CN106420331A - Multi-mode automatic massaging device - Google Patents
Multi-mode automatic massaging device Download PDFInfo
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- CN106420331A CN106420331A CN201611077181.3A CN201611077181A CN106420331A CN 106420331 A CN106420331 A CN 106420331A CN 201611077181 A CN201611077181 A CN 201611077181A CN 106420331 A CN106420331 A CN 106420331A
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- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 18
- 238000000554 physical therapy Methods 0.000 description 20
- 238000001467 acupuncture Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 8
- 238000004898 kneading Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000037273 Pathologic Processes Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000017423 tissue regeneration Effects 0.000 description 1
Classifications
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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
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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
- 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
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- Massaging Devices (AREA)
Abstract
The invention discloses a multi-mode automatic massaging device which comprises a massaging device and a mechanical arm driving the massaging device to perform motion. The massaging device comprises multiple massaging mechanisms and massaging mechanism fixing seats, wherein the multiple massaging mechanisms are arranged on the massaging mechanism fixing seats in the circumferential direction, each massaging mechanism comprises a massaging module and a massaging module driving mechanism driving the massaging module to perform single in-plane arc movement. The massaging module comprises a massaging head and a massaging head fixing plate. The mechanical arm comprises a mechanical arm fixing seat, a first rotating arm, a first swing arm, a second swing arm, a third swing arm, a second rotating arm and a fixing plate. The multi-mode automatic massaging device can simulate massaging actions of the fingers, can conduct acupoint massage on a human body and can also massage the human body in the multiple modes of 'grasping manipulation', 'pinching manipulation', 'pushing manipulation' and the like.
Description
Technical Field
The invention relates to the field of health care, in particular to multi-style automatic massage equipment.
Background
Physical therapy is to directly act on human body through artificial or natural physical factors, to cause human body reaction through direct action on human body part and indirect action of nerve and body fluid, to regulate blood circulation, improve nutrition metabolism, improve immunity, regulate nervous system function, and promote tissue repair, thereby eliminating pathogenic factors, improving pathological process, and achieving the purpose of treating diseases.
The traditional physical therapy mode is traditional Chinese medicine massage, namely, a patient is massaged by a traditional Chinese medicine manipulation to achieve the purpose of treating diseases. However, with the development of science and technology, various physiotherapy devices have appeared in the prior art, for example, the invention patent application with the application number "CN 201610281143.3" discloses a "physiotherapy system with an acupoint massage function", which comprises a control device and a physiotherapy device, wherein; the physiotherapy equipment comprises a first physiotherapy part, a first massage device array, a second physiotherapy part, a scanning device and a second massage device array, wherein the second physiotherapy part is arranged above the first physiotherapy part by a preset distance, the first massage device array is arranged on the upper surface of the first physiotherapy part, the scanning device and the second massage device array are both arranged on the lower surface of the second physiotherapy part, the first massage device array comprises a first massage device, the upper surface of the first massage device is provided with a physiotherapy magnet, and the second massage device array comprises a second massage device; the first massage device in the first massage device array, the scanning device and the second massage device in the second massage device array are electrically connected to the control equipment. When the physiotherapy device works, a patient lies on the upper surface of the first physiotherapy part, and firstly, a scanning device scans the patient lying on the upper surface of the first physiotherapy part to obtain three-dimensional data of the body of the patient; then the three-dimensional information of the patient is transmitted to a control device, the control device establishes a three-dimensional model of the body of the patient according to the three-dimensional data, acquires the acupuncture point information in the three-dimensional model according to preset human acupuncture point layout information and distinguishes a first acupuncture point and a second acupuncture point according to the acupuncture point information in the three-dimensional model; then, the liquid medicine is sprayed on the surface of the skin of the patient through the ultrasonic atomizer, and then the control equipment controls the first massage device array and the second massage device array to massage the acupuncture points of the patient according to the acupuncture point information in the three-dimensional model of the patient. The physiotherapy system can massage acupuncture points of a human body, and the physiotherapy effect is greatly improved.
However, the existing physiotherapy system with the acupoint massage function has the following disadvantages:
the massage device in the physiotherapy system with the acupoint massage function mainly comprises the massage rod, and the massage rod moves in the vertical direction to press the acupoints of the human body.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide multi-style automatic massage equipment which can massage acupuncture points of a human body and can massage the human body in various modes such as 'taking method', 'pinching method', 'pushing method' and the like by simulating the massage action of fingers.
The technical scheme for solving the technical problems is as follows:
a multi-style automatic massage device comprises a plurality of massage mechanisms and massage mechanism fixing seats, wherein,
the plurality of massage mechanisms are arranged on the massage mechanism fixing seat along the circumferential direction; each massage mechanism comprises a massage component and a massage component driving mechanism for driving the massage component to do single-plane inner arc motion, wherein the massage component comprises a massage head and a massage head fixing plate, the massage head is fixed on the massage head fixing plate, one end of the massage head fixing plate is connected to a massage mechanism fixing seat through a first rotating structure, and the other end of the massage head fixing plate is connected with the massage component driving mechanism;
the massage component driving mechanism comprises a connecting plate and a massage component linear driving mechanism for driving the connecting plate to do linear feeding motion; the connecting plate is connected with the massage head fixing plate through a second rotating structure, a power output part of the massage assembly linear driving mechanism is connected with the connecting plate, and a base of the massage assembly linear driving mechanism is connected to a massage mechanism fixing seat through a third rotating structure;
the manipulator comprises a manipulator fixing seat, a first swing arm, a second swing arm, a third swing arm, a second swing arm and a fixing plate, wherein the first swing arm is connected to the manipulator fixing seat through a fourth rotating structure; one end of the first swing arm is connected to the first swing arm through a first swing structure, and a first swing driving mechanism for driving the first swing arm to rotate around the axis of the first swing structure is arranged between the first swing arm and the first swing arm; the other end of the first swing arm is connected to one end of the second swing arm through a second swing structure, and a second swing driving mechanism for driving the second swing arm to rotate around the axis of the second swing structure is arranged between the first swing arm and the second swing arm; the other end of the second swinging arm is connected to one end of a third swinging arm through a third swinging structure, and a third swinging driving mechanism for driving the third swinging arm to rotate around the axis of the third swinging structure is arranged between the second swinging arm and the third swinging arm; the other end of the third swinging arm is connected with one end of the second rotating arm through a fifth rotating structure, and a second rotating driving mechanism for driving the second rotating arm to rotate around the axis of the fifth rotating structure is arranged between the third swinging arm and the second rotating arm; the fixed plate is arranged at the other end of the second rotating arm.
In a preferred embodiment of the present invention, the massage assembly further comprises a massage head support rod disposed between the massage head and the massage head fixing plate, one end of the massage head support rod is fixedly connected to the massage head, the other end of the massage head support rod is connected to the massage head fixing plate through a sliding structure, the massage head support rod is sleeved with a compression spring, one end of the compression spring acts on the massage head, and the other end of the compression spring acts on the massage head fixing plate. The massage head acts on the skin of the patient through elastic force, improves comfort, can adjust the size of acting force as required, and avoids injuring the patient due to overlarge force.
Furthermore, a force measuring sensor is arranged at one end of the massage head supporting rod connected with the massage head fixing plate. Therefore, the force of the massage head acting on the human body can be detected, and when the multi-style automatic massage equipment disclosed by the invention is used for intelligently controlling the massage action, the acting force of the massage head on the human body can be adjusted according to the detected acting force, so that the massage force is in the most appropriate state.
According to a preferred scheme of the invention, the massage component linear driving mechanism comprises a massage motor and a lead screw transmission mechanism, wherein a base of the massage motor is connected to a fixed base of the massage mechanism through a third rotating structure; the machine base of the massage motor forms the base of the massage assembly linear driving mechanism, and the main shaft of the massage motor forms the power output part of the massage assembly linear driving mechanism. The massage motor is usually formed by a servo motor, so that the swinging angle and the swinging speed of the massage assembly can be accurately controlled, and the diversified massage requirements are met.
In a preferred embodiment of the present invention, the massage mechanism fixing base includes a connecting rod for connecting with the fixing plate, one end of the connecting rod is provided with a plurality of extending mounting blocks extending along a radial direction, the extending mounting blocks are provided with motor mounting plates extending in a direction away from the massage head, the massage head fixing plate is connected to the extending mounting blocks through a first rotating structure, and the base of the massage motor is connected to the motor mounting plates through a third rotating structure. Through the structure, the massage device is connected with the mechanical arm for driving the massage device to move, and meanwhile, the massage head fixing plate and the massage motor are connected with the massage mechanism fixing seat conveniently.
In a preferred embodiment of the present invention, the number of the massage mechanisms is four, and the massage mechanisms are uniformly distributed along the circumferential direction. The four massage mechanisms can simulate four fingers commonly used when hands massage, so that the four massage mechanisms have the function of better conforming to the massage effect of the hands.
The working principle of the multi-style automatic massage equipment is as follows:
when the massage device works, the manipulator fixing seat is sequentially connected with the first swing arm, the second swing arm, the third swing arm and the second swing arm of the first swing arm through the movable joints, wherein two of the first swing arm, the second swing arm, the third swing arm and the second swing arm are the rotary joints, and the three swing joints have five degrees of freedom, so that the massage device can be flexibly driven to move in a three-dimensional space and reach the positions of any acupuncture points of a human body for massage. During massage, the linear driving mechanism of each massage mechanism in the massage device drives the connecting plate to do linear feeding motion, and because the connecting plate is connected with the massage head fixing plate through the second rotating structure, the massage head fixing plate is connected with the massage mechanism fixing seat through the first rotating structure, and the base of the massage assembly linear driving mechanism is connected with the massage mechanism fixing seat through the third rotating structure, the connecting plate does linear motion to drive the massage head fixing plate and the massage heads fixed on the massage head fixing plate to do arc motion with the first rotating structure as the center of circle, and the massage heads in each massage mechanism can do the arc motion independently, so that a specific number of massage heads can be selected to complete the massage of specific motion When two or more massage heads are adopted for working, the massage actions such as pressing, kneading, wiping and the like of two or more acupuncture points can be simultaneously completed, and the massage actions such as taking, pinching and the like can also be combined together to obtain rich and various massage actions, thereby obtaining better massage effect. The massage head of the invention can adopt the existing massage instrument with massage effect.
Compared with the prior art, the invention has the following beneficial effects:
1. the multi-style automatic massage equipment provided by the invention is provided with the plurality of massage heads, and each massage head can work independently or jointly, so that the massage action of a human hand is simulated, the massage actions such as pressing, kneading and wiping by a single finger can be realized, and the massage actions such as 'holding' and 'pinching' can be completed by combining the massage heads, so that abundant and various massage actions are obtained, and a better massage effect is obtained.
2. The manipulator automatically drives the massage device to move, so that the massage device accurately reaches the place to be massaged on the body of the patient, and the massage device can conveniently implement different massage methods.
Drawings
Fig. 1 is a perspective view illustrating one embodiment of a multi-modal automatic massage apparatus according to the present invention.
Fig. 2 is a schematic perspective view of the massage device shown in fig. 1.
Fig. 3 is a side view of the massage device of fig. 1.
Figure 4 is a partial cross-sectional view of the robot of figure 1.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1 to 4, the multi-style automatic massage apparatus of the present invention includes a massage device B and a manipulator a for driving the massage device B to move. Wherein,
referring to fig. 2 and 3, the massage device B includes a plurality of massage mechanisms 1 and a massage mechanism fixing base 2, wherein the plurality of massage mechanisms 1 are arranged on the massage mechanism fixing base 2 along a circumferential direction; each massage mechanism 1 comprises a massage component and a massage component driving mechanism for driving the massage component to do single-plane inner arc motion, wherein the massage component comprises massage heads 1-8 and massage head fixing plates 1-5, the massage heads 1-8 are fixed on the massage head fixing plates 1-5, one ends of the massage head fixing plates 1-5 are connected to a massage mechanism fixing seat 2 through a first rotating structure 3, and the other ends of the massage head fixing plates are connected with the massage component driving mechanism;
referring to fig. 2 and 3, the massage assembly driving mechanism comprises a connecting plate 1-4 and a massage assembly linear driving mechanism for driving the connecting plate 1-4 to make linear feeding motion; the connecting plates 1-4 are connected with the massage head fixing plates 1-5 through second rotating structures 4a, the power output part of the massage assembly linear driving mechanism is connected with the connecting plates 1-4, and the base of the massage assembly linear driving mechanism is connected to the massage mechanism fixing seat 2 through third rotating structures 5.
Referring to fig. 4, the manipulator a includes a manipulator fixing base 1a, a first swing arm 2a, a first swing arm 3a, a second swing arm 4a, a third swing arm 6a, a second swing arm 5a, and a fixing plate 10a, wherein the first swing arm 2a is connected to the manipulator fixing base 1a through a fourth rotating structure 2-2a, and a first rotating driving mechanism 2-1a for driving the first swing arm 2a to rotate around an axis of the fourth rotating structure 2-2a is disposed between the manipulator fixing base 1 and the first swing arm 2 a; one end of the first swing arm 3a is connected to the first rotating arm 2a through a first swing structure 7-2a, and a first swing driving mechanism 7-1a for driving the first swing arm 3a to rotate around the axis of the first swing structure 7-2a is arranged between the first rotating arm 2a and the first swing arm 3 a; the other end of the first swinging arm 3a is connected to one end of a second swinging arm 4a through a second swinging structure 8-2a, and a second swinging driving mechanism 8-1a for driving the second swinging arm 4a to rotate around the axis of the second swinging structure 8-2a is arranged between the first swinging arm 3a and the second swinging arm 4 a; the other end of the second swinging arm 4a is connected to one end of a third swinging arm 6a through a third swinging structure 9-2a, and a third swinging driving mechanism 9-1a for driving the third swinging arm 6a to rotate around the axis of the third swinging structure 9-2a is arranged between the second swinging arm 4a and the third swinging arm 6 a; the other end of the third swinging arm 6a is connected with one end of the second rotating arm 5a through a fifth rotating structure 5-2a, and a second rotating driving mechanism 5-1a for driving the second rotating arm 5a to rotate around the axis of the fifth rotating structure 5-2a is arranged between the third swinging arm 6a and the second rotating arm 5 a; the fixed plate 10a is provided at the other end around which the second rotating arm 5a is wound. The first rotary driving mechanism 2-1a, the second rotary driving mechanism 5-1a, the first swing driving mechanism 7-1a, the second swing driving mechanism 8-1a and the third swing driving mechanism 9-1a are all composed of servo motors.
Referring to fig. 2 and 3, the massage assembly further comprises massage head support rods 1-7 arranged between the massage heads 1-8 and the massage head fixing plates 1-5, one ends of the massage head support rods 1-7 are fixedly connected with the massage heads 1-8, the other ends of the massage head support rods 1-7 are connected with the massage head fixing plates 1-5 through a sliding structure, compression springs 1-6 are sleeved on the massage head support rods 1-7, one ends of the compression springs 1-6 act on the massage heads 1-8, and the other ends of the compression springs act on the massage head fixing plates 1-5. The massage heads 1-8 act on the skin of the patient through elastic force, so that the comfort is improved, the acting force can be adjusted according to the requirement, and the injury to the patient due to overlarge force is avoided.
Referring to fig. 2 and 3, the massage head support rods 1-7 are provided with load cells at the ends connected to the massage head fixing plates 1-5. Therefore, the force of the massage heads 1-8 acting on the human body can be detected, when the multi-style automatic massage equipment disclosed by the invention is used for intelligently controlling the massage action, the acting force of the massage heads 1-8 acting on the human body can be adjusted according to the detected acting force, and the massage force is in the most appropriate state.
Referring to fig. 2 and 3, the massage assembly linear driving mechanism comprises a massage motor 1-1 and a screw transmission mechanism, wherein a base of the massage motor 1-1 is connected to a massage mechanism fixing base 2 through a third rotating structure 5, a main shaft of the massage motor 1-1 is connected to a screw 1-3 of the screw transmission mechanism through a coupling 1-2, and a screw nut of the screw transmission mechanism is fixedly connected to a connecting plate 1-4; the base of the massage motor 1-1 forms a base of the massage component linear driving mechanism, and the main shaft of the massage motor 1-1 forms a power output part of the massage component linear driving mechanism. The massage motor 1-1 is generally formed by a servo motor, so that the swing angle and the swing speed of the massage assembly can be precisely controlled to meet the diversified massage requirements.
Referring to fig. 2 and 3, the massage mechanism fixing base 2 includes a connecting rod 2-3 for connecting with the fixing plate 10a, one end of the connecting rod 2-3 is provided with a plurality of extending mounting blocks 2-1 extending along the radial direction, the extending mounting blocks 2-1 are provided with motor mounting plates 2-2 extending in the direction away from the massage heads 1-8, the massage head fixing plate 1-5 is connected with the extending mounting blocks 2-1 through a first rotating structure 3, and the base of the massage motor 1-1 is connected with the motor mounting plates 2-2 through a third rotating structure 5. Through the structure, the connection of the massage device B and the mechanical arm A driving the massage device B to move is convenient to realize, and meanwhile, the connection of the massage head fixing plate 1-5 and the massage motor 1-1 with the massage mechanism fixing seat 2 is convenient.
Referring to fig. 2 and 3, the number of the massage mechanisms 1 is four, and the massage mechanisms are uniformly distributed along the circumferential direction. The four massage mechanisms 1 can simulate four fingers commonly used in hand massage, so that the four massage mechanisms have the function of better conforming to the hand massage effect.
Referring to fig. 1 to 4, the working principle of the multi-mode automatic massage apparatus of the present invention will be further described with reference to the accompanying drawings:
when the manipulator A works, the manipulator fixing seat 1a is sequentially connected with the first swing arm 2a, the first swing arm 3a, the second swing arm 4a, the third swing arm 6a and the second swing arm 5a through movable joints, wherein two of the movable joints are the rotary joints, and the three movable joints are the swing joints, so that the massage device B can be flexibly driven to move in a three-dimensional space and reach the positions of any acupuncture points of a human body for massage.
During massage, the linear driving mechanism of each massage mechanism 1 in the massage device B drives the connecting plate 1-4 to do linear feeding motion, the connecting plate 1-4 is connected with the massage head fixing plate 1-5 through the second rotating structure 4, the massage head fixing plate 1-5 is connected with the massage mechanism fixing seat 2 through the first rotating structure 3, and the base of the massage component linear driving mechanism is connected with the massage mechanism fixing seat 2 through the third rotating structure 5, so that the connecting plate 1-4 makes linear motion to drive the massage head fixing plate 1-5 and the massage heads 1-8 fixed on the massage head fixing plate 1-5 to do arc motion by taking the first rotating structure 3 as the center of a circle, and the massage heads 1-8 in each massage mechanism 1 can do the arc motion independently, therefore, a specific number of the massage heads 1-8 can be selected to complete the massage of specific actions, for example, when a single massage head 1-8 is adopted for work, the massage actions such as pressing, kneading and rubbing can be completed, when two or more massage heads 1-8 are adopted for work, the massage actions such as pressing, kneading and rubbing of two or more acupuncture points can be completed simultaneously, and the massage actions such as 'taking' and 'pinching' can also be completed in combination, so that abundant and various massage actions are obtained, and a better massage effect is obtained. The massage heads 1-8 in the massage device B can adopt the existing massage instrument with massage effect.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (6)
1. A multi-style automatic massage device is characterized by comprising a massage device and a manipulator for driving the massage device to move;
the massage device comprises a plurality of massage mechanisms and massage mechanism fixing seats, wherein the massage mechanisms are arranged on the massage mechanism fixing seats along the circumferential direction; each massage mechanism comprises a massage component and a massage component driving mechanism for driving the massage component to do single-plane inner arc motion, wherein the massage component comprises a massage head and a massage head fixing plate, the massage head is fixed on the massage head fixing plate, one end of the massage head fixing plate is connected to a massage mechanism fixing seat through a first rotating structure, and the other end of the massage head fixing plate is connected with the massage component driving mechanism;
the massage component driving mechanism comprises a connecting plate and a massage component linear driving mechanism for driving the connecting plate to do linear feeding motion; the connecting plate is connected with the massage head fixing plate through a second rotating structure, a power output part of the massage assembly linear driving mechanism is connected with the connecting plate, and a base of the massage assembly linear driving mechanism is connected to a massage mechanism fixing seat through a third rotating structure;
the manipulator comprises a manipulator fixing seat, a first swing arm, a second swing arm, a third swing arm, a second swing arm and a fixing plate, wherein the first swing arm is connected to the manipulator fixing seat through a fourth rotating structure; one end of the first swing arm is connected to the first swing arm through a first swing structure, and a first swing driving mechanism for driving the first swing arm to rotate around the axis of the first swing structure is arranged between the first swing arm and the first swing arm; the other end of the first swing arm is connected to one end of the second swing arm through a second swing structure, and a second swing driving mechanism for driving the second swing arm to rotate around the axis of the second swing structure is arranged between the first swing arm and the second swing arm; the other end of the second swinging arm is connected to one end of a third swinging arm through a third swinging structure, and a third swinging driving mechanism for driving the third swinging arm to rotate around the axis of the third swinging structure is arranged between the second swinging arm and the third swinging arm; the other end of the third swinging arm is connected with one end of the second rotating arm through a fifth rotating structure, and a second rotating driving mechanism for driving the second rotating arm to rotate around the axis of the fifth rotating structure is arranged between the third swinging arm and the second rotating arm; the fixed plate is arranged at the other end of the second rotating arm.
2. The multi-modal automatic massage apparatus according to claim 1, wherein the massage assembly further comprises a massage head support bar disposed between the massage head and the massage head fixing plate, one end of the massage head support bar is fixedly connected to the massage head, the other end of the massage head support bar is connected to the massage head fixing plate through a sliding structure, the massage head support bar is sleeved with a compression spring, one end of the compression spring acts on the massage head, and the other end of the compression spring acts on the massage head fixing plate.
3. The multi-modal automatic massage apparatus according to claim 2, wherein the massage head supporting bar is provided with a load cell at an end connected to the massage head fixing plate.
4. The multi-style automatic massage device according to claim 1, wherein the massage assembly linear driving mechanism comprises a massage motor and a screw transmission mechanism, wherein the base of the massage motor is connected to the massage mechanism fixing base through a third rotating structure, the main shaft of the massage motor is connected with the screw of the screw transmission mechanism through a coupling, and the screw nut of the screw transmission mechanism is fixedly connected with the connecting plate; the machine base of the massage motor forms the base of the massage assembly linear driving mechanism, and the main shaft of the massage motor forms the power output part of the massage assembly linear driving mechanism.
5. A multi-modal automatic massage apparatus according to claim 1 or 2, wherein the massage mechanism fixing base comprises a connecting rod for connecting with the fixing plate, one end of the connecting rod is provided with a plurality of extended mounting blocks extending in a radial direction, the extended mounting blocks are provided with motor mounting plates extending in a direction away from the massage heads, the massage head fixing plate is connected to the extended mounting blocks through a first rotating structure, and the base of the massage motor is connected to the motor mounting plates through a third rotating structure.
6. The multi-modal automatic massaging apparatus according to claim 5, wherein the number of the massaging mechanisms is four and is uniformly distributed in the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077181.3A CN106420331B (en) | 2016-11-30 | 2016-11-30 | A kind of automatic massage equipment of Suresh Kumar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077181.3A CN106420331B (en) | 2016-11-30 | 2016-11-30 | A kind of automatic massage equipment of Suresh Kumar |
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| Publication Number | Publication Date |
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| CN106420331A true CN106420331A (en) | 2017-02-22 |
| CN106420331B CN106420331B (en) | 2019-04-19 |
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| CN201611077181.3A Expired - Fee Related CN106420331B (en) | 2016-11-30 | 2016-11-30 | A kind of automatic massage equipment of Suresh Kumar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107456378A (en) * | 2017-08-07 | 2017-12-12 | 于瑞晓 | A kind of Novel neurological clinical treatment device |
| CN108926470A (en) * | 2018-07-16 | 2018-12-04 | 李宗唐 | Portable bionics massage back pounding apparatus |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN112137855A (en) * | 2020-09-24 | 2020-12-29 | 昆明理工大学 | Rigidity-variable soft massage robot |
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| CN205198393U (en) * | 2015-12-10 | 2016-05-04 | 浙江多迪斯泰保健器材有限公司 | A massage robotic arm for on massage armchair |
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| US5876325A (en) * | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
| CN105125387A (en) * | 2015-09-17 | 2015-12-09 | 李木春 | Robot massager |
| CN205163576U (en) * | 2015-12-10 | 2016-04-20 | 吴兵 | Hand is massaged to machinery with adjustable |
| CN205198393U (en) * | 2015-12-10 | 2016-05-04 | 浙江多迪斯泰保健器材有限公司 | A massage robotic arm for on massage armchair |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107456378A (en) * | 2017-08-07 | 2017-12-12 | 于瑞晓 | A kind of Novel neurological clinical treatment device |
| CN108926470A (en) * | 2018-07-16 | 2018-12-04 | 李宗唐 | Portable bionics massage back pounding apparatus |
| CN109512647A (en) * | 2018-12-29 | 2019-03-26 | 南昌大学 | A kind of self contained force feedback multidimensional massage robot system |
| CN112137855A (en) * | 2020-09-24 | 2020-12-29 | 昆明理工大学 | Rigidity-variable soft massage robot |
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| CN106420331B (en) | 2019-04-19 |
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