CN106236558B - A kind of back massage robot - Google Patents
A kind of back massage robot Download PDFInfo
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- CN106236558B CN106236558B CN201610766584.2A CN201610766584A CN106236558B CN 106236558 B CN106236558 B CN 106236558B CN 201610766584 A CN201610766584 A CN 201610766584A CN 106236558 B CN106236558 B CN 106236558B
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- guide rail
- chassis
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- screw
- connecting rod
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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
- 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
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- 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, including：Two-dimensional positioning system, including workbench and planar positioning mechanism；Lifting gear is fixed on the workbench, and the lifting gear includes hoistable platform and elevating mechanism；Arrangement for deflecting, it is fixed on the lifting gear, the arrangement for deflecting includes braced frame, arc guide rail, circular arc sliding block and deflection mechanism, rotatable connection is at the both ends of the braced frame after the arc guide rail is inverted, the circular arc sliding block is slidably connected on the arc guide rail, the deflection mechanism is used to that the circular arc sliding block to be driven to be slided and be additionally operable to along the arc guide rail that the arc guide rail is driven to rotate around the braced frame；By pushing device, the upper surface of the circular arc sliding block is fixed on, further includes controller.The present invention can carry out the back point of human body accurately positioning and suit with best angle, can carry out the massage operation that Special Nursing in Special Disease is controlled, the practicality is strong, simple in structure and easy to use.
Description
Technical field
The present invention relates to medical health equipment technical field more particularly to a kind of back massage robots.
Background technology
Modern life rhythm is fast, to increasingly being paid close attention in terms of health care.This physical medical procedure is massaged to fit
For each age stratum, also it is not quite similar for the method that all ages and classes different crowd uses.One is used at human acupoint
Fixed manipulation can reach dredging the channel, a surname's venting QI-blood, alleviating pain and detumescence, easing joint movement, adhesion of loosening, adjusting and raising
Internal organs function.From massage type, medical massage, therapeutic massage, sports massage can be divided into.Massage is mainly used for human body head
Portion, four big position of thorax abdomen, four limbs portion and the small of the back.Chinese traditional massage gimmick is changeable, rub method, point method, by method, dial method, the way of holding something,
Pushing manipulation, rolling method etc..These can be realized for flexible body, and for machine, it is however generally that can reach one to
Two kinds of gimmicks.
Current massage machine existing on the market, mainly suitable for general, pervasive relaxing massage, and massaging hand
Method is single, is mostly used idler wheel and squeezes massage, it is difficult to act on a certain specific acupuncture point of human body.So it is also more one for from effect
As, it substantially can only achieve degree of relaxation.For there is the sufferer of some particular demands, most electric massage chairs are unable to
Reach ideal effect.
Invention content
It is a primary object of the present invention to provide a kind of back massage robot, it is accurate that the back point of human body can be carried out
Positioning suit with best angle, the massage operation that Special Nursing in Special Disease is controlled can be carried out, it is highly practical, simple in structure and easy to use.
To achieve these goals, the present invention provides a kind of back massage robot, including：
Two-dimensional positioning system, including workbench and planar positioning mechanism, the planar positioning mechanism is used to drive the work
Make platform in X direction or Y-direction moves horizontally；
Lifting gear is fixed on the workbench, and the lifting gear includes hoistable platform and elevating mechanism, the liter
Descending mechanism is used to that the hoistable platform to be driven to rise or fall；
Arrangement for deflecting is fixed on the lifting gear, and the arrangement for deflecting includes braced frame, arc guide rail, circular arc
Sliding block and deflection mechanism, rotatable connection is in the both ends of the braced frame, the circular arc sliding block after the arc guide rail is inverted
It is slidably connected on the arc guide rail, the deflection mechanism is used to that the circular arc sliding block to be driven to be slided along the arc guide rail
It moves and is additionally operable to that the arc guide rail is driven to rotate around the braced frame；
By pushing device, the upper surface of the circular arc sliding block is fixed on, for massaging human body back；
Controller, respectively with the two-dimensional positioning system, lifting gear, arrangement for deflecting and being connected by pushing device,
The workbench includes X-direction chassis and Y-direction chassis, and the Y-direction chassis is located at the upper of the X-direction chassis
Side, the planar positioning mechanism include：
First screw, mounted on chassis interior, and first screw is passed through behind the lower part on the X-direction chassis with first
Motor is connected, wherein, first screw and the lower thread on the X-direction chassis coordinate；
Second screw, mounted on the top on the X-direction chassis, and second screw passes through the Y-direction chassis
It is connected behind lower part with the second motor, wherein, second screw and the lower thread on the Y-direction chassis coordinate, Yi Jisuo
The upper surface that lifting gear is fixed on the Y-direction chassis is stated,
The planar positioning mechanism further includes：
X-direction guiding mechanism, the X-direction including being symmetricly set on the first screw both sides are oriented to optical axis, the X-direction
It is oriented to after optical axis passes through the X-direction chassis and is connected with pedestal；
Y-direction guiding mechanism, the Y-direction including being symmetricly set on the second screw both sides are oriented to optical axis, the Y-direction
It is oriented to after optical axis passes through the Y-direction chassis and is connected with the top on X-direction chassis,
The elevating mechanism includes corner brace, first connecting rod, second connecting rod, third screw, nut slider and support column；
The corner brace and the upper surface for being fixed on the Y-direction chassis at support column interval, one end of the third screw
It is connected with lifting motor, the other end matches after passing through the support column with the nut slider,
One end of the first connecting rod is hinged with the nut slider, one end of the second connecting rod and the corner brace phase
It is hinged, the lower surface phase after the other end hinge connection of the other end and second connecting rod of the first connecting rod with the hoistable platform
Connection；
The elevating mechanism further includes third connecting rod, and the third connecting rod is arranged in parallel, and described with the second connecting rod
Lower surface of the both ends of third connecting rod also respectively with the corner brace and hoistable platform is hinged.
According to a preferred embodiment of the invention：The deflection mechanism includes idler wheel, deflection motor and push-rod electric machine, described
Circular arc sliding block includes upper arc plate and lower arc plate, and the idler wheel is connected between the upper arc plate and lower arc plate, described
Deflection motor is for driving the idler wheel to rotate, and the push-rod electric machine is fixed on the upper surface of the hoistable platform, and for driving
The arc guide rail is moved to be rotated along the braced frame.
According to a preferred embodiment of the invention：The both ends of the arc guide rail are additionally provided with sleeve, and the sleeve passes through pin
Axis is connected with the braced frame.
According to a preferred embodiment of the invention：It is described to include by pushing device：
By push rod, be threaded through in arc block, and be slidably connected with the arc block, the arc block also with the upper circular arc
Plate is connected,
Guide pipe is set in the outside by push rod, and is connected with the arc block,
Wherein, it is described to be additionally provided with one by cutting somebody's hair by one end of push rod, it is described to pass through flexible electricity by push rod with described by cutting somebody's hair
Machine is connected.
According to a preferred embodiment of the invention：The controller is additionally provided with a control panel, and the control panel is used for
It is manually entered operation information.
The beneficial effects of the present invention are：The acupuncture point massaged using two-dimensional positioning system human body back needs is carried out substantially
Positioning, then using lifting gear eliminate because generated during the natural torsion of human body back with robot end by pushing device it
Between gap, then again will be by pushing device and the angle that most suits of human body back grain formation, finally fixed by arrangement for deflecting
Being performed by pushing device for robot end is made to be moved by push behind position, slight illness is eliminated so as to achieve the effect that massage muscles and bones.The present invention
Accurately positioning can be carried out to the back point of human body with best angle to suit, and can carry out the massage operation that Special Nursing in Special Disease is controlled,
It is highly practical, simple in structure and easy to use.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram of the back massage robot of the present invention；
Fig. 2 is the structure diagram of the two-dimensional positioning system of the back massage robot of the present invention；
Fig. 3 is the structure diagram of the lifting gear of the back massage robot of the present invention；
Fig. 4 is the structure diagram of the arrangement for deflecting of the back massage robot of the present invention；
Fig. 5 is the structure diagram by pushing device of the back massage robot of the present invention.
Specific embodiment
The preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
The central scope of the present invention is：By two-dimensional positioning system, lifting gear, arrangement for deflecting and by pushing device etc. it is mechanical
Structure composition, control system are mainly controlled using controller as core element, when human body front is fixed on bolster apparatus
After upper, user can input operation information on the operation panel of controller, after which transmits via controller processing, then lead to
The motor of each device of module drive of overdriving is acted, and so as to which corresponding device be driven to be acted, finally makes robot
It can accurately realize positioning and best angle is selected to suit.
Refering to shown in Fig. 1 and Fig. 4, back massage robot of the invention, including：
Two-dimensional positioning system 1, including workbench 11 and planar positioning mechanism 12, planar positioning mechanism 12 is used to drive work
Platform 1 is in X direction or Y-direction moves horizontally；
Lifting gear 2 is fixed on workbench 11, which includes hoistable platform 21 and elevating mechanism 22, lifting
Mechanism 22 is used to that hoistable platform 21 to be driven to rise or fall；
Arrangement for deflecting 3 is fixed on lifting gear 2, and arrangement for deflecting 3 includes braced frame 31, arc guide rail 32, circular arc and slides
Block 33 and deflection mechanism 34, at the both ends of braced frame 31, circular arc sliding block 33 slides for rotatable connection after arc guide rail 32 is inverted
It is connected on arc guide rail 32, deflection mechanism 34 is used to that circular arc sliding block 33 to be driven to be slided along arc guide rail 32 and also used
It is rotated in driving arc guide rail 32 around braced frame 31；
By pushing device 4, the upper surface of circular arc sliding block 33 is fixed on, for massaging human body back；
Controller 5, respectively with two-dimensional positioning system 1, lifting gear 2, arrangement for deflecting 3 and being connected by pushing device 4.
The present invention is substantially positioned using the acupuncture point that two-dimensional positioning system 1 massages human body back needs, is then utilized
Lifting gear 2 eliminate generated due to the natural torsion of human body back with robot end by the gap between pushing device 4, with
The angle that will most be suited by pushing device 4 and the formation of human body back grain by arrangement for deflecting 3 again afterwards, makes machine after final positioning
Being performed by pushing device 4 for people end is moved by push, and slight illness is eliminated so as to achieve the effect that massage muscles and bones.The present invention can be to human body
Back point carries out accurately positioning and suits with best angle, can carry out the massage operation that Special Nursing in Special Disease is controlled, the practicality is strong, knot
Structure is simple and easy to use.
As 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 are located at the top on X-direction chassis 111, and planar positioning mechanism 12 of the invention includes：
First screw 121, inside pedestal 123, and the first screw 121 pass through X-direction chassis 111 lower part after with
First motor 124 is connected, wherein, the first screw 121 and the lower thread on X-direction chassis 111 coordinate；
Second screw 122, mounted on the top on X-direction chassis 111, and the second screw 122 passes through Y-direction chassis 112
It is connected behind lower part with the second motor 125, wherein, the second screw 122 and the lower thread on Y-direction chassis 112 coordinate, Yi Jisheng
Falling unit 2 fixes the upper surface on chassis 112 in the Y direction.
The present invention rotates the first screw 121 of driving and the second screw respectively by the first motor 124 and the second motor 125
122 rotations, so as to which the Y-direction chassis 112 for being fixed with lifting gear 2 be enable to be moved along horizontal X direction or Y-direction, most
The Primary Location in plane is realized eventually.
In another embodiment of the present invention, planar positioning mechanism 12 further includes：
X-direction guiding mechanism, the X-direction including being symmetricly set on 121 both sides of the first screw are oriented to optical axis 126, and X-direction is led
To optical axis 126 pass through X-direction chassis 111 after be connected with pedestal 123；
Y-direction guiding mechanism, the Y-direction including being symmetricly set on 122 both sides of the second screw are oriented to optical axis 127, and Y-direction is led
To optical axis 127 pass through Y-direction chassis 112 after be connected with the top on X-direction chassis 111.
In the present invention, X-direction guiding mechanism and Y-direction guiding mechanism main function is set to be：For X-direction chassis 111
With the positioning accuracy for moving horizontally offer guiding, improving X-direction chassis 111 and Y-direction chassis 112 on Y-direction chassis 112.
As shown in fig.3, elevating mechanism 22 includes corner brace 221, first connecting rod 222, second connecting rod 223, third screw
224th, nut slider 225 and support column 226；
The upper surface on the fixation that corner brace 221 and support column 226 are spaced chassis 112 in the Y direction, one end of third screw 224
It is connected with lifting motor 227, the other end matches after passing through support column 226 with nut slider 225,
One end of first connecting rod 222 is hinged with nut slider 225, and one end and 221 phase of corner brace of second connecting rod 223 are cut with scissors
It connects, is connected after the other end hinge connection of the other end and second connecting rod 223 of first connecting rod 222 with the lower surface of hoistable platform 21
It connects；
Being rotated by lifting motor 227 drives third screw 224 to rotate, and makes axis of the nut slider 225 along third screw 224
Line moves horizontally on direction, so as to make first connecting rod 222 and second connecting rod 223 close to each other or separate, and then drives 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 in planar positioning mechanism 12
In when determining massage position it is possible that gap or the precompression in vertical back direction, in order to solve this problem, lifting
Mechanism 22 further includes third connecting rod 228, and third connecting rod 228 is arranged in parallel with second connecting rod 223, and the both ends of third connecting rod 228
Lower surface also respectively with corner brace 221 and hoistable platform 21 is hinged.It is formed due to third connecting rod 228 and second connecting rod 223
Parallelogram linkage in turn ensures the vertical of hoistable platform 21 while ensuring that hoistable platform 21 vertically moves,
So as to carry out place mat for subsequent angular adjustment.
As shown in fig.4, deflection mechanism 34 includes idler wheel 341, deflection motor 342 and push-rod electric machine 343, circular arc sliding block 33
Including upper arc plate 331 and lower arc plate 332, idler wheel 341 is connected between arc plate 331 and lower arc plate 332, deflection electricity
Machine 342 is used to that idler wheel 341 to be driven to rotate.Push-rod electric machine 343 is fixed on the upper surface of hoistable platform 21, and for circular arc to be driven to lead
Rail 32 is rotated along braced frame 31.Wherein, the both ends of arc guide rail 32 are additionally provided with sleeve 321, sleeve 321 by axis pin with
Braced 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 push arc guide rail 32 (being circular arc H profile steel in the present invention) in side along the 321 place straight line rotation of both ends sleeve.Deflection electricity
Machine 342 drives idler wheel 341 to rotate, and arc plate 331 and lower arc plate 332 are moved in drive, upper arc plate 331 and lower circular arc
Plate 332 is limited by the shape limitation of arc guide rail 32, and the track of movement is arc section.It is added in assembly by pushing device 4
Afterwards, it can be seen that when circular arc sliding block 33 moves, end will not be changed by the position of pushing device 4.Therefore, massage is being determined
Position with ensure that contact of the end with human body back after, need adjust by pushing device 4 by cut somebody's hair 44 with human body back muscle
During the forced position of network, present invention can assure that in the case of immovable after setting massage position, caused using arc guide rail 32
End is remained unchanged by 44 position of cutting somebody's hair, and is suited so as to finally determine by the best angle pushed away.
As shown in fig.5, include by pushing device 4：
It by push rod 41, is threaded through 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, one is additionally provided with by cutting somebody's hair 44 by one end of push rod 41, by cutting somebody's hair 44 with passing through telescope motor 45 by push rod 41
It is connected.Under the effect of telescope motor 45, straight reciprocating motion can be made along guide pipe 43 by push rod 44.It is final determine by
The position rubbed and by cutting somebody's hair 44 with that after the angle of human body back, 44 can be carried out using by cutting somebody's hair to human body back grain
Massage.
Controller 5 is additionally provided with a control panel 51, and control panel 51 is used to be manually entered operation information.Pass through controller 5
It is controlled, improves the intelligence degree of robot, make user more convenient to use simple.
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 for and being applied by massage people
Order.What is be first carried out is the positioning action in X-Y plane, and the first motor 124 and the are controlled by control panel by operator
Two motors 125 rotate, and are moved via feed screw nut adjutant and transmit as the movement in plane to reach the plane positioning of workbench 11.
Then the gap in Z-direction is eliminated by lifting gear 2 again, contacted to human body.When positioning is equipped with partially with required by pushing
Difference, system will reposition, until user determines to be set to success.What is then performed is direction finder, by two rotary pairs
The arrangement for deflecting of composition will rotate by a certain angle along rotating around X-axis and Y-axis, until user thinks that the angle of pressing is just true after suitable
Determine direction to position successfully.Be determined as again by push position and by angle is pushed away after, operation can be selected by pushing away the time, wait for 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 for 5mm, this is the value initially set up, can also be modified according to actual demand, it is ensured that back not by
To by cut somebody's hair 44 injury.
More than, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be determined by the scope of protection defined in the claims.
Claims (5)
1. a kind of back massage robot, which is characterized in that including：
Two-dimensional positioning system, including workbench and planar positioning mechanism, the planar positioning mechanism is used to drive the workbench
In X direction or Y-direction moves horizontally；
Lifting gear is fixed on the workbench, and the lifting gear includes hoistable platform and elevating mechanism, the elevator
Structure is used to that the hoistable platform to be driven to rise or fall；
Arrangement for deflecting is fixed on the lifting gear, and the arrangement for deflecting includes braced frame, arc guide rail, circular arc sliding block
And deflection mechanism, rotatable connection is in the both ends of the braced frame, the circular arc sliding block slip after the arc guide rail is inverted
It being connected on the arc guide rail, the deflection mechanism is used to that the circular arc sliding block to be driven to be slided along the arc guide rail,
And it is additionally operable to that the arc guide rail is driven to rotate around the braced frame；
By pushing device, the upper surface of the circular arc sliding block is fixed on, for massaging human body back；
Controller, respectively with the two-dimensional positioning system, lifting gear, arrangement for deflecting and being connected by pushing device,
The workbench includes X-direction chassis and Y-direction chassis, and the Y-direction chassis is located at the top on the X-direction chassis,
The planar positioning mechanism includes：
First screw, mounted on chassis interior, and first screw pass through behind the lower part on the X-direction chassis with the first motor
It is connected, wherein, first screw and the lower thread on the X-direction chassis coordinate；
Second screw, mounted on the top on the X-direction chassis, and second screw passes through the lower part on the Y-direction chassis
It is connected afterwards with the second motor, wherein, lower thread cooperation and the liter of second screw with the Y-direction chassis
Falling unit is fixed on the upper surface on the Y-direction chassis,
The planar positioning mechanism further includes：
X-direction guiding mechanism, the X-direction including being symmetricly set on the first screw both sides are oriented to optical axis, and the X-direction is oriented to
Optical axis is connected after passing through the X-direction chassis with pedestal；
Y-direction guiding mechanism, the Y-direction including being symmetricly set on the second screw both sides are oriented to optical axis, and the Y-direction is oriented to
Optical axis is connected after passing through the Y-direction chassis with the top on X-direction chassis,
The elevating mechanism includes corner brace, first connecting rod, second connecting rod, third screw, nut slider and support column；
The corner brace and the upper surface for being fixed on the Y-direction chassis at support column interval, one end of the third screw and liter
Drop motor is connected, and the other end matches after passing through the support column with the nut slider,
One end of the first connecting rod is hinged with the nut slider, and one end of the second connecting rod is mutually cut with scissors with the corner brace
It connects, is connected after the other end hinge connection of the other end and second connecting rod of the first connecting rod with the lower surface of the hoistable platform
It connects,
The elevating mechanism further includes third connecting rod, and the third connecting rod is arranged in parallel with the second connecting rod, and the third
Lower surface of the both ends of connecting rod also respectively with the corner brace and hoistable platform is hinged.
2. back massage robot as described in claim 1, which is characterized in that the deflection mechanism includes idler wheel, deflection electricity
Machine and push-rod electric machine, the circular arc sliding block include upper arc plate and lower arc plate, the idler wheel be connected to the upper arc plate and
Between lower arc plate, for the deflection motor for the idler wheel to be driven to rotate, the push-rod electric machine is fixed on the hoistable platform
Upper surface, and for the arc guide rail to be driven to be rotated along the braced frame.
3. back massage robot as claimed in claim 2, which is characterized in that the both ends of the arc guide rail are additionally provided with set
Cylinder, the sleeve are connected by axis pin with the braced frame.
4. back massage robot as claimed in claim 3, which is characterized in that described to include by pushing device：
By push rod, be threaded through in arc block, and be slidably connected with the arc block, the arc block also with the upper arc plate phase
Connection,
Guide pipe is set in the outside by push rod, and is connected with the arc block,
Wherein, it is described to be additionally provided with one by cutting somebody's hair by one end of push rod, it is described to pass through telescope motor phase by push rod with described by cutting somebody's hair
Connection.
5. back massage robot as described in claim 1, which is characterized in that the controller is additionally provided with a control panel,
The control panel is used to be 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766584.2A CN106236558B (en) | 2016-08-30 | 2016-08-30 | A kind of back massage robot |
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| Publication Number | Publication Date |
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| CN106236558A CN106236558A (en) | 2016-12-21 |
| CN106236558B true CN106236558B (en) | 2018-07-10 |
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| CN201610766584.2A Active CN106236558B (en) | 2016-08-30 | 2016-08-30 | A kind of back massage robot |
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Families Citing this family (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 |
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