CN108145705A - A kind of five axis massage mechanical arms - Google Patents
A kind of five axis massage mechanical arms Download PDFInfo
- Publication number
- CN108145705A CN108145705A CN201611149006.0A CN201611149006A CN108145705A CN 108145705 A CN108145705 A CN 108145705A CN 201611149006 A CN201611149006 A CN 201611149006A CN 108145705 A CN108145705 A CN 108145705A
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- CN
- China
- Prior art keywords
- joint arm
- synchronous pulley
- output shaft
- synchronous
- rigidly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a kind of five axis massage mechanical arms, including pedestal, first joint arm, second joint arm, third joint arm, 4th joint arm, 5th joint arm, massage head, first joint arm is rigidly attached to base top surface by bolt, clutch shaft bearing lid is equipped at the first joint arm top surface output shaft, the second joint arm is rigidly connected by connecting flange and taper bolt and the first joint arm output shaft, the third joint arm is rotatablely connected by first rotating shaft and second joint arm, 4th joint arm is rotatablely connected with third joint arm by the second shaft, 5th joint arm is rotatablely connected by third shaft and the 4th joint arm, the massage head is rigidly connected with end output shaft, the advantage of the invention is that：The first, the five joint arm is by synchronous belt, bevel gear, second and third, four joints by secondary synchronization V belt translation, part can be made to be evenly arranged in joint arm, be beneficial to improve the static and dynamic equilibrium performance of mechanical arm.
Description
Technical field
The present invention relates to a kind of massage mechanical arms, belong to the research field of traditional medical equipment modernization.
Background technology
Important component of the napratherapy as traditional Chinese medicine, have the characteristics that letter, just, test, be honest and clean, be treatment it is more
The kind effective method of disease, is made that tremendous contribution for the health of the Chinese nation for a long time.But due to traditional Chinese massage
It is influenced by the technical experience of traditional Chinese massage teacher, in addition the high labor intensity of traditional Chinese massage so that traditional Chinese massage is difficult on a large scale
It promotes.
Invention content
The present invention proposes a kind of five axis massage mechanical arms of joint type.
The technical solution that the present invention takes：A kind of five axis massage mechanical arms, including pedestal, the first joint arm, second joint
Arm, third joint arm, the 4th joint arm, the 5th joint arm, connecting flange, taper bolt, clutch shaft bearing lid, second bearing lid, end
Lid, massage head.First joint arm is rigidly attached to base top surface by bolt.In the first joint arm top surface output shaft
Place is equipped with clutch shaft bearing lid, and the second joint arm is rigidly connected by connecting flange and taper bolt with the first joint arm output shaft
It connects.The third joint arm is rotatablely connected by first rotating shaft and second joint arm.4th joint arm and third joint arm
It is rotatablely connected by the second shaft.5th joint arm is rotatablely connected by third shaft and the 4th joint arm.The end cap
It is rigidly attached to end output axial outlet.The massage head is rigidly connected with end output shaft.
First joint arm includes：First shell, the first motor, the first small synchronous pulley, second largest synchronous pulley, the
One synchronous belt, first synchronizes tape spool, output shaft, the first bevel pinion, the first bevel gear wheel.First small synchronous pulley passes through
Jackscrew, flat key are rigidly connected with first motor output shaft, and the first big synchronous pulley passes through jackscrew, flat key and synchronous belt
Axis one end is rigidly connected, and synchronizes the other end of tape spool described first and bevel pinion is rigidly connected.First bevel pinion
Want to engage with first bevel gear wheel.The output shaft is rigidly connected with first bevel gear wheel.The output shaft passes through
Bearing and the first shell are rotatablely connected.
The second joint arm includes：Second housing, the second motor, the second small synchronous pulley, second largest synchronous pulley, the
Three small synchronous pulleys, the third-largest synchronous pulley, the second synchronous belt, third synchronous belt, second synchronizes tape spool, first rotating shaft.It is described
Second small synchronous pulley and the second motor output shaft are rigidly connected, and second largest synchronous pulley tape spool one end synchronous with second is firm
Property connection, second small synchronous pulley, second largest synchronous pulley passes through the second toothed belt transmission.The third small synchronous pulley
The rigid connection of synchronous with the second tape spool other end, the third-largest synchronous pulley are rigidly connected with first rotating shaft one end, and described the
Three big synchronous pulleys pass through third toothed belt transmission with third small synchronous pulley.The first rotating shaft passes through bearing and second housing
Rotation connection.
The third joint arm, the 4th joint arm kind of drive are identical with second joint arm.
5th joint arm includes：Third shell, third motor, the 4th small synchronous pulley, the fourth-largest synchronous pulley, the
Four synchronous belts, third synchronize tape spool, the second bevel pinion, the second bevel gear wheel, end output shaft.4th small synchronous pulley
It is rigidly connected with the third motor, the fourth-largest synchronous pulley tape spool one end synchronous with the third passes through flat key and jackscrew
Rigid connection, the synchronous tape spool other end and the second bevel pinion are rigidly connected.The synchronous tape spool middle part position passes through axis
It holding and is rotatablely connected with third shell, the bevel gear wheel is by position rigid connection among flat key and end output shaft, and described the
Two bevel pinions are engaged with second bevel gear wheel.The end output shaft both ends are rotated with third shell by bearing to be connected
It connects.
The advantage of the invention is that：Five axis massage mechanical arm proposed by the present invention, the first, the 5th joint arm pass through synchronization
Band, bevel gear, second and third, four joints by secondary synchronization V belt translation, part can be made to be evenly arranged in joint arm, be beneficial to
Improve the static and dynamic equilibrium performance of mechanical arm.
Description of the drawings
Fig. 1 is five axis massage mechanical arm general structure schematic diagrams.
Fig. 2 is the first joint arm structure diagram.
Fig. 3 is second joint arm configuration schematic diagram.
Fig. 4 is the 5th joint arm structure diagram.
1：Pedestal；2：First joint arm；3：Clutch shaft bearing lid；4：Taper bolt；5：Connecting flange；6：Second joint arm；7：
Third joint arm；8：4th joint arm；9：Massage head；10：End cap；11：Second bearing lid；12：5th joint arm；2-1：Output
Axis；2-2：First bevel gear wheel；2-3：First bevel pinion；2-4：First shell；2-5：First motor；2-6：First small synchronization
Belt wheel；2-7：First synchronous belt；2-8：First synchronizes tape spool；2-9：First big synchronous pulley；6-1：Second housing；6-2：Second
Motor；6-3：Second synchronizes tape spool；6-4：Third small synchronous pulley；6-6：The third-largest synchronous pulley；6-7：First rotating shaft；6-8：
Second largest synchronous pulley；6-9：Second synchronous belt；6-10：Second small synchronous pulley；12-1：Third shell；12-2：Second conelet
Gear；12-3：Third synchronizes tape spool；12-4：The fourth-largest synchronous pulley；12-5：4th synchronous belt；12-6：4th small synchronous belt
Wheel；12-7：Third motor；12-8：End output shaft；12-9：Second bevel gear wheel.
Specific embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of five axis massage mechanical arms, including pedestal 1, the first joint arm 2, second joint arm 6, third pass
Joint arm 7, the 4th joint arm 8, the 5th joint arm 12, connecting flange 5, taper bolt 4, clutch shaft bearing lid 3, second bearing lid 11, end
Lid 10, massage head 9.First joint arm 2 is rigidly attached to 1 top surface of pedestal by bolt.In 2 top surface of the first joint arm
Clutch shaft bearing lid 3 is equipped at output shaft 4, the second joint arm 6 is defeated by connecting flange 5 and taper bolt 4 and the first joint arm
Shaft 2-1 is rigidly connected.The third joint arm 7 is rotatablely connected by first rotating shaft 6-7 and second joint arm.Described 4th closes
Joint arm 8 is rotatablely connected with third joint arm 7 by the second shaft.5th joint arm 12 passes through third shaft and the 4th joint
Arm 8 is rotatablely connected.The end cap 10 is rigidly attached to end output axial outlet.The massage head 9 and end output shaft 12-8 are firm
Property connection.
First joint arm 2 includes：Output shaft 2-1, the first bevel gear wheel 2-2, the first bevel pinion 2-3, outside first
Shell 2-4, the first motor 2-5, the first small synchronous pulley 2-6, the first synchronous belt 2-7, first synchronizes tape spool 2-8, second largest synchronization
Belt wheel 2-9.The first small synchronous pulley 2-6 is rigidly connected by jackscrew, flat key with the first motor 2-5 output shafts, institute
The first big synchronous pulley 2-9 is stated by jackscrew, flat key tape spool 2-8 one end rigid connection synchronous with first is synchronized described first
The other end of tape spool 2-8 is rigidly connected with bevel pinion 2-3.The first bevel pinion 2-3 and the first bevel gear wheel 2-2
It is meshed.The output shaft 2-1 and the first bevel gear wheel 2-2 is rigidly connected.The output shaft 2-1 passes through bearing and first
Shell 2-4 is rotatablely connected.
The second joint arm includes：Second housing 6-1, the second motor 6-2, second synchronizes tape spool 6-3, the small synchronization of third
Belt wheel 6-4, third synchronous belt 6-5, the third-largest synchronous pulley 6-6, first rotating shaft 6-7, second largest synchronous pulley 6-8, second are same
Step band 6-9, the second small synchronous pulley 6-10.The second small synchronous pulley 6-10 and the second motor 6-2 output shafts are rigidly connected,
Second largest synchronous pulley 6-8 tape spool 6-3 one end rigid connection synchronous with second, the second small synchronous pulley 6-10, the
Two big synchronous pulley 6-8 are driven by the second synchronous belt 6-9.Third small synchronous pulley 6-4 tape spool 6-3 synchronous with second is another
One end is rigidly connected, and the third-largest synchronous pulley 6-6 is rigidly connected with first rotating shaft 6-7 one end, the third-largest synchronous belt
6-6 and third small synchronous pulley 6-4 is taken turns to be driven by third synchronous belt 6-5.The first rotating shaft 6-7 by bearing and second outside
Shell 6-1 is rotatablely connected.
The third joint arm, the 4th joint arm kind of drive are identical with second joint arm.
5th joint arm includes：Third shell 12-1, the second bevel pinion 12-2, third synchronization tape spool 12-3, the
Four big synchronous pulley 12-4, the 4th synchronous belt 12-5, the 4th small synchronous pulley 12-6, third motor 12-7, end output shaft 12-
8, the second bevel gear wheel 12-9,.The 4th small synchronous pulley 12-6 and third motor 12-7 is rigidly connected, and the described 4th
Big synchronous pulley 12-4 tape spool 12-3 one end synchronous with the third is rigidly connected by flat key and jackscrew, the synchronous tape spool
The 12-3 other ends and the second bevel pinion 12-2 are rigidly connected.Among the synchronous tape spool 12-3 position by bearing and third outside
Shell 12-1 is rotatablely connected, and the second bevel gear wheel 12-9 is rigidly connected by position among flat key and end output shaft, described
Second bevel pinion 12-2 is engaged with the second bevel gear wheel 12-9.The end output shaft 12-8 both ends and third shell
12-1 is rotatablely connected by bearing.
Five axis massage mechanical arm proposed by the present invention, the first, the 5th joint arm is by synchronous belt, bevel gear, second and third,
Four joints can be such that part is evenly arranged in joint arm, the sound for being beneficial to improve mechanical arm is put down by secondary synchronization V belt translation
Weigh performance.
Claims (5)
1. a kind of five axis massage mechanical arms, it is characterised in that：Including pedestal (1), the first joint arm (2), second joint arm (6),
Third joint arm (7), the 4th joint arm (8), the 5th joint arm (12), connecting flange (5), circular cone (4), clutch shaft bearing lid (3),
Second bearing lid (11), end cap (10), massage head (9)；First joint arm (2) is rigidly attached to pedestal (1) by bolt
Top surface, is equipped with clutch shaft bearing lid (3) at the first joint arm (2) top surface output shaft (4), and the second joint arm (6) is logical
Connecting flange (5) and taper bolt (4) is crossed to be rigidly connected with the first joint arm output shaft (2-1)；The third joint arm (7) passes through
First rotating shaft (6-7) is rotatablely connected with second joint arm；4th joint arm (8) passes through second turn with third joint arm (7)
Axis is rotatablely connected；5th joint arm (12) is rotatablely connected by third shaft and the 4th joint arm (8)；The end cap (10)
It is rigidly attached to end output axial outlet；The massage head (9) is rigidly connected with end output shaft (12-8).
2. the five axis massage mechanical arm of one kind according to claims (1), which is characterized in that first joint arm (2)
Including：Output shaft (2-1), the first bevel gear wheel (2-2), the first bevel pinion (2-3), the first shell (2-4), the first motor
(2-5), the first small synchronous pulley (2-6), the first synchronous belt (2-7), first synchronizes tape spool (2-8), second largest synchronous pulley (2-
9)；By jackscrew, flat key is rigidly connected first small synchronous pulley (2-6) with the first motor (2-5) output shaft, described
By jackscrew, flat key tape spool (2-8) one end synchronous with first is rigidly connected first big synchronous pulley (2-9), same described first
The other end and bevel pinion (2-3) for walking tape spool (2-8) are rigidly connected；First bevel pinion (2-3) is big with described first
Bevel gear (2-2) is meshed；The output shaft (2-1) is rigidly connected with first bevel gear wheel (2-2)；The output shaft
(2-1) is rotatablely connected by bearing and the first shell (2-4).
3. the five axis massage mechanical arm of one kind according to claims (1), which is characterized in that the second joint arm packet
It includes：Second housing (6-1), the second motor (6-2), second synchronizes tape spool (6-3), third small synchronous pulley (6-4), and third synchronizes
Band (6-5), the third-largest synchronous pulley (6-6), first rotating shaft (6-7) second largest synchronous pulley (6-8), the second synchronous belt (6-9),
Second small synchronous pulley (6-10)；Second small synchronous pulley (6-10) is rigidly connected with the second motor (6-2) output shaft, institute
State second largest synchronous pulley (6-8) tape spool (6-3) one end rigid connection synchronous with second, the second small synchronous pulley (6-
10), second largest synchronous pulley (6-8) is driven by the second synchronous belt (6-9)；The third small synchronous pulley (6-4) and second
Synchronous tape spool (6-3) other end rigid connection, the third-largest synchronous pulley (6-6) rigidly connect with first rotating shaft (6-7) one end
It connects, the third-largest synchronous pulley (6-6) is driven with third small synchronous pulley (6-4) by third synchronous belt (6-5)；Described
One shaft (6-7) is rotatablely connected by bearing and second housing (6-1).
4. the 5th joint arm includes：Third shell (12-1), the second bevel pinion (12-2), third synchronize tape spool (12-
3), the fourth-largest synchronous pulley (12-4), the 4th synchronous belt (12-5), the 4th small synchronous pulley (12-6), third motor (12-7),
End output shaft (12-8), the second bevel gear wheel (12-9)；4th small synchronous pulley (12-6) and the third motor
(12-7) is rigidly connected, the fourth-largest synchronous pulley (12-4) tape spool (12-3) one end synchronous with the third by flat key and
Jackscrew is rigidly connected, and synchronous tape spool (12-3) other end and the second bevel pinion (12-2) are rigidly connected；The synchronous belt
The intermediate position of axis (12-3) is rotatablely connected by bearing and third shell (12-1), and second bevel gear wheel (12-9) passes through flat
Position is rigidly connected among key and end output shaft, second bevel pinion (12-2) and second bevel gear wheel (12-9)
Engagement；End output shaft (12-8) both ends are rotatablely connected with third shell (12-1) by bearing.
5. the five axis massage mechanical arm of one kind according to claims (1), which is characterized in that the third joint arm, the
The four joint arm kinds of drive are identical with second joint arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149006.0A CN108145705A (en) | 2016-12-05 | 2016-12-05 | A kind of five axis massage mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149006.0A CN108145705A (en) | 2016-12-05 | 2016-12-05 | A kind of five axis massage mechanical arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108145705A true CN108145705A (en) | 2018-06-12 |
Family
ID=62467839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611149006.0A Pending CN108145705A (en) | 2016-12-05 | 2016-12-05 | A kind of five axis massage mechanical arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108145705A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110339045A (en) * | 2019-08-09 | 2019-10-18 | 武汉芮海医疗科技有限公司 | A kind of vibration massage function and moxibustion robot device |
| CN111002319A (en) * | 2019-12-04 | 2020-04-14 | 武汉市海沁医疗科技有限公司 | Human body recognition mechanical arm for massage device |
| CN113771020A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Be applied to industrial robot's forearm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101884585A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Control system of traditional Chinese medical massage robot |
| CN101972197A (en) * | 2010-11-28 | 2011-02-16 | 长春工业大学 | Multi-joint humanoid massage robot arm |
| CN102641200A (en) * | 2012-02-28 | 2012-08-22 | 山东建筑大学 | Massage robot and realization of massage manipulation thereof |
| CN103895032A (en) * | 2014-04-11 | 2014-07-02 | 成都三译智能技术有限公司 | Upper arm of robot |
| CN104175311A (en) * | 2013-05-27 | 2014-12-03 | 北京理工大学 | Flexible massaging robot |
-
2016
- 2016-12-05 CN CN201611149006.0A patent/CN108145705A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101884585A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Control system of traditional Chinese medical massage robot |
| CN101972197A (en) * | 2010-11-28 | 2011-02-16 | 长春工业大学 | Multi-joint humanoid massage robot arm |
| CN102641200A (en) * | 2012-02-28 | 2012-08-22 | 山东建筑大学 | Massage robot and realization of massage manipulation thereof |
| CN104175311A (en) * | 2013-05-27 | 2014-12-03 | 北京理工大学 | Flexible massaging robot |
| CN103895032A (en) * | 2014-04-11 | 2014-07-02 | 成都三译智能技术有限公司 | Upper arm of robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110339045A (en) * | 2019-08-09 | 2019-10-18 | 武汉芮海医疗科技有限公司 | A kind of vibration massage function and moxibustion robot device |
| CN111002319A (en) * | 2019-12-04 | 2020-04-14 | 武汉市海沁医疗科技有限公司 | Human body recognition mechanical arm for massage device |
| CN111002319B (en) * | 2019-12-04 | 2021-03-02 | 武汉市海沁医疗科技有限公司 | Human body recognition mechanical arm for massage device |
| CN113771020A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Be applied to industrial robot's forearm |
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Application publication date: 20180612 |
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