CN106945057A - A kind of massage robot and robot massage bed - Google Patents
A kind of massage robot and robot massage bed Download PDFInfo
- Publication number
- CN106945057A CN106945057A CN201710367481.3A CN201710367481A CN106945057A CN 106945057 A CN106945057 A CN 106945057A CN 201710367481 A CN201710367481 A CN 201710367481A CN 106945057 A CN106945057 A CN 106945057A
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- Prior art keywords
- massage
- translation
- nut
- leading screw
- motor
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- 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
- A61H2201/1657—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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Dermatology (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Massaging Devices (AREA)
Abstract
The invention provides a kind of massage robot and robot massage bed, belong to care bed field, this massage robot, including base, the first translation part, the second translation part, lifting unit and manipulator；First translation part is slidably connected with base, and the second translation part is slidably connected with the first translation part, and the glide direction of the glide direction of the first translation part and the second translation part is vertical；Lifting unit is fixedly mounted on side of second translation part away from the first translation part, and manipulator is arranged on the one end of lifting unit away from the second translation part, and lifting unit can make manipulator closer or far from the second translation part.The massage of large area can be reached by the massage robot.This robot massage bed includes beddo and massage robot, and wherein beddo can be adjusted the angle of patient with adjustment width and reach more preferably massage effect.
Description
Technical field
The present invention relates to care bed field, in particular to a kind of massage robot and robot massage bed.
Background technology
Nursing bedridden patient needs to pay onerous toil, patient's long-term bed body compression position blood circulation
Of poor quality, these positions being pressurized are easy to obtain bedsore, if artificial nursing, is such as timed massage, nursing staff's nursing burden
Weight, also difficulty is guaranteed nursing quality.And current massage apparatus function is more single, massage functions are not comprehensive enough, massage
The face that can be touched in journey is also smaller so that massage is not in place, does not improve the blood circulation of patient.
The content of the invention
The invention provides a kind of massage robot and robot massage bed, it is intended to solves massage robot in the prior art
And the above mentioned problem that robot massage bed is present.
What the present invention was realized in：
A kind of massage robot, including base, the first translation part, the second translation part, lifting unit and manipulator；
First translation part is slidably connected with the base, and second translation part is slided with first translation part to be connected
Connect, the glide direction of the glide direction of first translation part and second translation part is vertical；
The lifting unit is fixedly mounted on side of second translation part away from first translation part, the manipulator
Installed in the one end of the lifting unit away from second translation part, lifting unit can make the manipulator closer or far from described
Two translation parts.
In preferred embodiments of the present invention, the manipulator includes operation support, finger section and rod section, the finger
Portion includes many mechanical fingers, and the rod section includes corresponding many pull bars, and many mechanical fingers are hinged on the operation branch
On frame, the pull bar in the middle part of the mechanical finger with being hinged.
In preferred embodiments of the present invention, first translation part includes the first translating element and the first translation stage, described
One end of first translating element is fixedly connected on the base, and the other end is fixedly connected on first translation stage, the bottom
Be additionally provided with seat on the first slide rail axially in parallel with first translating element, first translation stage be provided with can with it is described
The first guide that first slide rail coordinates.
In preferred embodiments of the present invention, first translating element includes the first motor, the first leading screw and the first nut,
First motor is fixedly installed on the base, and first leading screw and first slide rail are axially in parallel, and described first
The circumferentially spacing connection of the export head of leading screw and first motor, first nut and first leading screw coordinate, and described the
One nut is fixedly mounted on first translation stage.
In preferred embodiments of the present invention, second translation part includes the second translating element and the second translation stage, described
One end of second translating element is fixedly connected on first translation stage, and the other end is fixedly connected on second translation stage,
It is additionally provided with the second slide rail axially in parallel with second translating element, second translation stage and sets on first translation stage
It is equipped with the second guide that can coordinate with second slide rail.
In preferred embodiments of the present invention, second translating element includes the second motor, the second leading screw and the second nut,
Second motor is fixedly installed on first translation stage, and second leading screw and second slide rail are axially in parallel, institute
The circumferentially spacing connection of the export head of the second leading screw and second motor is stated, second nut and second leading screw coordinate,
Second nut is fixedly mounted on second translation stage.
In preferred embodiments of the present invention, the lifting unit includes lifting motor and elevating screw, the lifting motor
It is fixedly installed on second translation stage, the circumferentially spacing connection of export head of the elevating screw and the lifting motor, institute
State elevating screw and first slide rail is axially vertical, the elevating screw and second slide rail are axially vertical.
In preferred embodiments of the present invention, the 3rd nut, the 3rd nut and institute are provided with the elevating screw
Elevating screw cooperation is stated, the operation support is fixedly connected on the 3rd nut, and control is additionally provided with the crosshead
The operation motor of the pull bar motion.
A kind of robot massage bed, including beddo and above-mentioned massage robot, the beddo include bed body and stretched
Contracting part；
The bed body includes supporting part and bed surface, and the supporting part includes the first support member and the second support member, the bed
The side in face is fixedly mounted on first support member, and opposite side is fixedly mounted on second support member, described flexible
Part is arranged between first support member and second support member, and it is close that the extensible member can control first support member
Or away from second support member；
The massage robot is arranged on the beddo lower end.
In preferred embodiments of the present invention, the extensible member includes the first pars contractilis, and first pars contractilis includes the
The flexible nut of one telescope motor, the first flexible leading screw and first, first telescope motor is fixedly mounted on second support
One end of part, first flexible leading screw and the circumferentially spacing connection of output end of first telescope motor, first nut
Coordinate with first flexible leading screw, the side of first nut is fixedly connected on first support member.
The beneficial effects of the invention are as follows：Gripper can be moved to any position by the massage robot provided by the present invention
Put, any body part of patient is massaged, and can be reached surely by stabilised platform moving belt motivation machinery claw movement
Fixed massage, the weight of massage can easily be grasped by motor.Can also be provided by the cooperation of finger section and rod section rub,
The massage service such as squeeze, pinch, massage manipulation is very comprehensive.The robot massage bed provided by the present invention can adjust the first support
Width between part and the second support member is to adjust the degrees of expansion of bed surface to improve the comfortableness of patient on bed.Because patient is difficult
With carry out activity, the position of patient can also be adjusted by adjusting the width between the first support member and the second support member
It is whole, so as to reach optimal massage effect.
Brief description of the drawings
, below will be to be used needed for embodiment in order to illustrate more clearly of the technical scheme of embodiment of the present invention
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not to be seen as
It is the restriction to scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other related accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the first translation part provided in an embodiment of the present invention and the second translation part；
Fig. 2 is the structural representation of lifting unit provided in an embodiment of the present invention and manipulator；
Fig. 3 is the structural representation of beddo provided in an embodiment of the present invention；
Fig. 4 is the structural representation of robot massage bed provided in an embodiment of the present invention.
Icon：001- robot massages bed；010- massage robots；020- beddos；100- bases；101- first is slided
Rail；The translation parts of 200- first；The translating element of 210- first；The motors of 211- first；The leading screws of 213- first；The nuts of 215- first；217-
First shaft coupling；219- the first leading screw supports；The translation stages of 230- first；The guides of 231- first；The slide rails of 233- second；300-
Two translation parts；The translating element of 310- second；The motors of 311- second；The leading screws of 313- second；The nuts of 315- second；The shaft couplings of 317- second
Device；319- the second leading screw supports；The translation stages of 330- second；The guides of 331- second；400- lifting units；410- lifting motors；
The shaft couplings of 411- the 3rd；430- lifting supports；The locating parts of 431- first；The locating parts of 433- second；The locating parts of 435- the 3rd；437-
Guide post；450- elevating screws；The nuts of 470- the 3rd；The guides of 471- the 3rd；500- manipulators；510- operates motor；511-
4th shaft coupling；530- operates support；The locating parts of 531- the 4th；The locating parts of 533- the 5th；The locating parts of 535- the 6th；537- the 7th
Locating part；550- operates screw mandrel；570- grippers；571- finger sections；5711- first refers to；5713- second refers to；5715- is massaged
Head；573- rod sections；The pull bars of 5731- first；The pull bars of 5733- second；590- remittance bars；591- first paragraphs；593- second segments；600-
Bed body；The support members of 611- first；The support members of 613- second；The locating parts of 6131- the 8th；615- slide bars；630- bed surfaces；710- first
Pars contractilis；The telescope motors of 711- first；The shaft couplings of 7111- the 5th；The flexible leading screws of 713- first；715- first stretches nut；
The pars contractilis of 730- second.
Embodiment
To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, below in conjunction with present invention implementation
Accompanying drawing in mode, the technical scheme in embodiment of the present invention is clearly and completely described, it is clear that described reality
The mode of applying is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.Therefore, the detailed description of embodiments of the present invention below to providing in the accompanying drawings, which is not intended to limit, wants
The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this
Invent the scope of protection.
In the description of the invention, it is to be understood that the term of indicating position or position relationship is based on shown in accompanying drawing
Orientation or position relationship, be for only for ease of the description present invention and simplify description, rather than indicate or imply signified equipment
Or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with or below second feature
Directly contacted including the first and second features, can also not be direct contact including the first and second features but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above to include fisrt feature special second
Directly over levying and oblique upper, or fisrt feature level height is merely representative of higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below are immediately below second feature and obliquely downward, or are merely representative of fisrt feature level height
Less than second feature.
Embodiment one
A kind of massage robot 010 is present embodiments provided, Fig. 1 and Fig. 2 is referred to, this massage robot 010 includes
Base 100, the first translation part 200, the second translation part 300, lifting unit 400 and manipulator 500.
Referring to Fig. 1, the first translation part 200 includes the first translating element 210 and the first translation stage 230.First translating element 210
Including the first motor 211, the first leading screw 213 and the first nut 215.First motor 211 is fixedly mounted on base 100, and first
The export head of motor 211 is with the first leading screw 213 by the circumferential spacing connection of first shaft coupling 217, and the first motor 211 can when exporting
To drive the first leading screw 213 to rotate.It is further fixedly arranged on base 100 on the support of first leading screw 213, the support of the first leading screw 213
There is chute, the first leading screw 213 is placed in the chute of the support of the first leading screw 213, can be supported by the support of the first leading screw 213
One leading screw 213 and the first leading screw 213 is oriented to.
The one end of first translation stage 230 away from the first motor 211 is provided with the first guide 231, set on base 100
The first slide rail 101 is equipped with, the first slide rail 101 and the first leading screw 213 are axially in parallel.First guide 231 is matched somebody with somebody with the first slide rail 101
Close to be oriented to the glide direction of the first translation stage 230, while the first translation stage 230 can also be prevented to follow the first leading screw 213
Rotate and rotate.In the present embodiment in order to strengthen the stability that the first translation stage 230 works, the first guide 231 is set to
Two, it is symmetricly set on the both sides of the first leading screw 213.First slide rail 101 is also set to two, two the first guides accordingly
231 coordinate with corresponding first slide rail 101 respectively.
In the first translation stage 230 the first nut 215, the first nut 215 are fixedly installed close to the side of the first motor 211
Coordinate with the first leading screw 213, allow the first nut 215 in the axial direction of the first leading screw 213 by rotating the first leading screw 213
It is mobile, so as to drive the first translation stage 230 to be moved up in the axle of the first leading screw 213.
Second translation part 300 includes the second translating element 310 and the second translation stage 330.Second translating element 310 includes the second electricity
Machine 311, the second leading screw 313 and the second nut 315.Second motor 311 is fixedly mounted on the first translation stage 230, the second motor
311 export head is with the second leading screw 313 by the circumferential spacing connection of second shaft coupling 317, and the second motor 311 can band when exporting
Dynamic second leading screw 313 is rotated.The support of the second leading screw 313, the support of the second leading screw 313 are further fixedly arranged on first translation stage 230
On have chute, the second leading screw 313 is placed in the chute of the support of the second leading screw 313, can be supported by the support of the second leading screw 313
Second leading screw 313 and the second leading screw 313 is oriented to.
The one end of second translation stage 330 away from the second motor 311 is provided with the second guide 331, in the first translation stage
The second slide rail 233 is provided with 230, the second slide rail 233 and the second leading screw 313 are axially in parallel.Second guide 331 and second is slided
Rail 233 coordinates to be oriented to the glide direction of the second translation stage 330, while the second translation stage 330 can also be prevented to follow second
The rotation of thick stick 313 and rotate.In the present embodiment in order to strengthen the second translation stage 330 work stability, the second guide 331
Two are set to, the both sides of the second leading screw 313 are symmetricly set on.Second slide rail 233 is also set to two, two second accordingly
Guide 331 coordinates with corresponding second slide rail 233 respectively.
In the second translation stage 330 the second nut 315, the second nut 315 are fixedly installed close to the side of the second motor 311
Coordinate with the second leading screw 313, allow the second nut 315 in the axial direction of the second leading screw 313 by rotating the second leading screw 313
It is mobile, so as to drive the second translation stage 330 to be moved up in the axle of the second leading screw 313.
First leading screw 213 and the second leading screw 313 are axially vertical so that the moving direction of the first translation stage 230 and second flat
The moving direction of moving stage 330 is vertical.
Referring to Fig. 2, lifting unit 400 includes lifting motor 410, lifting support 430 and elevating screw 450.Lifting support
430 are fixedly mounted on the second translation stage 330 perpendicular to the ground of the second translation stage 330, and lifting support 430 includes what is extended to side
First locating part 431, the second locating part 433 and the 3rd locating part 435.The export head of lifting motor 410 passes through the first locating part
431, it is spacing to avoid moving radially by the first locating part 431.Lifting motor 410 and elevating screw 450 pass through the 3rd shaft coupling
The circumferential spacing connection of device 411, elevating screw 450 passes through the second locating part 433, spacing to avoid liter by the second locating part 433
Drop leading screw 450 is moved radially.The 3rd nut 470 of the cooperation of elevating screw 450 is additionally provided with elevating screw 450, by rising
Drop motor 410 drives elevating screw 450 to rotate to control the 3rd nut 470 to translate up in the axle of elevating screw 450.Lift silk
The end of thick stick 450 passes through the 3rd locating part 435, and the radial displacement of elevating screw 450 is entered to advance by the 3rd locating part 435
One step is limited.
3rd nut 470 is provided with the 3rd guide 471 close to one end of lifting support 430, on the second locating part 433
Guide post 437 is additionally provided with, the 3rd guide 471 coordinates to ensure the direction of motion of the 3rd nut 470 with guide post 437, and
It can prevent that the 3rd nut 470 from rotating with the rotation of elevating screw 450.
The axial direction of 3rd leading screw and the first leading screw 213 are axially vertical, the axle of the axial direction of the 3rd leading screw also with the second leading screw 313
To vertical.
3rd side of the nut 470 away from support is provided with manipulator 500, and manipulator 500 includes operation motor 510, behaviour
Make support 530, operation screw mandrel 550 and gripper 570.Operation support 530 is fixedly connected on the 3rd nut 470 away from the 3rd guiding
The side of part 471, the 4th locating part 531, the 5th locating part 533, the and of the 6th locating part 535 are provided with operation support 530
7th locating part 537.Operate motor 510 to be arranged on operation support 530, and pass through 531 pairs of operation motors 510 of the 4th locating part
Carry out the spacing of radial direction, it is to avoid the movement of radial direction occurs for the export head of operation motor 510.Operate motor 510 and operation screw mandrel 550
Pass through the circumferential spacing connection of the 4th shaft coupling 511.One end of screw mandrel 550 towards operation motor 510 is operated to pass through the 5th locating part
533, the movement for operating the radial direction of screw mandrel 550 is limited by the 5th locating part 533.The 4th nut is combined with operation leading screw,
Nut can control in operation lead screw shaft upward sliding by rotating operation screw mandrel 550.Screw mandrel 550 is operated away from operation motor 510
One end pass through the 6th locating part 535, by 535 pairs of operation screw mandrels 550 of the 6th locating part further it is spacing avoid operate screw mandrel
550 move radially.
7th locating part 537 is vertical with operation support 530, and side of the 4th nut away from operation support 530 is provided with remittance
Bar 590, the bar 590 that converges is that L-shaped pull bar includes orthogonal first paragraph 591 and second segment 593, and second segment 593 is away from the 4th spiral shell
Female one end passes through the middle part of the 7th locating part 537, radially spacing to the progress of second segment 593 by the 7th locating part 537,
The 4th nut rotation is driven when operation screw mandrel 550 can also be avoided to rotate simultaneously.
Gripper 570 includes finger section 571 and rod section 573, and bluff piece is fixedly mounted on operation support 530 away from the 3rd spiral shell
One end of mother 470.Finger section 571 includes many mechanical fingers, in the present embodiment including the first finger 5711 and the second finger 5713, the
One refers to 5711 ends for being hinged on operation support 530, and second refers to 5713 ends for being hinged on the 7th locating part 537, first
It is symmetrical relative to second segment 593 that finger 5711 and second refers to 5713.Rod section 573 includes many pull bars, includes in the present embodiment
First pull bar 5731 and the second pull bar 5733, the first pull bar 5731 and the second pull bar 5733 are symmetrical relative to second segment 593.First
One end of pull bar 5731 and the end of second segment 593 are hinged, and the other end is hinged with the first middle part for referring to 5711.Second pull bar
The end of 5733 one end and the second end is hinged, and the other end is hinged with the second middle part for referring to 5713.
The end of first finger 5711 and the second finger 5713 is provided with massage head 5715, can be entered by massage head 5715
The comfortable massage of row.
Gripper 570 can be moved to optional position by the massage robot 010 provided by the present invention, and patient is appointed
Meaning body part is massaged, and can reach stable massage by the movement of stabilised platform moving belt motivation machinery claw 570, is pressed
The weight rubbed can easily be grasped by motor.It can also be provided by the cooperation of finger section 571 and rod section 573 and rub, squeeze, pinching
Deng massage service, massage manipulation is very comprehensive.
Embodiment two
A kind of robot massage bed 001 is present embodiments provided, referring to Fig. 4, this robot massage bed 001 includes electricity
The massage robot 010 that dynamic bed 020 and embodiment one are provided.
Massage robot 010 is arranged on the lower end of beddo 020, can be on beddo 020 by massage robot 010
Patient is massaged.
Referring to Fig. 3, beddo 020 includes bed body 600 and extensible member.Bed body 600 1 can be controlled by extensible member
Width on direction.
Bed body 600 includes supporting part and bed surface 630, and supporting part includes the first support member 611 and the second support member 613.The
One support member 611 and the second support member 613 are support bar, and bed surface 630 is arranged on the first support member 611 and the second support member
Between 613.Bed surface 630 is made of looped fabric, and soft bed surface 630 is conducive to the massage robot 010 of the bottom of beddo 020
Massaged.
The two ends of second support member 613 are further fixedly arranged on the slide bar 615 perpendicular to the second support member 613, in the first support
Relevant position is provided with chute on part 611, and the direction of motion of slide bar 615 is limited by chute.
Extensible member includes the first pars contractilis 710 and the second pars contractilis 730.
First pars contractilis 710 includes the first telescope motor 711, the first flexible leading screw 713 and the first flexible nut 715.
First telescope motor 711 is fixed on one end of the second support member 613, and one end of the second support member 613 is provided with
Eight locating parts 6131, the output end that the first telescope motor 711 can be limited by the 8th locating part 6131 is moved radially.First
The telescope motor 711 of flexible leading screw 713 and first passes through the circumferential spacing connection of the 5th shaft coupling 7111.First flexible nut 715 is set
Put in the one end of the first flexible leading screw 713 away from the first telescope motor 711, the first flexible flexible leading screw 713 of nut 715 and first
Coordinate, the first flexible nut 715 can be controlled in the axial direction of the first flexible leading screw 713 by the rotation of the first flexible leading screw 713
Upper motion.First flexible nut 715 is fixedly connected with the first support member 611, to be driven when avoiding the first flexible leading screw 713 from rotating
First flexible nut 715 is rotated.
Second pars contractilis 730 and the first pars contractilis 710 are symmetrically disposed in the other end of supporting part.
The robot massage bed 001 provided by the present invention can adjust the first support member 611 and the second support member 613 it
Between width to adjust the degrees of expansion of bed surface 630 to improve the comfortableness of patient on bed.Because patient is difficult to activity,
The position of patient can be adjusted by adjusting the width between the first support member 611 and the second support member 613, so as to reach
To optimal massage effect.
The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, for this area
For technical staff, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made is any
Modification, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of massage robot, it is characterised in that including base, the first translation part, the second translation part, lifting unit and machinery
Hand；
First translation part is slidably connected with the base, and second translation part is slidably connected with first translation part,
The glide direction of the glide direction of first translation part and second translation part is vertical；
The lifting unit is fixedly mounted on side of second translation part away from first translation part, and the manipulator is installed
In the one end of the lifting unit away from second translation part, lifting unit can make the manipulator flat closer or far from described second
Shifting portion.
2. massage robot according to claim 1, it is characterised in that the manipulator includes operation support, finger section
And rod section, the finger section includes many mechanical fingers, and the rod section includes corresponding many pull bars, many mechanical fingers
It is hinged on the operation support, the pull bar in the middle part of the mechanical finger with being hinged.
3. massage robot according to claim 2, it is characterised in that first translation part include the first translating element and
First translation stage, one end of first translating element is fixedly connected on the base, and the other end is fixedly connected on described first
On translation stage, first slide rail axially in parallel with first translating element, first translation stage are additionally provided with the base
On be provided with can with first slide rail coordinate the first guide.
4. massage robot according to claim 3, it is characterised in that first translating element includes the first motor, the
One leading screw and the first nut, first motor are fixedly installed on the base, first leading screw and first slide rail
It is axially in parallel, the circumferentially spacing connection of export head of first leading screw and first motor, first nut and described
One leading screw coordinates, and first nut is fixedly mounted on first translation stage.
5. massage robot according to claim 4, it is characterised in that second translation part include the second translating element and
Second translation stage, one end of second translating element is fixedly connected on first translation stage, and the other end is fixedly connected on institute
State on the second translation stage, second slide rail axially in parallel with second translating element, institute are additionally provided with first translation stage
State the second guide that is provided with and can coordinate with second slide rail on the second translation stage.
6. massage robot according to claim 5, it is characterised in that second translating element includes the second motor, the
Two leading screws and the second nut, second motor are fixedly installed on first translation stage, second leading screw and described
Two slide rails are axially in parallel, the circumferentially spacing connection of export head of second leading screw and second motor, second nut and
Second leading screw coordinates, and second nut is fixedly mounted on second translation stage.
7. massage robot according to claim 6, it is characterised in that the lifting unit includes lifting motor and lifting silk
Thick stick, the lifting motor is fixedly installed on second translation stage, the export head of the elevating screw and the lifting motor
Circumferential spacing connection, the elevating screw and first slide rail are axially vertical, the elevating screw and the second slide rail axle
To vertical.
8. massage robot according to claim 7, it is characterised in that the 3rd nut is provided with the elevating screw,
3rd nut coordinates with the elevating screw, and the operation support is fixedly connected on the 3rd nut, the operation
The operation motor for controlling the pull bar motion is additionally provided with support.
9. a kind of robot massage bed, it is characterised in that the massager including beddo and as described in claim any one of 1-8
Device people, the beddo includes bed body and extensible member；
The bed body includes supporting part and bed surface, and the supporting part includes the first support member and the second support member, the bed surface
Side is fixedly mounted on first support member, and opposite side is fixedly mounted on second support member, the extensible member peace
Between first support member and second support member, it is close or remote that the extensible member can control first support member
From second support member；
The massage robot is arranged on the beddo lower end.
10. robot massage bed according to claim 9, it is characterised in that the extensible member includes the first pars contractilis, institute
Stating the first pars contractilis includes the flexible nut of the first telescope motor, the first flexible leading screw and first, and first telescope motor is fixed
Installed in one end of second support member, first flexible leading screw and the output end of first telescope motor are circumferentially spacing
Connection, the described first flexible nut coordinates with first flexible leading screw, and the side of the described first flexible nut is fixedly connected on
On first support member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710367481.3A CN106945057A (en) | 2017-05-22 | 2017-05-22 | A kind of massage robot and robot massage bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710367481.3A CN106945057A (en) | 2017-05-22 | 2017-05-22 | A kind of massage robot and robot massage bed |
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| CN106945057A true CN106945057A (en) | 2017-07-14 |
Family
ID=59480360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710367481.3A Withdrawn CN106945057A (en) | 2017-05-22 | 2017-05-22 | A kind of massage robot and robot massage bed |
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| Country | Link |
|---|---|
| CN (1) | CN106945057A (en) |
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| CN2143076Y (en) * | 1992-06-13 | 1993-10-06 | 刘少林 | Adjustable bed |
| US20010014781A1 (en) * | 1999-12-16 | 2001-08-16 | Elias Nissim | Human touch massager |
| CN102283765A (en) * | 2010-06-16 | 2011-12-21 | 山东康泰实业有限公司 | Rectangular coordinate and joint type combined traditional Chinese massage robot |
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| CN105411831A (en) * | 2016-01-10 | 2016-03-23 | 西北工业大学 | Massage robot in tracking mode |
| CN205163576U (en) * | 2015-12-10 | 2016-04-20 | 吴兵 | Hand is massaged to machinery with adjustable |
| CN106239549A (en) * | 2016-08-30 | 2016-12-21 | 上海大学 | A kind of full-automatic mechanical hands handgrip |
| CN106236558A (en) * | 2016-08-30 | 2016-12-21 | 上海电机学院 | A kind of back massage robot |
| CN206967496U (en) * | 2017-05-22 | 2018-02-06 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
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2017
- 2017-05-22 CN CN201710367481.3A patent/CN106945057A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2143076Y (en) * | 1992-06-13 | 1993-10-06 | 刘少林 | Adjustable bed |
| US20010014781A1 (en) * | 1999-12-16 | 2001-08-16 | Elias Nissim | Human touch massager |
| CN102283765A (en) * | 2010-06-16 | 2011-12-21 | 山东康泰实业有限公司 | Rectangular coordinate and joint type combined traditional Chinese massage robot |
| CN103878763A (en) * | 2014-03-14 | 2014-06-25 | 江苏大学 | Three-freedom degree manipulator |
| CN104887449A (en) * | 2015-06-18 | 2015-09-09 | 安庆联泰电子科技有限公司 | Electric flexible massage bed |
| CN205163576U (en) * | 2015-12-10 | 2016-04-20 | 吴兵 | Hand is massaged to machinery with adjustable |
| CN105411831A (en) * | 2016-01-10 | 2016-03-23 | 西北工业大学 | Massage robot in tracking mode |
| CN106239549A (en) * | 2016-08-30 | 2016-12-21 | 上海大学 | A kind of full-automatic mechanical hands handgrip |
| CN106236558A (en) * | 2016-08-30 | 2016-12-21 | 上海电机学院 | A kind of back massage robot |
| CN206967496U (en) * | 2017-05-22 | 2018-02-06 | 盐城工业职业技术学院 | A kind of massage robot and robot massage bed |
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Application publication date: 20170714 |