CN106236558A - A kind of back massage robot - Google Patents
A kind of back massage robot Download PDFInfo
- Publication number
- CN106236558A CN106236558A CN201610766584.2A CN201610766584A CN106236558A CN 106236558 A CN106236558 A CN 106236558A CN 201610766584 A CN201610766584 A CN 201610766584A CN 106236558 A CN106236558 A CN 106236558A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- chassis
- screw mandrel
- connecting rod
- arc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000003028 elevating effect Effects 0.000 claims abstract description 11
- 230000003287 optical effect Effects 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 4
- 201000010099 disease Diseases 0.000 abstract description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 4
- 230000000474 nursing effect Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000001467 acupuncture Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
- A61H2201/1626—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a kind of back massage robot, comprising: two-dimensional positioning system, including workbench and planar positioning mechanism；Lowering or hoisting gear, is fixed on described workbench, and described lowering or hoisting gear includes hoistable platform and elevating mechanism；Arrangement for deflecting, it is fixed on described lowering or hoisting gear, described arrangement for deflecting includes support frame, arc guide rail, circular arc slide block and deflection mechanism, described arc guide rail is rotatably connected at the two ends of described support frame after being inverted, described circular arc slide block is slidably connected on described arc guide rail, described deflection mechanism is used for driving described circular arc slide block to slide along described arc guide rail, and is additionally operable to drive described arc guide rail to rotate around described support frame；By pushing device, it is fixed on the upper surface of described circular arc slide block, also includes controller.The back point of human body can be positioned and suit with optimal angle by the present invention accurately, can carry out the massage operation that Special Nursing in Special Disease is controlled, its practical, simple in construction and easy to use.
Description
Technical field
The present invention relates to medical health equipment technical field, particularly relate to a kind of back massage robot.
Background technology
Modern's rhythm of life is fast, increasingly pays close attention to health care's aspect.The medical procedure massaging this physical property is fitted
For each stratum, the method used for all ages and classes different crowd is also not quite similar at age.One is used at human acupoint
Fixed manipulation, can reach dredging the meridian, a surname venting QI-blood, alleviating pain and detumescence, easing joint movement, adhesion of loosening, regulate and improve
Internal organs function.From massage kind, medical massage, therapeutic massage, sports massage can be divided into.Massage is mainly used in human body head
Portion, thorax abdomen, extremity portion and lower back four large part.Chinese traditional massage maneuver is changeable, have poking meridian method, some method, pressing maneuver, dial method, grasping manipulation,
Pushing manipulation, rolling manipulation etc..For health flexibly, these can realize, and for machine, it is however generally that can reach one to
Two kinds of maneuvers.
The most existing massage machine, is mainly applicable to general, pervasive relaxing massage, and massaging hand at present
Method is single, the extruding massage of multiplex roller, is difficult to act on a certain concrete acupuncture point of human body.So being also more one for from effect
As, substantially can only achieve degree of relaxation.For there being the sufferer of some particular demands, overwhelming majority electric massage chair is unable to
Reach preferable effect.
Summary of the invention
A kind of back massage robot of offer is provided, the back point of human body can be carried out accurately
Location suit with optimal angle, the massage operation that Special Nursing in Special Disease is controlled can be carried out, practical, simple in construction and easy to use.
To achieve these goals, the present invention provides a kind of back massage robot, it is characterised in that including:
Two-dimensional positioning system, including workbench and planar positioning mechanism, described planar positioning mechanism is used for driving described work
Station is in X direction or Y-direction moves horizontally；
Lowering or hoisting gear, is fixed on described workbench, and described lowering or hoisting gear includes hoistable platform and elevating mechanism, described liter
Descending mechanism is used for driving described hoistable platform to rise or fall；
Arrangement for deflecting, is fixed on described lowering or hoisting gear, and described arrangement for deflecting includes support frame, arc guide rail, circular arc
Slide block and deflection mechanism, described arc guide rail is rotatably connected at the two ends of described support frame after being inverted, described circular arc slide block
Being slidably connected on described arc guide rail, described deflection mechanism is used for driving described circular arc slide block to slide along described arc guide rail
Dynamic, and be additionally operable to drive described arc guide rail to rotate around described support frame；
By pushing device, it is fixed on the upper surface of described circular arc slide block, for human body back is massaged；
Controller, respectively with described two-dimensional positioning system, lowering or hoisting gear, arrangement for deflecting and be connected by pushing device.
According to a preferred embodiment of the invention: described workbench includes X-direction chassis and Y-direction chassis, described Y-direction
Chassis is positioned at the top on described X-direction chassis, and described planar positioning mechanism includes:
First screw mandrel, is arranged on chassis interior, and described first screw mandrel through behind the bottom on described X-direction chassis with first
Motor is connected, and wherein, described first screw mandrel coordinates with the lower thread on described X-direction chassis；
Second screw mandrel, is arranged on the top on described X-direction chassis, and described second screw mandrel is through described Y-direction chassis
Being connected with the second motor behind bottom, wherein, described second screw mandrel coordinates with the lower thread on described Y-direction chassis, Yi Jisuo
State lowering or hoisting gear and be fixed on the upper surface on described Y-direction chassis.
According to a preferred embodiment of the invention: described elevating mechanism includes: described planar positioning mechanism also includes:
X-direction guiding mechanism, guides optical axis, described X-direction including the X-direction being symmetricly set on described first screw mandrel both sides
Guide optical axis to be connected with base behind described X-direction chassis；
Y-direction guiding mechanism, guides optical axis, described Y-direction including the Y-direction being symmetricly set on described second screw mandrel both sides
Guide optical axis to be connected with the top on X-direction chassis behind described Y-direction chassis.
According to a preferred embodiment of the invention: described elevating mechanism include corner brace, first connecting rod, second connecting rod, the 3rd
Screw mandrel, nut slider and support column；
Described corner brace and the upper surface being fixed on described Y-direction chassis at support column interval, one end of described 3rd screw mandrel
Being connected with lifting motor, its other end matches with described nut slider after described support column,
One end of described first connecting rod is hinged with described nut slider, one end of described second connecting rod and described corner brace phase
Hinged, with the lower surface phase of described hoistable platform after the other end of described first connecting rod and the other end chain connection of second connecting rod
Connect；
According to a preferred embodiment of the invention: described elevating mechanism also includes third connecting rod, described third connecting rod and institute
State second connecting rod to be arranged in parallel, and the two ends of described third connecting rod lower surface with described corner brace and hoistable platform the most respectively cuts with scissors mutually
Connect.
According to a preferred embodiment of the invention: described deflection mechanism includes roller, deflection motor and push-rod electric machine, described
Circular arc slide block includes arc plate and lower arc plate, and described roller is connected between described upper arc plate and lower arc plate, described
Deflection motor is used for driving described roller to rotate, and described push-rod electric machine is fixed on the upper surface of described hoistable platform, and is used for driving
Dynamic described arc guide rail rotates along described support frame.
According to a preferred embodiment of the invention: the two ends of described arc guide rail are additionally provided with sleeve, described sleeve passes through pin
Axle is connected with described support frame.
According to a preferred embodiment of the invention: described include by pushing device:
By push rod, be located in arc block, and be slidably connected with described arc block, described arc block also with described upper circular arc
Plate is connected,
Guide pipe, is set in described by the outside of push rod, and is connected with described arc block,
Wherein, described be additionally provided with one by cutting somebody's hair by one end of push rod, described by cut somebody's hair with described by push rod by flexible electricity
Machine is connected.
According to a preferred embodiment of the invention: described controller is additionally provided with a control panel, described control panel is used for
It is manually entered operation information.
The beneficial effects of the present invention is: utilize two-dimensional positioning system to need the acupuncture point of massage to carry out substantially human body back
Location, then utilize lowering or hoisting gear eliminate produce because of the natural torsion of human body back with robot end by pushing device it
Between gap, the most again by arrangement for deflecting by forming the angle suited most by pushing device and human body back grain, final fixed
Make robot end's to perform dynamic by pushing by pushing device after Wei, thus reach to massage muscles and bones and eliminate ailing effect.The present invention
The back point of human body can be positioned accurately and suit with optimal angle, the massage operation that Special Nursing in Special Disease is controlled can be carried out, its
Practical, simple in construction and easy to use.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the back massage robot of the present invention；
Fig. 2 is the structural representation of the two-dimensional positioning system of the back massage robot of the present invention；
Fig. 3 is the structural representation of the lowering or hoisting gear of the back massage robot of the present invention；
Fig. 4 is the structural representation of the arrangement for deflecting of the back massage robot of the present invention；
Fig. 5 be the back massage robot of the present invention by the structural representation of pushing device.
Detailed description of the invention
Below in conjunction with the accompanying drawings the preferred embodiments of the present invention are described in detail, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, thus protection scope of the present invention is made apparent clear and definite defining.
The central scope of the present invention is: by two-dimensional positioning system, lowering or hoisting gear, arrangement for deflecting and by machineries such as pushing devices
Structure forms, and control system mainly uses controller to be controlled as core parts, when human body front is fixed on bolster apparatus
After on, user can on the guidance panel of controller input operation information, after this operation information transmission via controller processes, then lead to
The motor of each device of module drive of overdriving carries out action, thus drives corresponding device to carry out action, finally makes robot
Location can accurately be realized and select optimal angle to suit.
Refering to shown in Fig. 1 and Fig. 4, the back massage robot of the present invention, comprising:
Two-dimensional positioning system 1, including workbench 11 and planar positioning mechanism 12, planar positioning mechanism 12 is used for driving work
Platform 1 is in X direction or Y-direction moves horizontally；
Lowering or hoisting gear 2, is fixed on workbench 11, and this lowering or hoisting gear 2 includes hoistable platform 21 and elevating mechanism 22, lifting
Mechanism 22 is used for driving hoistable platform 21 to rise or fall；
Arrangement for deflecting 3, is fixed on lowering or hoisting gear 2, and arrangement for deflecting 3 includes that support frame 31, arc guide rail 32, circular arc are sliding
Block 33 and deflection mechanism 34, arc guide rail 32 is rotatably connected at the two ends of support frame 31 after being inverted, and circular arc slide block 33 slides
Being connected on arc guide rail 32, deflection mechanism 34 is used for driving circular arc slide block 33 to slide along arc guide rail 32, and also uses
Rotate around support frame 31 in driving arc guide rail 32；
By pushing device 4, it is fixed on the upper surface of circular arc slide block 33, for human body back is massaged；
Controller 5, respectively with two-dimensional positioning system 1, lowering or hoisting gear 2, arrangement for deflecting 3 and be connected by pushing device 4.
The present invention utilizes two-dimensional positioning system 1 to need the acupuncture point of massage substantially to position human body back, then utilizes
Lowering or hoisting gear 2 eliminate that produce because of the natural torsion of human body back and robot end by the gap between pushing device 4, with
After again by arrangement for deflecting 3 by forming the angle suited most by pushing device 4 and human body back grain, behind final location, make machine
Robot end perform by pushing dynamic by pushing device 4, thus reach to massage muscles and bones and eliminate ailing effect.The present invention can be to human body
Back point positions accurately and suits with optimal angle, can carry out the massage operation that Special Nursing in Special Disease is controlled, its practical, knot
Structure is simple and easy to use.
Refering to shown in Fig. 2, the workbench 11 of the present invention includes X-direction chassis 111 and Y-direction chassis 112, Y-direction chassis
112 tops being positioned at X-direction chassis 111, the planar positioning mechanism 12 of the present invention includes:
First screw mandrel 121, is arranged on base 123 internal, and the first screw mandrel 121 through behind the bottom on X-direction chassis 111 with
First motor 124 is connected, and wherein, the first screw mandrel 121 coordinates with the lower thread on X-direction chassis 111；
Second screw mandrel 122, is arranged on the top on X-direction chassis 111, and the second screw mandrel 122 is through Y-direction chassis 112
Being connected with the second motor 125 behind bottom, wherein, the second screw mandrel 122 coordinates with the lower thread on Y-direction chassis 112, Yi Jisheng
Falling unit 2 is fixed on the upper surface on Y-direction chassis 112.
The present invention rotates driving the first screw mandrel 121 and the second screw mandrel respectively by the first motor 124 and the second motor 125
122 rotate, so that the Y-direction chassis 112 being fixed with lowering or hoisting gear 2 can move along horizontal X direction or Y-direction,
Realize the Primary Location in plane eventually.
In another embodiment of the present invention, planar positioning mechanism 12 also includes:
X-direction guiding mechanism, guides optical axis 126 including the X-direction being symmetricly set on the first screw mandrel 121 both sides, and X-direction is led
It is connected with base 123 behind X-direction chassis 111 to optical axis 126；
Y-direction guiding mechanism, guides optical axis 127 including the Y-direction being symmetricly set on the second screw mandrel 122 both sides, and Y-direction is led
It is connected with the top on X-direction chassis 111 behind Y-direction chassis 112 to optical axis 127.
In the present invention, X-direction guiding mechanism is set and Y-direction guiding mechanism Main Function is: for X-direction chassis 111
The offer that moves horizontally with Y-direction chassis 112 guides, and improves X-direction chassis 111 and the positioning precision on Y-direction chassis 112.
Refering to shown in Fig. 3, elevating mechanism 22 includes corner brace 221, first connecting rod 222, second connecting rod the 223, the 3rd screw mandrel
224, nut slider 225 and support column 226；
Corner brace 221 and the upper surface being fixed on Y-direction chassis 112 at support column 226 interval, one end of the 3rd screw mandrel 224
Being connected with lifting motor 227, its other end matches with nut slider 225 after support column 226,
One end of first connecting rod 222 is hinged with nut slider 225, and one end of second connecting rod 223 is cut with scissors with corner brace 221 phase
Connecing, the other end of first connecting rod 222 is connected with lower surface with hoistable platform 21 after the other end chain connection of second connecting rod 223
Connect；
Rotarily drive the 3rd screw mandrel 224 by lifting motor 227 to rotate, make nut slider 225 along the axle of the 3rd screw mandrel 224
Line moves horizontally on direction so that first connecting rod 222 and second connecting rod 223 is close to each other or away from, and then drive lifting flat
Platform 21 rises or falls.
In the embodiment of the present invention, due to the curve with natural torsion of human body back, so at planar positioning mechanism 12
Middle when determining massage position it is possible that the gap in vertical direction, back or precompression, in order to solve this problem, lifting
Mechanism 22 also includes that third connecting rod 228, third connecting rod 228 be arranged in parallel with second connecting rod 223, and the two ends of third connecting rod 228
Lower surface with corner brace 221 and hoistable platform 21 is hinged the most respectively.Due to third connecting rod 228 and second connecting rod 223 composition
Parallelogram linkage, it in turn ensure that the vertical of hoistable platform 21 while hoistable platform 21 vertically moves guaranteeing,
Thus carry out place mat for follow-up angular adjustment.
Refering to shown in Fig. 4, deflection mechanism 34 includes roller 341, deflection motor 342 and push-rod electric machine 343, circular arc slide block 33
Including upper arc plate 331 and lower arc plate 332, roller 341 is connected between arc plate 331 and lower arc plate 332, deflection electricity
Machine 342 rotates for driving rolls 341.Push-rod electric machine 343 is fixed on the upper surface of hoistable platform 21, and is used for driving circular arc to lead
Rail 32 rotates along support frame 31.Wherein, the two ends of arc guide rail 32 are additionally provided with sleeve 321, sleeve 321 by bearing pin with
Support frame 31 is connected.
The deflection mechanism 34 of the present invention is accomplished that the rotary motion around two orthogonal straight lines, a deflection motor
342 promote arc guide rail 32 (being circular arc H profile steel in the present invention) to rotate along two ends sleeve 321 place straight line in side.Deflection electricity
Machine 342 driving rolls 341 rotates, and in drive, arc plate 331 and lower arc plate 332 move, upper arc plate 331 and lower circular arc
Plate 332 is limited by the shape of arc guide rail 32 and limits, and the track of motion is arc section.Plus by pushing device 4 in assembly
After, it can be seen that when circular arc slide block 33 moves, end will not be changed by the position of pushing device 4.Therefore, massage is being determined
Position with ensure that end and human body back contact after, need regulation by pushing device 4 by cut somebody's hair 44 with human body back muscle
During the forced position of network, immovable after present invention can assure that setting massage position in the case of, utilize arc guide rail 32 to make
End by cut somebody's hair 44 position keep constant, thus finally determine the best angle by pushing away and suit.
Refering to shown in Fig. 5, include by pushing device 4:
By push rod 41, it is located in arc block 42, and is slidably connected with arc block 42, arc block 42 and upper arc plate 331
It is connected,
Guide pipe 43, is set in the outside by push rod 41, and is connected with arc block 42,
Wherein, be additionally provided with one by cutting somebody's hair 44 by one end of push rod 41, by cut somebody's hair 44 with by push rod 41 by telescope motor 45
It is connected.Under telescope motor 45 acts on, straight reciprocating motion can be made along guide pipe 43 by push rod 44.Finally determine by
The position rubbed and by 44 angles with human body back of cutting somebody's hair after, just can utilize and 44 human body back grain be carried out by cutting somebody's hair
Massage.
Controller 5 is additionally provided with a control panel 51, and control panel 51 is used for being manually entered operation information.By controller 5
Be controlled, improve the intelligence degree of robot, make user use convenient simply.
Below for back massage robot motion flow come the invention will be described further:
When operator prepares to proceed by massage, system first initializes, each device Aligning control, waits and being applied by massage people
Order.Be first carried out is the positioning action in X-Y plane, operator control the first motor 124 and by control panel
Two motors 125 rotate, and move via feed screw nut adjutant and transmit as the movement in plane to reach the plane positioning of workbench 11.
Being eliminated in gap in Z-direction by lowering or hoisting gear 2, contact is to human body the most again.When location is equipped with by pushing with required partially
Difference, system will be reorientated, will be set to successfully until user determines.Perform subsequently is direction finder, by two rotary pairs
The arrangement for deflecting of composition will rotate to an angle along rotating around X-axis with Y-axis, until user feel pressing angle properly after the most true
Determine direction to position successfully.Be defined as again by push position and by pushing away angle after, operation just can select by the time of pushing away, and waits machine
The automatic massage of people.At this moment, be robot end effector mechanism by push rod 41 carry out repeatedly by push operation, by push rod 44
Range displacement be 5mm, this is the value initially set up, it is also possible to be modified according to the actual requirements, it is ensured that back is not subject to
To by cut somebody's hair 44 injury.
Above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, any without
Cross change or replacement that creative work is expected, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with the protection domain that claims are limited.
Claims (9)
1. a back massage robot, it is characterised in that including:
Two-dimensional positioning system, including workbench and planar positioning mechanism, described planar positioning mechanism is used for driving described workbench
In X direction or Y-direction moves horizontally；
Lowering or hoisting gear, is fixed on described workbench, and described lowering or hoisting gear includes hoistable platform and elevating mechanism, described elevator
Structure is used for driving described hoistable platform to rise or fall；
Arrangement for deflecting, is fixed on described lowering or hoisting gear, and described arrangement for deflecting includes support frame, arc guide rail, circular arc slide block
And deflection mechanism, described arc guide rail is rotatably connected at the two ends of described support frame after being inverted, and described circular arc slide block slides
Being connected on described arc guide rail, described deflection mechanism is used for driving described circular arc slide block to slide along described arc guide rail,
And be additionally operable to drive described arc guide rail to rotate around described support frame；
By pushing device, it is fixed on the upper surface of described circular arc slide block, for human body back is massaged；
Controller, respectively with described two-dimensional positioning system, lowering or hoisting gear, arrangement for deflecting and be connected by pushing device.
2. back massage robot as claimed in claim 1, it is characterised in that described workbench includes X-direction chassis and Y side
To chassis, described Y-direction chassis is positioned at the top on described X-direction chassis, and described planar positioning mechanism includes:
First screw mandrel, is arranged on chassis interior, and described first screw mandrel through behind the bottom on described X-direction chassis with the first motor
Being connected, wherein, described first screw mandrel coordinates with the lower thread on described X-direction chassis；
Second screw mandrel, is arranged on the top on described X-direction chassis, and described second screw mandrel is through the bottom on described Y-direction chassis
Being connected with the second motor afterwards, wherein, described second screw mandrel coordinates with the lower thread on described Y-direction chassis, and described liter
Falling unit is fixed on the upper surface on described Y-direction chassis.
3. back massage robot as claimed in claim 2, it is characterised in that described elevating mechanism includes: described plane is fixed
Position mechanism also includes:
X-direction guiding mechanism, guides optical axis including the X-direction being symmetricly set on described first screw mandrel both sides, and described X-direction guides
Optical axis is connected with base behind described X-direction chassis；
Y-direction guiding mechanism, guides optical axis including the Y-direction being symmetricly set on described second screw mandrel both sides, and described Y-direction guides
Optical axis is connected with the top on X-direction chassis behind described Y-direction chassis.
4. as claimed in claim 2 or claim 3 back massage robot, it is characterised in that described elevating mechanism include corner brace, first
Connecting rod, second connecting rod, the 3rd screw mandrel, nut slider and support column；
Described corner brace and the upper surface being fixed on described Y-direction chassis at support column interval, one end of described 3rd screw mandrel and liter
Fall motor is connected, and its other end matches with described nut slider after described support column,
One end of described first connecting rod is hinged with described nut slider, and one end of described second connecting rod is cut with scissors mutually with described corner brace
Connecing, the other end of described first connecting rod is connected with lower surface with described hoistable platform after the other end chain connection of second connecting rod
Connect.
5. back massage robot as claimed in claim 4, it is characterised in that described elevating mechanism also includes third connecting rod,
Described third connecting rod be arranged in parallel with described second connecting rod, and the two ends of described third connecting rod the most respectively with described corner brace and lifting
The lower surface of platform is hinged.
6. back massage robot as claimed in claim 1, it is characterised in that described deflection mechanism includes roller, deflection electricity
Machine and push-rod electric machine, described circular arc slide block includes arc plate and lower arc plate, described roller be connected to described upper arc plate and
Between lower arc plate, described deflection motor is used for driving described roller to rotate, and described push-rod electric machine is fixed on described hoistable platform
Upper surface, and be used for driving described arc guide rail to rotate along described support frame.
7. back massage robot as claimed in claim 6, it is characterised in that the two ends of described arc guide rail are additionally provided with set
Cylinder, described sleeve is connected with described support frame by bearing pin.
Back massage robot the most as claimed in claims 6 or 7, it is characterised in that described include by pushing device:
By push rod, be located in arc block, and be slidably connected with described arc block, described arc block also with described upper arc plate phase
Connect,
Guide pipe, is set in described by the outside of push rod, and is connected with described arc block,
Wherein, described be additionally provided with one by cutting somebody's hair by one end of push rod, described by cut somebody's hair with described by push rod by telescope motor phase
Connect.
9. back massage robot as claimed in claim 1, it is characterised in that described controller is additionally provided with a control panel,
Described control panel is used for being manually entered operation information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766584.2A CN106236558B (en) | 2016-08-30 | 2016-08-30 | A kind of back massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766584.2A CN106236558B (en) | 2016-08-30 | 2016-08-30 | A kind of back massage robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106236558A true CN106236558A (en) | 2016-12-21 |
| CN106236558B CN106236558B (en) | 2018-07-10 |
Family
ID=58079439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610766584.2A Expired - Fee Related CN106236558B (en) | 2016-08-30 | 2016-08-30 | A kind of back massage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106236558B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945057A (en) * | 2017-05-22 | 2017-07-14 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN107789173A (en) * | 2017-12-04 | 2018-03-13 | 刘弟军 | A kind of medical massage bed |
| CN109009971A (en) * | 2018-08-17 | 2018-12-18 | 浙江工业大学之江学院 | A kind of Intelligent massaging device with automatic positioning function |
| CN110788872A (en) * | 2019-12-09 | 2020-02-14 | 哈尔滨理工大学 | Foot both sides reflecting region massage robot |
| CN110812162A (en) * | 2019-11-22 | 2020-02-21 | 辽宁工程技术大学 | Remote control back, shoulder and waist massage equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1533760A (en) * | 2003-03-27 | 2004-10-06 | 许尹萍 | Programmable digital systematic massager |
| CN203258311U (en) * | 2013-05-15 | 2013-10-30 | 王小中 | Computer display movement supporting frame capable of preventing cervical spondylosis |
| CN104161649A (en) * | 2014-08-21 | 2014-11-26 | 上海中医药大学附属岳阳中西医结合医院 | Pressing and swinging massage simulation device |
| CN104942814B (en) * | 2015-06-30 | 2016-09-14 | 佛山市新恒萃材料科技有限公司 | A kind of multi-purpose robot |
| CN105496725B (en) * | 2015-12-09 | 2017-06-16 | 东南大学 | A kind of Three Degree Of Freedom thumb rehabilitation training mechanism |
| CN105818151A (en) * | 2016-05-18 | 2016-08-03 | 镇江高等职业技术学校 | Traditional Chinese medicine massage robot based on force tracking and using method thereof |
-
2016
- 2016-08-30 CN CN201610766584.2A patent/CN106236558B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945057A (en) * | 2017-05-22 | 2017-07-14 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
| CN107789173A (en) * | 2017-12-04 | 2018-03-13 | 刘弟军 | A kind of medical massage bed |
| CN109009971A (en) * | 2018-08-17 | 2018-12-18 | 浙江工业大学之江学院 | A kind of Intelligent massaging device with automatic positioning function |
| CN110812162A (en) * | 2019-11-22 | 2020-02-21 | 辽宁工程技术大学 | Remote control back, shoulder and waist massage equipment |
| CN110812162B (en) * | 2019-11-22 | 2021-12-31 | 辽宁工程技术大学 | Remote control back, shoulder and waist massage equipment |
| CN110788872A (en) * | 2019-12-09 | 2020-02-14 | 哈尔滨理工大学 | Foot both sides reflecting region massage robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106236558B (en) | 2018-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106236558A (en) | A kind of back massage robot | |
| KR101163903B1 (en) | Robot shoulder appratus for stroke patients rehabilitation | |
| CN107088139B (en) | Horizontal rehabilitation robot for lower limb movement disorder type patient | |
| KR20190128133A (en) | Rehabilitation training apparatus | |
| CN205598172U (en) | Intelligence upper limbs joint rehabilitation ware | |
| KR101559551B1 (en) | Exercising Apparatus for Joint | |
| CN107361994A (en) | Hand rehabilitation training device with wrist rehabilitation training function | |
| CN109512637B (en) | Hemiplegia rehabilitation training instrument | |
| CN101357097A (en) | Five degree of freedom ectoskeleton type upper limb rehabilitation robot | |
| CN104606035A (en) | Three-degree-of-freedom series-parallel type robot for traditional Chinese medicine manipulation and massage | |
| KR20150082711A (en) | Armrest type excercise device for upper limb rehabilitation | |
| CN110522606B (en) | Pedal type gait rehabilitation training device | |
| CN103230335A (en) | Novel electric walking trainer | |
| CN104905934A (en) | Novel hemiplegia standing training bed | |
| CN109718056A (en) | A kind of double rotary block type Mammary cancer device for healing and training and application method | |
| CN209301637U (en) | Personalized upper-limbs rehabilitation training robot | |
| CN109938969A (en) | Patients ' recovery training device | |
| CN101810515A (en) | A kind ofly be suitable for the automatically controlled surgery systems that multimedia teaching is used | |
| CN108992306A (en) | A kind of multiple degrees of freedom Table top type thumb convalescence device | |
| CN113633522B (en) | Exoskeleton type upper limb rehabilitation training robot | |
| CN201624784U (en) | Electrically controlled surgical system adaptable to multimedia teaching | |
| CN209734475U (en) | Double-rotary-block type postoperative rehabilitation training device for breast cancer | |
| CN113057815B (en) | Horizontal four-limb rehabilitation physiotherapy method and device | |
| CN104970945B (en) | A kind of lower limbs rehabilitation training robot system | |
| CN106176144A (en) | A kind of medical rehabilitation mechanical hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180710 |