CN108771613A - A kind of robot massage mechanical hand of orthopaedics - Google Patents
A kind of robot massage mechanical hand of orthopaedics Download PDFInfo
- Publication number
- CN108771613A CN108771613A CN201810723422.XA CN201810723422A CN108771613A CN 108771613 A CN108771613 A CN 108771613A CN 201810723422 A CN201810723422 A CN 201810723422A CN 108771613 A CN108771613 A CN 108771613A
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- China
- Prior art keywords
- massage
- mechanical hand
- shaft
- wall
- rack
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- 230000000694 effects Effects 0.000 claims abstract description 16
- 238000010438 heat treatment Methods 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 abstract description 4
- 230000000638 stimulation Effects 0.000 abstract description 2
- 230000017531 blood circulation Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/02—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains adapted for simultaneous treatment with light, heat or 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms 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
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- 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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- 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
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Abstract
The invention discloses a kind of robot massage mechanical hands of orthopaedics, including mechanical hand and motor, the mechanical hand is connected by rocking arm with massage robot ontology, the mechanical hand is cavity structure, it is fixedly connected with motor on the inner cavity front side wall of the mechanical hand, pass through turntable, the combination of first spur gear and massage roller, realize various ways massage patient, the stimulation of different modes is carried out to muscle, effectively promote the massage effect of massage machine, different massaging way collective effects, effectively increase massage efficiency, expand massage range, mitigate the workload of medical staff.
Description
Technical field
The present invention relates to the field of medical instrument technology, the robot massage mechanical hand of specially a kind of orthopaedics.
Background technology
Massage can effectively promote blood circulation, slow down DOMS, and can effectively reduce some patients is not, especially
For orthopaedics patient, most orthopaedics patient is required for bed to rest after surgery, and lying in order to avoid long-time is sleeping causes back sour
Bitterly, it needing medical staff to be massaged to patient, to promote the blood circulation of patient, accelerates rehabilitation, manual massage takes time and effort,
It cannot massage for a long time, but existing machine is massaged, the massaging way for massaging mechanical hand is single, and massage force is smaller, difficult
To carry out thorough massage to back, it is therefore desirable to a kind of multimode massage mechanical hand.
Invention content
The purpose of the present invention is to provide a kind of robot massage mechanical hands of orthopaedics, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides the following technical solutions：A kind of robot massage mechanical hand of orthopaedics, including
Mechanical hand and motor, the mechanical hand are connected by rocking arm with massage robot ontology, and the mechanical hand is cavity structure, institute
It states and is fixedly connected with motor on the inner cavity front side wall of mechanical hand, the output end of the motor is fixedly connected with the second shaft, described
It is rotatably connected to first rotating shaft on the inner wall of mechanical hand, fixing sleeve is connected to runner in second shaft and first rotating shaft, and two
A runner is connected by belt, and equal fixing sleeve is connected to turntable in second shaft and first rotating shaft, the turntable
Multiple first single-side racks are fixedly connected on side wall, the side of second shaft is equipped with to be meshed with the first single-side rack
The second single-side rack, the side of the first rotating shaft is equipped with the two-sided rack being meshed with the first single-side rack, described two-sided
The other side of rack is engaged with the third spur gear being rotatably connected on the rear wall of mechanical hand inner cavity, second single-side rack and
The side wall of the two-sided rack is slidably connected in the first sliding groove that mechanical hand inner cavity front side wall is opened up, second single-side rack
It is connected with the inner roof wall of mechanical hand by the first spring with the top of the two-sided rack, second single-side rack and double cog
The bottom end of item has been fixedly connected with pressing plate, and the first opening, first opening are offered on the both sides side wall of the mechanical hand
Side wall on be rotatably connected to massage and beat, the massage in left side is beaten to be meshed with third spur gear, the massage on right side beat with
The first single-side rack on the turntable of right side is meshed；
Equal fixing sleeve is connected to first bevel gear in second shaft and first rotating shaft, the inner bottom wall of the mechanical hand and interior
It has been fixedly connected with multiple symmetrically arranged fixing sleeves on side wall, has been rotated on the fixing sleeve of mechanical hand inner cavity front side wall
Through there is third shaft, rotating to run through on remaining described fixing sleeve has the 4th shaft, the top fixing sleeve of the third shaft
It is connected to the second bevel gear being meshed with first bevel gear, the equal fixing sleeve in lower part of the third shaft and the 4th shaft is connected to
Two spur gears, the intermeshing of adjacent second spur gear, the equal pivot bush unit in bottom end of the third shaft and the 4th shaft
There is an axle sleeve, the lower sidewall of the third shaft and the 4th shaft opens up that there are two symmetrically arranged second sliding slot, the axis
It is fixedly connected on the madial wall of set there are two symmetrically arranged sliding block, the sliding block is slidably connected in second sliding slot, the axis
The bottom end activity of set runs through the bottom wall of mechanical hand and is fixedly connected with the second massage head, and the equal fixing sleeve in top of the axle sleeve is connected to
The bottom contact of cage plate, the cage plate has a second spring being fixedly connected with mechanical hand inner bottom wall, the motor, power switch and
External power supply forms a series circuit by conducting wire.
Preferably, the massage is beaten including the first spur gear, cylinder and the first massage head, and the center of the cylinder, which is fixed, inserts
It is connected to the 5th shaft being rotatably connected on the first opening sidewalls, the middle part fixing sleeve of the cylinder is connected to the first spur gear, left
The first spur gear of side is meshed with third spur gear, and the first spur gear of right side is mutually nibbled with the first single-side rack on the turntable of right side
Close, the cylinder is located at one end that multiple connecting rods are fixedly connected on the side wall outside mechanical hand, the connecting rod it is another
End is fixedly connected with the first massage head, and the side wall of the right side connecting rod is connected by the 4th spring with the side wall of mechanical hand
It connects.
Preferably, the disk edge of two turntables is rotatably connected to one end of rocking bar, the other end of the rocking bar
It is rotatablely connected sleeved side wall, the top of the sleeve is slidably connected at the third sliding slot that mechanical hand inner roof wall is opened up
On, in the sleeve activity be plugged with mandril, the top of the mandril is connected by third spring with the inner roof wall of sleeve, institute
The bottom end for stating mandril is fixedly connected with fixed plate, and the second opening is offered in the inner bottom wall of the mechanical hand, the fixed plate
Bottom end activity is rotatably connected to massage roller through the second opening on the side wall of fixed plate.
Preferably, the width of first opening is less than mechanical hand width 2-3cm, and the width of the cylinder is opened less than first
The width 2cm of mouth, the number of the connecting rod is no less than six, and is equally distributed on cylinder.
Preferably, the massage roller includes roller bearing core, heating mantle and massage block, and the roller bearing core is rotatably connected on fixed plate
Side wall on, fixing sleeve is connected to heating mantle on the roller bearing core, and multiple massages are fixedly connected on the lateral wall of the heating mantle
Block is fixedly connected with heating wire inside the heating mantle.
Preferably, the material of first massage head, the second massage head and massage block is rubber material.
Preferably, the number of the 4th shaft is three, and the height of the 4th shaft is less than the minimum point of turntable.
Preferably, the number of first single-side rack is four, and is equally distributed on the side wall of turntable, described first
Angle between the both ends and the turntable center of circle of single-side rack is 60-75 degree.
Compared with prior art, the beneficial effects of the invention are as follows：
1, by the combination of turntable, the first spur gear and massage roller, various ways massage patient is realized, muscle is carried out
The stimulation of different modes effectively promotes the massage effect of massage machine.
2, by the second massage head on one side rotate, while intermittence and move down, effectively muscle is rubbed by connecting rod drives
The rotation of first massage head intermittence taps back, taps and loosens to back.
3, it can be rolled on one side by massage roller, massage block heated on one side, can preferably stimulate blood circulation.
4, by the combination of sleeve and third spring, different muscle distributions is adapted to, avoids rolling pressure excessive.
The different integrated integrated collective effect of massaging way of machine hand getting, effectively increases massage efficiency, expands
Massage range mitigates the workload of medical staff.
Description of the drawings
Fig. 1 is massage robot outside drawing in the prior art；
Fig. 2 is a kind of robot massage mechanical hand structural schematic diagram of orthopaedics proposed by the present invention；
Fig. 3 is the portions A enlarged drawing；
Fig. 4 is B-B sectional views；
Fig. 5 is massage roller side view.
In figure：Mechanical hand 1, motor 2, first rotating shaft 3, the second shaft 4, the two-sided rack 5, runner 6, belt 7, turntable 8,
One single-side rack 9, rocking bar 10, first bevel gear 11, second bevel gear 12, sleeve 13, the first spur gear 14, connecting rod 15,
One massage head 16, cylinder 17, mandril 18, massage roller 19, fixed plate 20, pressing plate 21, third shaft 22, the second single-side rack 23,
Fixing sleeve 24, the second spur gear 25, cage plate 26, axle sleeve 27, the second massage head 28, third spur gear 29.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 5 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of robot massage mechanical hand of orthopaedics, including machine
Device hand 1 and motor 2, mechanical hand 1 are connected by rocking arm with massage robot ontology, and mechanical hand 1 is cavity structure, mechanical hand 1
Inner cavity front side wall on be fixedly connected with motor 2, motor 2 uses Y model Y-160M 1-2,11KW, 3000r/min, motor 2
Output end is fixedly connected with the second shaft 4, and first rotating shaft 3, the second shaft 4 and first are rotatably connected on the inner wall of mechanical hand 1
Equal fixing sleeve is connected to runner 6 in shaft 3, and two runners 6 are connected by belt 7, solid in the second shaft 4 and first rotating shaft 3
Surely it is socketed with turntable 8, multiple first single-side racks 9, the number of the first single-side rack 9 have been fixedly connected on the side wall of turntable 8
It is four, and is equally distributed on the side wall of turntable 8, the angle between 8 center of circle of both ends and turntable of the first single-side rack 9 is
60-75 degree, it is ensured that 28 energy intermittent exercise of the first massage head 16 and the second massage head, it is ensured that massage force is moderate, the second shaft 4
Side be equipped with the second single-side rack 23 for being meshed with the first single-side rack 9, the side of first rotating shaft 3 is equipped with and the first single side
The two-sided rack 5 that rack 9 is meshed, the other side of the two-sided rack 5, which is engaged with, to be rotatably connected on 1 inner cavity rear wall of mechanical hand
The side wall of third spur gear 29, the second single-side rack 23 and the two-sided rack 5 is slidably connected at 1 inner cavity front side wall of mechanical hand and is opened
If the first sliding groove on, the top of the second single-side rack 23 and the two-sided rack 5 passes through the inner roof wall of the first spring and mechanical hand 1
It is connected, the bottom end of the second single-side rack 23 and the two-sided rack 5 has been fixedly connected with pressing plate 21, on the both sides side wall of mechanical hand 1
The first opening is offered, being rotatably connected to massage on the side wall of the first opening beats, and massage, which is beaten, to be played to body massaging effect.
Massage is beaten including the first spur gear 14, cylinder 17 and the first massage head 16, and the center of cylinder 17, which is fixed to be plugged with, to be turned
Dynamic the 5th shaft being connected on the first opening sidewalls, the middle part fixing sleeve of cylinder 17 are connected to the first spur gear 14, left side first
Spur gear 14 is meshed with third spur gear 29, and the first spur gear of right side 14 is nibbled with 9 phase of the first single-side rack on right side turntable 8
It closes, cylinder 17 is located at one end that multiple connecting rods 15 are fixedly connected on the side wall outside mechanical hand 1, the other end of connecting rod 15
It is fixedly connected with the first massage head 16, the side wall of right-side connecting bar 15 is connected by the 4th spring with the side wall of mechanical hand 1,
By massaging the percussion up and down beaten, massage efficiency is effectively improved, the width of the first opening is less than 1 width 2-3cm of mechanical hand, cylinder
17 width is less than the width 2cm of the first opening, and the number of connecting rod 15 is no less than six, and is equally distributed on cylinder 17,
In the range of ensuring that mechanical hand 1 covers, massage is beaten can tap back comprehensively.Equal fixing sleeve in second shaft 4 and first rotating shaft 3
It is connected to first bevel gear 11, multiple symmetrically arranged fixing sleeves 24 have been fixedly connected in the inner bottom wall and madial wall of mechanical hand 1,
Rotation is through there is third shaft 22 on the fixing sleeve 24 of 1 inner cavity front side wall of mechanical hand, and rotation is passed through on remaining fixing sleeve 24
It is installed with the 4th shaft, the number of the 4th shaft is three, and the height of the 4th shaft is less than the minimum point of turntable 8, it is ensured that second
The overall width of massage head 28 is identical as mechanical hand 1, expands massage area, and the top fixing sleeve of third shaft 22 is connected to and the first cone
The equal fixing sleeve in lower part of the second bevel gear 12 that gear 11 is meshed, third shaft 22 and the 4th shaft is connected to the second spur gear
25, the second adjacent spur gear 25 is intermeshed, and the equal movable sleeve in bottom end of third shaft 22 and the 4th shaft is connected to axle sleeve 27, the
The lower sidewall of three shafts 22 and the 4th shaft is opened up there are two symmetrically arranged second sliding slot, solid on the madial wall of axle sleeve 27
There are two symmetrically arranged sliding block, sliding block is slidably connected in second sliding slot for fixed connection, and the bottom end activity of axle sleeve 27 runs through machine
The bottom wall of hand 1 and it is fixedly connected with the second massage head 28, the equal fixing sleeve in top of axle sleeve 27 is connected to cage plate 26, the bottom of cage plate 26
Contact has the second spring being fixedly connected with 1 inner bottom wall of mechanical hand.
The disk edge of two turntables 8 is rotatably connected to one end of rocking bar 10, and the other end of rocking bar 10 is rotatablely connected
There are the side wall of sleeve 13, the top of sleeve 13 to be slidably connected on the third sliding slot that 1 inner roof wall of mechanical hand is opened up, sleeve 13
Interior activity is plugged with mandril 18, and the top of mandril 18 is connected by third spring with the inner roof wall of sleeve 13, the bottom of mandril 18
End is fixedly connected with fixed plate 20, offers the second opening in the inner bottom wall of mechanical hand 1, and the bottom end activity of fixed plate 20 is through the
Two openings, and massage roller 19 is rotatably connected on the side wall of fixed plate 20, massage roller 19 includes roller bearing core, heating mantle and massage
Block, roller bearing core are rotatably connected on the side wall of fixed plate 20, and fixing sleeve is connected to heating mantle on roller bearing core, on the lateral wall of heating mantle
Multiple massage blocks are fixedly connected with, heating wire is fixedly connected with inside heating mantle, massage is expanded by the reciprocating rolling of massage roller
Range, it is ensured that massage it is comprehensive, the material of the first massage head 16, the second massage head 28 and massage block is rubber material, is had
Effect avoids pressure excessive, and pain, motor 2, electrothermal wire power's switch and external power supply is caused to form a series connection by conducting wire
Circuit.
Motor 2 is opened, the rotation of first rotating shaft 3 drives the rotation of the second shaft 4 by runner 6 and belt 7, makes the turntable of both sides
8 rotate clockwise, and first bevel gear 11 engages second bevel gear 12 and rotates, and third shaft 22 is driven to rotate, in third shaft 22
The 4th shaft of 25 engagement in rotation of the second spur gear on the second spur gear 25 rotation so that 28 turns of axle sleeve 27 and the second massage head
It is dynamic, back is rubbed by the first single-side rack 9 on left side turntable 8 can engage the two-sided rack 5 and move down, on right side turntable 8
First single-side rack 9 can engage the second single-side rack 23 and move down, and the pressing plate 21 of synchronous drive both sides compresses downwards axle sleeve 27,
Expand the massage force of the second massage head 28, the two-sided rack 5 moves down 8 rotation direction of turntable for driving third spur gear 29 and right side
On the contrary, capableing of the first spur gear 14 rotation of synchro-meshing both sides, drives the first massage head 16 to move down and beat back, when both sides
After first single-side rack 9 is detached from the second single-side rack 23 and the two-sided rack 5, the first spring can pull the two-sided rack 5 and second
Single-side rack 23 moves up, and second spring pushes axle sleeve 27 and moves up, and the second massage head 28 is made to be detached from back, 15 meeting of connecting rod on right side
It is moved up under the action of third spur gear 29 rotates backward, first single-side rack 9 on right side is detached from first straight-tooth on right side
When taking turns 14, the connecting rod 15 that the 4th spring can push right side is rotated up, and the first massage head 16 of both sides is made to synchronize far from back,
Turntable 8 rotate when, pull sleeve 13 move left and right, so that massage roller 19 is rolled around at back, heating mantle can to massage block into
Row heating, preferably promotes massage effect, in the movement by massage robot ontology, it is ensured that is carried out to entire back comprehensive
Massage.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of robot massage mechanical hand of orthopaedics, including mechanical hand (1) and motor (2), it is characterised in that：The mechanical hand
(1) it is connected with massage robot ontology by rocking arm, the mechanical hand (1) is cavity structure, the inner cavity of the mechanical hand (1)
Motor (2) is fixedly connected on front side wall, the output end of the motor (2) is fixedly connected with the second shaft (4), the mechanical hand
(1) it is rotatably connected to first rotating shaft (3) on inner wall, fixing sleeve is connected to and turns on second shaft (4) and first rotating shaft (3)
It takes turns (6), two runners (6) are connected by belt (7), equal fixing sleeve on second shaft (4) and first rotating shaft (3)
It is connected to turntable (8), multiple first single-side racks (9), second shaft have been fixedly connected on the side wall of the turntable (8)
(4) side is equipped with the second single-side rack (23) being meshed with the first single-side rack (9), the side of the first rotating shaft (3)
Equipped with the two-sided rack (5) being meshed with the first single-side rack (9), the other side of the two-sided rack (5) is engaged with rotation and connects
The third spur gear (29) being connected on the rear wall of mechanical hand (1) inner cavity, second single-side rack (23) and the two-sided rack (5)
Side wall is slidably connected in the first sliding groove that mechanical hand (1) inner cavity front side wall is opened up, second single-side rack (23) and
The top of the two-sided rack (5) is connected by the first spring with the inner roof wall of mechanical hand (1), second single-side rack (23)
It has been fixedly connected with pressing plate (21) with the bottom end of the two-sided rack (5), first is offered on the both sides side wall of the mechanical hand (1)
It is open, being rotatably connected to massage on the side wall of first opening beats, and the massage in left side is beaten and third spur gear (29)
It is meshed, the massage on right side is beaten to be meshed with the first single-side rack (9) on right side turntable (8)；
Equal fixing sleeve is connected to first bevel gear (11) on second shaft (4) and first rotating shaft (3), the mechanical hand (1)
Multiple symmetrically arranged fixing sleeves (24) are fixedly connected in inner bottom wall and madial wall, close to mechanical hand (1) inner cavity front side wall
The fixing sleeve (24) on rotation through there is third shaft (22), rotation is through having the 4th on remaining described fixing sleeve (24)
Shaft, the top fixing sleeve of the third shaft (22) are connected to the second bevel gear (12) being meshed with first bevel gear (11),
The equal fixing sleeve in lower part of the third shaft (22) and the 4th shaft is connected to the second spur gear (25), adjacent second straight-tooth
It takes turns (25) to be intermeshed, the equal movable sleeve in bottom end of the third shaft (22) and the 4th shaft is connected to axle sleeve (27), the third
The lower sidewall of shaft (22) and the 4th shaft is opened up there are two symmetrically arranged second sliding slot, the inside of the axle sleeve (27)
It is fixedly connected on wall there are two symmetrically arranged sliding block, the sliding block is slidably connected in second sliding slot, the axle sleeve (27)
Bottom end activity runs through the bottom wall of mechanical hand (1) and is fixedly connected with the second massage head (28), and the top of the axle sleeve (27) is solid
Surely it is socketed with cage plate (26), the bottom contact of the cage plate (26) has the second spring being fixedly connected with mechanical hand (1) inner bottom wall,
The motor (2), power switch and external power supply form a series circuit by conducting wire.
2. a kind of robot massage mechanical hand of orthopaedics according to claim 1, it is characterised in that：It is described massage beat including
First spur gear (14), cylinder (17) and the first massage head (16), the center of the cylinder (17), which is fixed, is plugged with rotation connection
The middle part fixing sleeve of the 5th shaft on the first opening sidewalls, the cylinder (17) is connected to the first spur gear (14), left side
One spur gear (14) is meshed with third spur gear (29), and the first spur gear of right side (14) and first on right side turntable (8) are single
Face rack (9) is meshed, and the cylinder (17), which is located on the external side wall of mechanical hand (1), is fixedly connected with multiple connecting rods (15)
One end, the other end of the connecting rod (15) is fixedly connected with the first massage head (16), the side of the right side connecting rod (15)
Wall is connected by the 4th spring with the side wall of mechanical hand (1).
3. a kind of robot massage mechanical hand of orthopaedics according to claim 1, it is characterised in that：Two turntables
(8) disk edge is rotatably connected to one end of rocking bar (10), and the other end of the rocking bar (10) is rotatably connected to sleeve
(13) top of side wall, the sleeve (13) is slidably connected on the third sliding slot that mechanical hand (1) inner roof wall is opened up, institute
It states sleeve (13) interior activity and is plugged with mandril (18), the interior top that the top of the mandril (18) passes through third spring and sleeve (13)
Wall is connected, and the bottom end of the mandril (18) is fixedly connected with fixed plate (20), is offered in the inner bottom wall of the mechanical hand (1)
Second opening, the bottom end activity of the fixed plate (20) are rotatably connected to through the second opening on the side wall of fixed plate (20)
Massage roller (19).
4. a kind of robot massage mechanical hand of orthopaedics according to claim 2, it is characterised in that：First opening
Width is less than mechanical hand (1) width 2-3cm, and the width of the cylinder (17) is less than the width 2cm of the first opening, the connecting rod
(15) number is no less than six, and is equally distributed on cylinder (17).
5. a kind of robot massage mechanical hand of orthopaedics according to claim 3, it is characterised in that：The massage roller (19)
Including roller bearing core, heating mantle and massage block, the roller bearing core is rotatably connected on the side wall of fixed plate (20), on the roller bearing core
Fixing sleeve is connected to heating mantle, and multiple massage blocks are fixedly connected on the lateral wall of the heating mantle, are fixed inside the heating mantle
It is connected with heating wire.
6. a kind of robot massage mechanical hand of orthopaedics according to claim 5, it is characterised in that：First massage head
(16), the second massage head (28) and the material of massage block are rubber material.
7. a kind of robot massage mechanical hand of orthopaedics according to claim 1, it is characterised in that：4th shaft
Number is three, and the height of the 4th shaft is less than the minimum point of turntable (8).
8. a kind of robot massage mechanical hand of orthopaedics according to claim 1, it is characterised in that：First single cog
The number of item (9) is four, and is equally distributed on the side wall of turntable (8), the both ends of first single-side rack (9) and turntable
(8) angle between the center of circle is 60-75 degree.
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| CN201810723422.XA CN108771613B (en) | 2018-07-04 | 2018-07-04 | Robot massage robot hand of orthopedics |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810723422.XA CN108771613B (en) | 2018-07-04 | 2018-07-04 | Robot massage robot hand of orthopedics |
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| CN108771613A true CN108771613A (en) | 2018-11-09 |
| CN108771613B CN108771613B (en) | 2020-06-05 |
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| CN113520830A (en) * | 2021-07-12 | 2021-10-22 | 吉林大学 | Auxiliary device for helping old people to carry out gastrointestinal digestion |
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