelism of upper mounting plate 3 all the time, so that arm-massage is mechanical
Hand 9 carries out to remain steady in arm lifting massage processes to patient, and stability is good, and massage effect is good, work effect
Rate is high.
The gearratio of the driving gear 96 and driven gear 95 is 2:1, reduce rotary shaft 94 by reducing gearratio
Rotary speed, so as to reduce arm massager 99 to patient massage posture speed.
The material of the 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 two according to the arm of patient is wide
The distance between individual arm massager 99, No. two hydraulic cylinders 992 are started working, and No. two hydraulic cylinders 992 drive massage sliding block 994
Mobile, massage sliding block 994 can under four expansion links 993 and swallow-tail form traveller 994a and swallowtail-shaped slide 994b spaced motion
Stretching motion is made with stable, so as to have adjusted the distance between two arm massagers 99 so that the present invention is applicable difference
The patient of arm width, the scope of application is big, and operating efficiency is high；Then need to adjust arm-massage machinery hand 9 to disease according to patient
The massage posture of human arm, rotary electric machine 97 are started working, and rotary electric machine 97 drives driving gear 96 to rotate, the band of driving gear 96
Dynamic driven gear 95 rotates, and driven gear 95 drives rotary shaft 94 to be rotated in two fixed ears 93, and rotary shaft 94 drives two pairs
Engaging lug 94a is rotated, and two couples of engaging lug 94a drive two arm massagers 99 being arranged on connecting plate 98 to rotate, so as to
Massage posture of the arm massager 99 to patient is have adjusted, level of comfort is added, adds massage effect；When patient is by hand
After arm is mutually attached on arm massaging machine tool hand 9, the tightness of regulation arm-massage machinery hand 9, mobile motor 5 is started working,
Mobile motor 5 drives mobile leading screw 4 to rotate, and is made by the spaced motion of two L-type gag lever posts 7 and two No. two line slide rails 8
The side-to-side movement on mobile leading screw 4 that sliding block 6 can be stablized must be moved, mobile sliding block 6 drives the arm on installation round platform 6a to press
The manipulator 9 that rubs synchronously moves left and right, and so as to have adjusted the tightness of arm-massage machinery hand 9, adds arm-massage effect；
Last arm massager 99 is started working, when five No. three hydraulic cylinders 999 start to make stretching motion, No. three hydraulic cylinders 999
Expansion plate 998 is driven to move, expansion plate 998 drives six elastic massage side chains 997 to move simultaneously, and elastic massage side chain 997 is logical
Crossing drawstring 9972 pulls No. two rings to hook 9973 motions, and No. two rings hook the flexible massage ball 9975 in 9973 drive Elastic force posts 9974
Backhaul dynamic, allow flexible massage ball 9975 constantly to hit arc massage piece back and forth by the elastic performance of Elastic force post 9974
996, the arm-massage function to patient is reached to the uniform vibration force of patient's arm by arc massage piece 996, it is same with this
When No.1 hydraulic cylinder 24 start working, six No.1 hydraulic cylinders 24 motion on six side chains 2 in parallel drives upper mounting plate 3 to make up and down
Move repeatedly, cause the present invention to realize stable automatic lifting massage functions by the advantages of 6-SPS parallel institutions, and by
Lower platform 1 in the present invention constitutes 6-SPS simultaneously as fixed platform, six SPS parallel connections side chains 2, upper mounting plate 3 as moving platform
Online structure, 6-SPS parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. is excellent
Point, the arm-massage machinery hand 9 that the present invention to be arranged on upper mounting plate 3 by the premium properties of 6-SPS parallel institutions is in hand
Plateau can be remained in arm massage processes, caused jitter phenomenon in massage processes is eliminated, adds and massaged
The stability of journey, improves massage effect；Solving artificial arm-massage mode needs to manually adjust massage position, massage force not
Uniformly, cumbersome and ineffective problem, also solves arm-massage existing for existing automation arm-massage mode
Width is non-adjustable, the scope of application is small, massage range is small, massage effect is poor, equipment has shake in massage processes and massage is stable
The problem of poor performance, has reached purpose.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (5)
- A kind of 1. arm-massage machine people for medical neurology department, it is characterised in that：Including lower platform (1), the lower platform (1) upper surface is uniformly provided with six side chains (2) in parallel in the axial direction, and the upper end of six side chains (2) in parallel is uniformly installed On upper mounting plate (3)；The side chain in parallel (2) includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), hollow Mode is connected through a screw thread on lower thread spindle (21) No.1 ball pivot (22) is installed, the upper end of No.1 ball pivot (22) is connected by screw thread The mode of connecing is provided with No.1 sleeve (23), and the upper end of No.1 sleeve (23) is connected through a screw thread mode and is provided with No.1 hydraulic cylinder (24), the upper end of No.1 hydraulic cylinder (24) is connected through a screw thread mode and is provided with No. two sleeves (25), No. two sleeves (25) it is upper End is connected through a screw thread mode and is provided with No. two ball pivots (26), and the upper end of No. two ball pivots (26) is connected through a screw thread mode and is provided with Hollow upper thread spindle (27), hollow upper thread spindle (27) are welded on the lower surface of upper mounting plate (3)；Upper mounting plate (3) upper end Face is symmetrically welded with two mounting ears (3a), and mobile leading screw (4), movable wire are provided with by bearing between two mounting ears (3a) The left end of thick stick (4) is provided with mobile motor (5) by shaft coupling, and mobile motor (5) is fixed on motor rack (5a), motor rack (5a) is arranged on upper mounting plate (3) by screw；The middle part of the mobile leading screw (4) is provided with mobile sliding block (6) by screw thread, The both ends of mobile sliding block (6) are symmetrically welded with two L-type gag lever posts (7), and two L-type gag lever posts (7) are separately mounted to two two On number line slide rail (8), two No. two line slide rails (8) are symmetrically mounted on upper mounting plate (3) by screw；The mobile sliding block (6) upper end is welded with installation round platform (6a), and installation is provided with arm-massage machinery hand (9) in the middle part of round platform (6a) upper surface；The arm-massage machinery hand (9) includes being arranged on the L-type fixed column (91) in the middle part of installation round platform (6a) upper surface, L-type The end of fixed column (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 fixed ears (93), rotary shaft (94), rotary shaft are provided with by bearing on two fixed ears (93) (94) driven gear (95), driven gear (95) phase in the recess of fixed plate (92) with driving gear (96) are installed in the middle part of Engagement, driving gear (96) middle part are fixed on the output shaft of rotary electric machine (97), and rotary electric machine (97) is installed by motor cabinet In fixed plate (92) side wall；The both ends of the rotary shaft (94) are symmetrically installed with two pairs of engaging lugs (94a), two pairs of engaging lugs (94a) is welded on the left side wall of connecting plate (98), and two arm-massage dresses are symmetrically installed with the right side wall of connecting plate (98) Put (99)；The arm massager (99) includes the massage support plate (991) being welded on connecting plate (98) right side wall, massages support plate (991) No. two hydraulic cylinders (992) and four expansion links (993) are installed, No. two hydraulic cylinders (992) and four stretch on inwall The top of bar (993) is provided with massage sliding block (994), and the left end of massage sliding block (994) is welded with swallow-tail form traveller (994a), swallow It is connected between tail shape traveller (994a) and swallowtail-shaped slide (994b) by sliding matching mode, swallowtail-shaped slide (994b) welding On the right side wall of connecting plate (98)；The upper and lower ends of the massage sliding block (994) are symmetrically arranged with two L-type connecting poles (994c), two L-type connecting poles (994c) are symmetrically connected to the back of arc massage piece (996), the back of the body of arc massage piece (996) Portion centre position 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)；The massage sliding block (994) right side is uniformly provided with five No. three hydraulic cylinders (999), and the top of five No. three hydraulic cylinders (999), which is arranged on, stretches The left side of contracting plate (998).
- A kind of 2. arm-massage machine people for medical neurology department according to claim 1, it is characterised in that：Under described The central axis of the central axis of platform (1) and upper mounting plate (3) coincides.
- A kind of 3. arm-massage machine people for medical neurology department according to claim 1, it is characterised in that：The master The gearratio of moving gear (96) and driven gear (95) is 2:1.
- A kind of 4. arm-massage machine people for medical neurology department according to claim 1, it is characterised in that：The bullet The No.1 ring that sex massage side chain (997) includes being welded on expansion plate (998) right side hooks (9971), and No.1 ring hooks to be connected on (9971) Drawstring (9972) is connected to, the end of drawstring (9972) is connected with No. two rings and hooked on (9973), and No. two rings hook (9973) and are connected to bullet On power post (9974), the end of Elastic force post (9974) is arranged in connecting shaft (995), and the top of Elastic force post (9974) is provided with soft Sex massage ball (9975).
- A kind of 5. arm-massage machine people for medical neurology department according to claim 1, it is characterised in that：The arc The material of shape massage piece (996) is soft rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343962.6A CN106038219B (en) | 2016-05-22 | 2016-05-22 | A kind of arm-massage machine people for medical neurology department |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343962.6A CN106038219B (en) | 2016-05-22 | 2016-05-22 | A kind of arm-massage machine people for medical neurology department |
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| Publication Number | Publication Date |
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| CN106038219A CN106038219A (en) | 2016-10-26 |
| CN106038219B true CN106038219B (en) | 2017-12-15 |
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| CN201610343962.6A Expired - Fee Related CN106038219B (en) | 2016-05-22 | 2016-05-22 | A kind of arm-massage machine people for medical neurology department |
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| CN107753263A (en) * | 2017-11-21 | 2018-03-06 | 钟光文 | A kind of massage arm equipment |
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| JP2008521454A (en) * | 2004-11-30 | 2008-06-26 | アイトゲネッシーシェ テヒニッシェ ホッホシューレ チューリッヒ | System and method for cooperative arm treatment and corresponding rotation module |
| CN102499850B (en) * | 2011-10-12 | 2013-11-27 | 北京航空航天大学 | Chinese medical massage robot |
| KR101498578B1 (en) * | 2013-06-03 | 2015-03-04 | 한국과학기술연구원 | Gait rehabilitation robot having leg length adjustment mechanism |
| CN104257483B (en) * | 2014-07-06 | 2016-04-27 | 哈尔滨工大智慧工厂有限公司 | A kind of massaging cervical vertebra robot based on Stewart parallel institution |
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Effective date of registration: 20171108 Address after: 273300 No. 33 Hing Shui street, Pingyi County, Linyi, Shandong Applicant after: Wang Runli Address before: 246001, room 3, building 80, No. 409, Tianzhu mountain road, Anqing Development Zone, Anhui, China Applicant before: ANQING HAINA INFORMATION TECHNOLOGY CO., LTD. |
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