CN108785033A - A kind of massaging manipulator, mechanical massage component and human body localization method - Google Patents

Abstract

The present invention relates to a kind of massaging manipulator, mechanical massage component and human body localization method, which includes horizon bar, longitudinal rod, transverse bar and mechanical massage component；Horizon bar is horizontally disposed along front-rear direction；Longitudinal rod is arranged along vertical direction；The bottom end of longitudinal rod is connect with horizon bar, and the top of longitudinal rod is connect with transverse bar；Transverse bar is horizontally disposed along left and right directions, and it can be mechanical massage component that human body is massaged to be connected on transverse bar；Mechanical massage component includes the massage head that can be in direct contact human body.The mechanical massage hand can carry out specific human acupoint, channels and collaterals, muscle effective massage of a variety of gimmicks, be the motorisation unit extremely close to manual massage, have extremely important effect for body massaging；Its to relaxing one's muscles, stable mood, have significant effect, in addition, the massaging manipulator can also be accurately located at each position of human body.

Description

A kind of massaging manipulator, mechanical massage component and human body localization method

Technical field

The present invention relates to medicine, mechanical crossing domains, and in particular to it is a kind of human acupoint etc. can be massaged by Rub the human body localization method of manipulator, mechanical massage component and the massaging manipulator.

Background technology

Massage is used as a kind of effective therapy, is well-known.Currently, massage appliance type in the market Various, principle is different, but massager is attached on the carriers such as clothes, seat mostly, i.e., a someone takes or dresses Massage can be realized later, it is entirely different with manual massage.

Currently, also having the massager of less universal hand-held pressure or being pressurizeed massager in the hope of massage with body gravity The massage apparatus of effect.It should be massage armchair/bed of Japan and Korea S.'s production that the latter is most representative, such as patent 201310258540.5 A kind of massage bed is disclosed, but people overlies, by body gravity pressure on the massage parts of various rotations, with what is massaged Feel.Although these tools have certain effect, but have plenty of it is inconvenient for use, have plenty of cannot to afflicted area carry out precisely by It rubs.By taking the massage processes of expensive import massage armchair/bed as an example, people, which overlies, to be rolled by program by various parts Reaction force, formed jounce condition, the not so good people of cardiovascular and cerebrovascular, equilibrium function allergy people, often do not feel well.Perhaps There is apparent slight illness more, need the crowd of massage therapy, and reflect that the accurate massage to afflicted area is not achieved in it.Many people It is not handy because expensive after buying back home, and be reluctant to throwing away, become ornaments.

Invention content

The object of the present invention is to provide a kind of massaging manipulator, mechanical massage component and human body localization methods, to overcome The deficiency mentioned in the prior art.The purpose of the present invention is be achieved through the following technical solutions：

A kind of massaging manipulator comprising horizon bar, longitudinal rod, transverse bar and mechanical massage component；

The horizon bar, it is horizontally disposed along front-rear direction；

The longitudinal rod is arranged along vertical direction, and vertical with the horizon bar；The bottom end of the longitudinal rod and institute It states horizon bar to be fixedly connected, the top of longitudinal rod is fixedly connected with the transverse bar；

The transverse bar, it is horizontally disposed along left and right directions and vertical with the longitudinal rod and horizon bar；The cross It can be the mechanical massage component massaged of human body to be connected on bar；

The mechanical massage component, is longitudinally extended along vertical direction, which includes directly connecing Touch the massage head of human body；It is equipped with massage head with the one end for capableing of directly human contact's massage on the mechanical massage component, it is described Massage head include the finger formula massage head that can singly refer to pressing, be capable of palm massage hand held massage head, being capable of palm slap type Slap massage head, the both arms massage head of being capable of both arms massage, can press from both sides-press-pine-liter carries pinching and smoothes out with the fingers massage head and be equipped with simultaneously Multiple massage heads and at least one of the matrix form massage head that acupuncture point pain spot can be perceived；

The horizon bar is transported before and after capable of driving the longitudinal rod, transverse bar and mechanical massage component along horizontal direction Dynamic, the longitudinal rod can drive the transverse bar and mechanical massage component to move up and down along vertical direction, the transverse bar Mechanical massage component side-to-side movement can be driven along horizontal direction, then the massaging manipulator can be in front and back, upper and lower, right and left Allowing it to adjust the position of the mechanical massage component from three-dimensional to movement, so that massage head is in human body to be massaged Place.

Further, the mechanical massage component includes the massage strut with the dismantled and assembled connection of the transverse bar, described to press It rubs the lower end of strut and the massage head is dismantled and assembled to be fixedly connected；

Further, the massage head includes connecting pin and the press section that can be massaged with human contact, the connecting pin Upper end and the massage strut be it is dismantled and assembled be fixedly connected, the lower end of connecting pin is connect with the press section；

Further, the water that horizon bar can be driven to be moved forward and backward or move in the horizontal direction is provided in the horizon bar Flat telegram machine；Longitudinal rod lower mobile or movement longitudinal motor in the vertical direction can be driven by being provided in the longitudinal rod；Institute State the cross motor for being provided in transverse bar and transverse bar capable of being driven to move left and right or move in the horizontal direction；

Further, the longitudinal rod includes the first sleeve and second sleeve, fixing end and the level of first sleeve Bar is fixedly connected, and the fixing end of second sleeve is fixedly connected with the transverse bar, and the sliding end of second sleeve is set to first set On the inside of the sliding end of cylinder, and the outside of the second sleeve can slide up and down on the inner wall of the first sleeve；The second sleeve Inside be fixedly connected with cover the second sleeve inner chambers fixed plate, the fixed plate be equipped with can be with the longitudinal direction The thread lead screw hole of leading screw cooperation；

Further, the lower end of first sleeve is provided with longitudinal motor, the longitudinal leadscrew along the first sleeve and Second sleeve axial direction extends and the free end of leading screw passes through the thread lead screw hole, longitudinal motor driving longitudinal leadscrew just To or reversely rotate so that second sleeve is moved up or down along the inner wall of the first sleeve, then the second sleeve drives laterally Bar and mechanical massage component move up and down.

Further, the press section in the finger formula massage head is finger formula press section, finger formula press section and connecting pin Between be equipped with finger formula motor, the finger formula motor can drive finger formula press section to rotate or press up and down movement；

Further, the hand held massage head, press section thereon are hand held press section, the hand held press section with connect Hand held motor is equipped between end, the hand held motor can drive the hand held press section to rotate or front and back fricting movement Or left and right fricting movement；

Further, the slap massage head, press section thereon are impact press section, the impact press section with connect The impact motor that can be flopped is equipped between end, the impact motor drives impact press section to do pressing or slamming repeatedly；

Further, the both arms massage head comprising the supporting rod being laterally arranged, the central position of centre of gravity of the supporting rod It is connect with the connecting pin, the first arm press section and the second arm press section that the both ends of the supporting rod are provided symmetrically, institute It states and is connected with the first arm motor on the first arm press section for driving the movements such as the rotation of the first arm press section, second arm to press The second arm motor is connected on splenium for driving the movements such as the rotation of the second arm press section；

Further, it is described carry pinching smooth out with the fingers massage head comprising the first service portion and the second service portion arranged in a crossed manner, this The overlapping of one service portion and the second service portion is by fixed axis connection so that the first service portion and the second service portion can be opposite It is arbitrarily rotated in fixing axle, the first service portion includes the first opening and closing that are being located at fixing axle upper and lower side and being integrated connection Portion and the first holding part, second service portion include second being located at fixing axle upper and lower side and being integrated connection Conjunction portion and the second holding part；The free end of first holding part and the second holding part allows it to mediate skin to contract Skin；

Further, the matrix form massage head comprising connection structure, the upper end of the connection structure and the connection End is fixedly connected, and the lower end of the connection structure is equipped with multiple massage ends.

Further, in the both arms massage head, the distance between first arm press section and the second arm press section It can adjust；Preferably, it is adjusted by wheelbase regulating device between the first arm press section and the second arm press section, the wheelbase tune Regulating device includes the first rack being connect with the first arm press section, the second rack being connect with the second arm press section and is set to The gear being engaged between one rack and the second rack and with the first rack and the second rack, gear rotation, drive the first rack and Second rack is opposite or moves backward, then the first rack and the second rack drive the first arm press section and the second arm press section respectively Opposite or relative movement；It is highly preferred that being provided with handle on the gear so that user holds handle rotate gear；

Further, first arm press section and/or the second arm press section include vertical shaft, the fifth wheel being vertically arranged It is connect with supporting rod with the upper end of the Massage Department with direct body contact, the vertical shaft, lower end and the fifth wheel of the vertical shaft connect It connects, the fifth wheel is fixedly connected with Massage Department, and preferably Massage Department and the plane of human contact is parallel with fifth wheel, passes through vertical shaft The variation for the position being connected on fifth wheel and Massage Department are connected to the change in location on fifth wheel and realize fifth wheel and vertical shaft Between angle variation；It is further preferred that the lower face of the fifth wheel connect with Massage Department by elastic construction so that With soft in having the characteristics that in massage processes just；

Further, it pinches in described carry and smoothes out with the fingers massage head, be made of first opening and closing portion and the second opening and closing portion upper The asymmetric wheel of angle between the first holding part and the second holding part can be adjusted by being equipped in portion's cavity, which takes turns vertical Outer diameter is different from lateral outer diameter；

Further, first opening and closing portion is connected with the upper end in the second opening and closing portion by the first elastic string so that the first folder The more flexible convenience of angular adjustment between portion and the second holding part is pinched, the center of the asymmetric wheel is equipped with axis hole, the axis hole On be connected with the rotation axis that can drive asymmetric wheel rotation, the rotation axis passes through the lower end of the connecting pin, and can be even It connects in end and is freely rotated；

Further, it is described carry pinching smooth out with the fingers there are two massage head sets, two carry and pinch that smooth out with the fingers massage head with the axis of connecting pin be pair Claim to take out and be symmetrical arranged, and carries pinching described in two and smooth out with the fingers the shared rotary shaft of massage head；

Further, it is connected by the second elastic string so as to carry between first holding part and the second holding part and pinches effect More preferably；Carried described in two pinch smooth out with the fingers massage head share a fixing axle so that two carry pinch smooth out with the fingers massage head stability it is more preferable；

Further, in the matrix form massage head, the massage end includes vertical pivot, can be in direct contact human body Rolling wheel and the spring being set to outside vertical pivot, upper end and the connection structure of the vertical pivot are that can slide up and down to connect, The lower end of vertical pivot is connect with rolling wheel and the rolling wheel circular-rotation, the upper and lower side of the spring can respectively abut on vertical pivot In the lower face of the connection structure and the top of rolling wheel.

Further, the connection type of the massage strut and massage head is：The lower end of the massage strut is equipped with groove, The upper end of the connecting pin is set in the groove, and the groove is equipped with the slot hole inside and outside the groove, institute The upper end for stating connecting pin is equipped with pin hole, and when the upper end of the connecting pin is located in the groove, the pin hole and the ditch Slot is overlapped so that bolt is inserted into the pin hole and the slot hole；

Further, the massage strut is externally provided with the latch assembly for fixing the massage head, the latch assembly Including the bolt, bending connecting rod and elastic connection rope, the top and bottom of the bending connecting rod extend outwardly, the bending The upper end of connecting rod is fixedly connected by elastic connection rope with massage strut, and the lower end of the bending connecting rod and the tail end of the bolt are solid Fixed connection；In the latch assembly free state, the bolt is inserted into is inserted into fixed massage head out of slot hole；When pressing with Elastic connection rope connection straight line when, the straight line being connect with bolt bolt can be driven to be displaced outwardly so that bolt head from It is exited in pin hole, then the massage head is detached from massage strut；After the power that will be compressed on elastic connection rope removes, bolt is again In meeting automatic rebounding to slot hole or slot hole and pin hole；

Further, the upper surface of the bolt is horizontally disposed, and the lower face of head one end of bolt is from outside to inside The ramp structure that diameter is sequentially reduced, the pin hole are the shape wedged hole consistent with the described one end on bolt head so that massage Head connection is easy but is not easily disconnected from.

Further, the massage strut is equipped with the urgent of the power that can discharge that mechanical massage assembly is applied on human body Pressure releases system；

Further, the massage strut is connect with transverse bar by connection component, the emergency pressure deactivation system packet The elastomer being linked on massage strut is included, after massaging strut connection on the transverse bar, the elastomer is located at transverse bar Top, and bar elastomer is compressed；After connection component is opened, due to elastomer rebound effect and by mechanical massage component It pops up；

Further, it is described massage strut top be equipped with diameter be more than massage strut end cap, the elastomer by It is connected between end cap and transverse bar；

Further, it is connected on the connection component convenient for users to connection component to be detached to the rope of massage strut, Then pull rope that will open the connection for massaging strut and transverse bar；

Further, the connection component includes fixed fixed part on the transverse bar, through fixed part and can be along consolidating The elastic device determined the pin of portion's sliding and be linked on pin, one end of the elastic device are fixedly connected on pin, The other end is abutted or is fixedly connected on fixed part；The rope is connected to the tail end of pin.

Further, the pin flushes for lower end, and upper end is to be inclined by what tail end to head diameter was sequentially reduced Inclined-plane is then massaged strut insertion and is easy.

Further, between the longitudinal leadscrew and the longitudinal motor safety is improved by the way that pressure can be adjusted in real time Spring axle construction connection；

Further, the spring axle construction includes successively from the bottom to top driving disc spacing pressing, friction plate, driven disc, can carry out bullet Property compression and rebound pressure reed and gear set, the lower end of the friction plate connect by short axle with the longitudinal motor, The upper end of driving disc spacing pressing is connect by friction plate with driven disc, and the upper end of driven disc is connect with pressure reed, the pressure reed Upper end is fixedly connected with longitudinal leadscrew, and the gear set is set to the periphery of longitudinal leadscrew and the top positioned at pressure reed；It is vertical Driving disc spacing pressing rotation, driving disc spacing pressing is driven to be rotated by frictional force band movable friction plate by short axle to motor, friction plate drives driven disc Rotation, driven disc drive the rotation of pressure reed, pressure reed to drive longitudinal leadscrew rotation.Gear set moves down will compression pressure spring Piece, pressure reed just transmit downwards pressure so that frictional force below increases, if the pressure that friction plate is given is too big, by rubbing Wiping power can not be with movable friction plate, and driving wheel is with regard to skid；If gear set moves up, pressure reed is gradually back up It is just small to pass to following frictional force for bullet；Therefore pressure reed can be generated by upper and lower can realize of adjustment gear group Different pressure, these power can be finally transmitted in the massage head of mechanical massage component from leading screw, as the sense of muscle tone Feel so that the pressure in massage head realizes timely adjusting to a certain extent, and keeps massage more comfortable.

Further, the gear set includes first gear and second gear, and the first gear passes through with longitudinal leadscrew It being threadedly coupled, the first gear is connected with second gear, and second gear rotation can drive first gear to rotate, and first Gear is moved upwardly or downwardly on longitudinal leadscrew again；

Further, the hand holding handle that second gear can be made to rotate is provided in the second gear to realize the reality of pressure When adjust；It is preferred that being connected with gear motor simultaneously in the second gear.

Further, the longitudinal leadscrew is externally provided with fixing sleeve, and the outer wall of the fixing sleeve will not be with the rotation of longitudinal leadscrew Then rotation, it is outer so that the rotation of longitudinal leadscrew and gear set is independent of one another that the gear set is connected to fixing sleeve；Preferably, institute It includes the bearing being fixedly connected on outside longitudinal leadscrew to state fixing sleeve, and housing, the tooth are fixedly connected on the outer wall of the bearing Wheel group or first gear up and down can be connected on the outer wall of housing；

The massaging manipulator further includes controller, is equipped with CPU in the controller, involved institute in mechanical massage hand There is motor that can be electrically connected with controller, the controller is connect with display screen so that user checks conveniently.

A kind of mechanical massage component, the mechanical massage component are above-mentioned mechanical massage component, the mechanical massage component It is alternatively positioned on supporting rack.

A kind of human body localization method of massaging manipulator described in basis, the massaging manipulator further includes computer；Institute State the bed being provided with below mechanical massage component for making to be lain down by massage person；It is stored in the CPU of the computer according to institute State the size specification of bed and the template of the simulation bed simulated and holographic human body figure, and in computer, which matches The template of figure may be provided on simulation bed the simulation bed equipped with holographic human body figure for forming standard；

The shooting of the picture or dynamic video of the patient in bed that lies down can be absorbed in being arranged above for the bed Device, and the filming apparatus is electrically connected or communicates with the computer and connects the image transmitting so that the patient shot in filming apparatus Into computer, on holographic human body figure that then image of patient is arranged on simulation bed, the human body shadow with patient is formd As consistent deformed holographic human body figure, and massaged according to channels and collaterals, acupuncture point, bone, the muscle of holographic human body figure；

Further, the computer is electrically connected with the controller so that mechanical massage component can be indicated according in computer Deformed holographic human body figure positioned and massaged.

The present invention provides a kind of massaging manipulator, mechanical massage component and human body localization methods, mainly have It has the beneficial effect that：The mechanical massage component of mechanical massage hand is arranged in the top of bed the application, can be to lying down in bed People is targetedly massaged, and can effectively be massaged specific human acupoint, channels and collaterals, muscle etc., be extremely Close to the motorisation unit of manual massage, there is extremely important effect for body massaging.In addition, the application can copy people The fundamental hand work of work massage：People can lie down on massage bed with loosening completely, and the massage head for being suspended on top has numerous kinds Class such as can carry out single-point type massage by referring to formula massage head, and hand held massages connector analog palm and carries out plane sex massage, slap massage Head carries out impact massage, while can also carry out CPR etc., artificial rescue action when instead of CPR；Matrix form is pressed The massage that the head that rubs carries out human body large area rolls, it is most important that can find out human body pain spot；Both arms massage head can be to some Antimere carries out effective synchronous same-speed massage, significant effect；It carries pinching and smoothes out with the fingers massage head and can simulate collaboration between human finger Effect is realized and the massage manipulations such as mediates, decontrols, and can also be achieved the process smoothed out with the fingers in kneading process.In short, the massage machine Hand not only directly can be pinched and be rubbed to muscle pressing grind turning, percussion, can dab stranding, etc. again with reciprocating.To relaxing one's muscles, pacifying Pledge love thread, there is significant effect.In addition, the massaging manipulator can also be accurately located at each position of human body.

The human body localization method of the present invention can be compared accurate positioning, it is easy to just can find the cave for needing to massage Position or channels and collaterals or bone, muscle etc., are targetedly massaged.

The channels and collaterals of the main muscle massage using doctor trained in Western medicine and Chinese medicine are massaged, are by massage manipulation used in the present invention The treatment thoughts that traditional Chinese and western medicine can receive；It has current medicine especially traditional Chinese medicine field extremely important using valence Value.

Description of the drawings

Below according to attached drawing, invention is further described in detail.

Fig. 1 is the structural schematic diagram of the massaging manipulator described in the embodiment of the present invention；

Fig. 2 is the position relationship structural diagram of the massaging manipulator and bed described in the embodiment of the present invention；

Fig. 3 is the structural schematic diagram of the mechanical massage component described in the embodiment of the present invention；

Fig. 4 is the structural schematic diagram of the finger formula massage head described in the embodiment of the present invention；

Fig. 5 is the structural schematic diagram of the hand held massage head described in the embodiment of the present invention；

Fig. 6 is the structural schematic diagram of the slap massage head described in the embodiment of the present invention；

Fig. 7 is the structural schematic diagram of the both arms massage head described in the embodiment of the present invention；

Fig. 8 is the front view of the fifth wheel described in the embodiment of the present invention；

Fig. 9 is that carrying described in the embodiment of the present invention pinches the structural schematic diagram for smoothing out with the fingers massage head；

Figure 10 is that the carrying containing double end described in the embodiment of the present invention pinches the side view for smoothing out with the fingers massage head；

Figure 11 is that the carrying containing double end described in the embodiment of the present invention pinches the dimensional structure diagram for smoothing out with the fingers massage head；

Figure 12 is the structural schematic diagram of the matrix form massage head described in the embodiment of the present invention；

Figure 13 is the upward view of the matrix form massage head described in the embodiment of the present invention；

Figure 14 is the structural schematic diagram of the massage end described in the embodiment of the present invention；

Figure 15 is the connection type structural schematic diagram of the massage strut and massage head described in the embodiment of the present invention；

Figure 16 is the three-dimensional driving structure schematic diagram of the massaging manipulator described in the embodiment of the present invention；

Figure 17 is the structural schematic diagram of the emergency pressure deactivation system described in the embodiment of the present invention；

Figure 18 is the structural schematic diagram of the spring axle construction described in the embodiment of the present invention；

Figure 19 is another structural schematic diagram of the spring axle construction described in the embodiment of the present invention；

Figure 20 is the structural schematic diagram of the spring axle construction containing fixing sleeve described in the embodiment of the present invention；

Figure 21 is the cross section structure schematic diagram containing fixing sleeve described in the embodiment of the present invention；

Figure 22 is the structural schematic diagram of the simulation bed containing scale described in the embodiment of the present invention；

Figure 23 is the structural schematic diagram of the holographic human body figure of the standard described in the embodiment of the present invention；

Figure 24 is that the simulation bed described in the embodiment of the present invention is equipped with the holographic human body of real human body with figure structure schematic representation；

Figure 25 is the massage site positioning schematic diagram described in the embodiment of the present invention.

The straight line where x-axis, y-axis, z-axis in figure respectively represents left and right directions, upper and lower directions and front-rear direction；

1, longitudinal rod, 2, transverse bar, 3, horizon bar, 4, mechanical massage component, 5, bed, 6, end cap, 7, elastomer, 9, spring axis Structure, the 10, first sleeve, 11, second sleeve, 13, longitudinal leadscrew, 14, fixed plate, 15, simulation bed, 16, scale, 17, standard Human body holography figure, 18, vertebra, 19, shoulder blade, 20, the human body holography figure of real image, 21, fixes sleeve, 22, move Moving sleeve, 23, cross motor, 24, horizontal leading screw, 30, fixing sleeve, 40, massage strut, 41, massage head, 42, connecting pin, 43, Press section, 44, pin hole, 45, groove, 46, latch assembly, 47, bolt, 48, bending connecting rod, 49, elastic connection rope, 81, pin, 82, elastic device, 83, fixed part, 84, rope, 90, short axle, 91, driving disc spacing pressing, 92, friction plate, 93, driven disc, 94, pressure spring Piece, 95, first gear, 96, second gear, 97, hand holding handle, 98, gear motor, 99, elastomeric element, 100, gear set, 301, Bearing, 302, housing, 400, refer to formula massage head, 401, refer to formula press section, 402, refer to formula motor, 410, hand held massage head, 411, Hand held press section, 412, hand held motor, 420, slap massage head, 421, impact press section, 422, impact motor, 430, both arms press Rub head, the 431, first rack, the 432, second rack, and 433, gear, 434, handle, 435, supporting rod, the 436, first arm motor, 437, the second arm motor, the 438, first arm press section, the 439, second arm press section, 440, vertical shaft, 441, fifth wheel, 442, massage Portion, 443, elastic construction, 444, strip through-hole, the 450, first service portion, the 451, second service portion, the 452, first opening and closing portion, 453, the first holding part, the 454, second opening and closing portion, the 455, second holding part, 456, fixing axle, 457, asymmetric wheel, 458, top Cavity, the 459, first elastic string, 460, carry pinching and smooth out with the fingers massage head, 461, rotation space, the 462, second elastic string, 463, axle sleeve, 464, third elastic string, 465, rotary electric machine, 466, rotation axis, 470, matrix form massage head, 471, connection structure, 472, massage End, 473, vertical pivot, 474, rolling wheel, 475, spring.

Specific implementation mode

Illustrate specific implementation mode by taking specific experiment case as an example below, it should be understood that specific reality described herein It applies example to be only used to explain the present invention, be not intended to limit the present invention.

Embodiment 1

A kind of massaging manipulator, as shown in Fig. 1~2 comprising horizon bar 3, longitudinal rod 1, transverse bar 2 and mechanical massage Component 4.

The horizon bar 3, it is horizontally disposed along front-rear direction；Horizon bar 3 can be driven by being provided in the horizon bar 3 The horizontal motor for being moved forward and backward or moving in the horizontal direction.The longitudinal rod 1, along vertical direction be arranged, and with the water Flat bar 3 is vertical；The bottom end of the longitudinal rod 1 is fixedly connected with the horizon bar 3, can be vertically connected at the arbitrary of horizon bar 3 Position, such as end or middle part, the top of longitudinal rod 1 are fixedly connected with the transverse bar 2；It is provided with energy in the longitudinal rod 1 Enough drive lower mobile or movement the longitudinal motor in the vertical direction of longitudinal rod 1.The transverse bar 2, along left and right directions water Flat setting, and it is vertical with the longitudinal rod 1 and horizon bar 3；Being connected on the transverse bar 2 can be what human body was massaged Mechanical massage component 4；The cross that transverse bar 2 can be driven to move left and right or move in the horizontal direction is provided in the transverse bar 2 To motor 23.

The mechanical massage component 4, is longitudinally extended along vertical direction, i.e., parallel with longitudinal rod 1, the mechanical massage group Part 4 includes the massage head 41 that can be in direct contact human body, and corresponding motor is equipped in each massage head.

The horizon bar 3 can be driven along horizontal direction (i.e. the axial direction of horizon bar 3) longitudinal rod 1, transverse bar 2 with And the mechanical massage component 4 being connect with transverse bar 2 moves forward and backward, the longitudinal rod 1 being capable of (i.e. longitudinal rod 1 along vertical direction Axial direction) drive the transverse bar 2 and mechanical massage component 4 to move up and down, the transverse bar 2 can be along horizontal direction (i.e. The axial direction of transverse bar 2) drive 4 side-to-side movement of mechanical massage component, then before the massaging manipulator can drive mechanical massage component 4 Afterwards, up and down, move left and right and be at human body ground to be massaged to adjust the position of the mechanical massage component 4 from three-dimensional Side.

Massage bed 5 can be placed in the lower section of transverse bar 2 so that mechanical massage component 4, which can directly stretch to crouch, lies in massage bed 5 On human body, realize effectively massage, as shown in Figure 2.

When specific massage, it being selected in suitable massage head, massage head is installed, human body to be massaged is lain in or is climbed on bed 5, Medical staff or other related personnel determine massage part, and keep massage part upward, then pass through horizon bar, longitudinal rod, cross Before and after to bar, upper and lower, left and right is three-dimensional mobile, and to which mechanical massage component 4 or massage head are located in massage part, opening is pressed The motor to rub on head just realizes massage.

Embodiment 2

On the basis of embodiment 1, as shown in figure 3, the mechanical massage component 4 includes dismantled and assembled with the transverse bar 2 The lower end of the massage strut 40 of connection, the massage strut 40 is fixedly connected with the massage head 41 to be dismantled and assembled.The massage First 41 include connecting pin 42 and the press section 43 that can be massaged with human contact, the upper end of the connecting pin 42 and massage branch Bar 40 is fixedly connected to be dismantled and assembled, and the lower end of connecting pin 42 is connect with the press section 43.

The massage head 41 includes single armed massage head, the both arms massage head 430 for capableing of both arms massage, can press from both sides-press-pine- Rise carry pinch smooth out with the fingers massage head 460 and simultaneously be equipped with multiple massage heads rotary electric machine 465, select different press according to actual needs It rubs a type.The single armed massage head includes the finger formula massage head 400 that can singly refer to pressing, the hand held massage for capableing of palm massage First 410, it is capable of the slap massage head 420 of palm slap type.Preferably, the massage head 41 is equipped with pressure sensor.

(1) press section 43 in the finger formula massage head 400 is finger formula press section 401, finger formula press section 401 and company It connects and is equipped with finger formula motor 402 between holding 42, the finger formula motor 402 can drive finger formula press section 401 to rotate Or pressing movement up and down.

The lower end of finger formula press section is the structure that from top to bottom outer diameter successively decreases successively, and this refers to formula press section 401 Bottom face be downwardly projecting arcuate structure so that its with can be high with finger similarity and be flexible contact, people with human body Body experience sense is stronger, i.e., is not sharp end so that human body is uncomfortable, and for details, reference can be made to Fig. 4.

(2) the hand held massage head 410, press section thereon are hand held press section 411, the hand held press section 411 with Hand held motor 412 is equipped between connecting pin 42, the hand held motor 412 can drive the hand held press section 411 to do rotation fortune Dynamic or front and back fricting movement or left and right fricting movement.

The lower end of the hand held press section 411 is plate-like structure so that the similarity of itself and palm is high, and the hand held The bottom face of press section is the globoidal structure projected slightly outward, then makes human body experience sense stronger so that human body is uncomfortable, specifically It can be found in Fig. 5.

(3) the slap massage head 420, press section thereon are impact press section 421, the impact press section 421 and The impact motor 422 that can be flopped is equipped between connecting pin 42, the impact motor 422 drives impact press section 421 to do repeatedly Pressing or slamming, then its can not only do common slap type and back and forth massage, can also do CPR etc., dynamics uniformly, speed Rate is uniform, and effect is good.

The bottom face of the impact press section is arc surfaced that is planar or projecting slightly outward, so that itself and hand The palm feels similar, and for details, reference can be made to Fig. 6.

(4) the both arms massage head 430, as shown in Figure 7 comprising the supporting rod 435 being laterally arranged, the supporting rod 435 The upper end of central position of centre of gravity be fixedly connected with the connecting pin 42, what the both ends of the supporting rod 435 were provided symmetrically First arm press section 438 and the second arm press section 439 are connected with the first arm motor 436 on first arm press section 438 and are used for The movements such as the rotation of the first arm press section 438 are driven, the second arm motor 437 is connected on second arm press section 439 and is used for Drive the movements such as the rotation of the second arm press section 439.

The distance between first arm press section 438 and the second arm press section 439 in the both arms massage head can be adjusted； Preferably, it is adjusted by wheelbase regulating device between the first arm press section 438 and the second arm press section 439, the wheelbase is adjusted The second rack 432 that device includes the first rack 431 being connect with the first arm press section 438, is connect with the second arm press section 439 And the gear for being set between the first rack 431 and the second rack 432 and being engaged with the first rack 431 and the second rack 432 433, the first rack 431 and the second rack 432 are rigid toothed, and gear 433 rotates, and drives the first rack 431 and the second tooth Item 432 is opposite or moves backward, then the first rack 431 and the second rack 432 drive the first arm press section 438 and the second arm respectively Press section 439 is opposite or relative movement, as shown in fig. 7, when gear 433 rotates clockwise, then the first arm press section 438 and the The distance between two arm press sections 439 reduce, if gear 433 rotates counterclockwise, the first arm press section 438 and the pressing of the second arm The distance between portion 439 increases.

Preferably, handle 434 is provided on the gear 433 so that user holds 434 rotate gear 433 of handle；It is excellent First rack 431, the second rack 432, gear 433 etc. is selected to may be contained on supporting rod 435 or interior.

Preferably, first arm press section 438 and/or the second arm press section 439 include the vertical shaft being vertically arranged 440, fifth wheel 441 and the Massage Department 442 with direct body contact, the upper end of the vertical shaft 440 are connect with supporting rod 435, should The top of vertical shaft 440 is connect with the first arm motor 436 or the second arm motor 437, preferably the first arm motor 436 and the second arm motor 437 connect with the first arm press section 438 and the second arm press section 439 respectively, but the first arm motor 436 and the second arm motor 437 Weight bearing on supporting rod 435, then will not cause big pressure to the first arm press section 438 and the second arm press section 439, The lower end of the vertical shaft 440 is connect with fifth wheel 441, and the fifth wheel 441 is fixedly connected with Massage Department 442, preferably Massage Department 442 is parallel with fifth wheel 441 with the plane of human contact, by vertical shaft 440 be connected to the variation of the position on fifth wheel 441 with And the change in location that is connected on fifth wheel 441 of Massage Department 442 and realize the change of the angle between fifth wheel 441 and vertical shaft 440 Change, the feeling of different angles massage is different.

It is highly preferred that the lower face of the fifth wheel 441 is connect by elastic construction 443 (such as spring) with Massage Department 442 So as to make its feeling more like hand with soft in having the characteristics that in massage processes just.

It is highly preferred that a selectable structure of fifth wheel 441 is：As shown in Fig. 7~8, fifth wheel 441 can be ellipse Shape or strip or rectangle, set on the length direction of the fifth wheel 441 there are one run through upper and lower end face strip through-hole 444, the vertical shaft 440 may connect to any one place of strip through-hole 444, i.e., vertical shaft 440 may connect to strip through-hole Intermediate or by place of two close end etc., the position of connection is different, the angle constituted between final fifth wheel 441 and vertical shaft 440 Degree is just different, after determining in some place connection, then vertical shaft 440 is fixed on to the position of strip through-hole, such as can be used Fifth wheel 441 and vertical shaft 440 are fixed or using the modes such as screws bolts, other certain connection types by a piece bolt 47 Deng.Due to the adjustable angle between fifth wheel 441 and vertical shaft 440, so that the both arms massage head 430 is suitable for Different Individual not With the massage requirements of position.

The symmetrical position of human body, such as chest, the back of the body, shoulder, abdomen, waist, stern portion can be massaged for the both arms massage head 430 Position, effect are fine.After connecting pin 42 in the both arms massage head 430 is connect with massage strut 40, the height of massage head is regulated Degree, then the first arm motor 436 and the second arm motor 437 progress opposite direction synchronous rotary, drive two vertical shafts 440 synchronized anti- To rotation, the transmission of power is carried out through fifth wheel 441, elastic construction 443 so that the movement locus of Liang Ge Massage Departments 442 be along Circular shaft moves, while the feeling for having palm to rub again, massage effect are splendid.The both arms massage head 430 not only can be to symmetrical body Cadre's progress large area muscle rubs pressure, relaxs one's muscles, mitigates slight illness, also can have one to the plastomer beauty at the positions such as chest, abdomen, stern It is set for using.

(5) it carries pinching described in and smoothes out with the fingers massage head 460, as shown in Fig. 9~11 comprising 450 He of the first service portion arranged in a crossed manner The overlapping of second service portion 451, first service portion 450 and the second service portion 451 is connected by fixing axle 456 so that first Service portion 450 and the second service portion 451 can arbitrarily be rotated relative to fixing axle 456, and the first service portion 450 includes being located at 456 upper and lower side of fixing axle and the first opening and closing portion 452 for being integrated connection and the first holding part 453, second service portion 451 include be located at 456 upper and lower side of fixing axle and the second opening and closing portion 454 for being integrated connection and the second holding part 455.

The lower end or free end of first holding part, 453 and second holding part 455 are to contract, so that first pinches The mistake that the angle of portion 453 and the free end of the second holding part 455 between the first holding part 453 and the second holding part 455 becomes smaller Close to each other carrying pinching and smooth out with the fingers to human body can be realized in journey, in the process that the first holding part 453 and the second holding part 455 close In, to human body meeting, there are one the processes smoothed out with the fingers, and then mediate lifting；By first opening and closing portion 452 and 454, the second opening and closing portion structure At upper chamber 458 in be equipped with and can adjust the asymmetric wheel of angle between the first holding part 453 and the second holding part 455 457, the asymmetry 457 vertical outer diameters of wheel are different from lateral outer diameter, such as can be elliptical shape, then take turns 457 turns in asymmetry The first opening and closing portion 452 and the second opening and closing portion 454 are strutted or closed in dynamic process, the first holding part 453 and second is adjusted with this Angle between holding part 455；It is preferred that for 457 one special rotation space of setting of asymmetric wheel in upper chamber 458 461 make it only be rotated in fixed space, and rotary motion trace is more stable.

Preferably, the upper end in first opening and closing portion 452 and the second opening and closing portion 454 by the first elastic string 459 connect with Make the more flexible convenience of angular adjustment between the first holding part 453 and the second holding part 455, the center of the asymmetric wheel 457 Equipped with axis hole, the rotation axis 466 that can drive 457 rotation of asymmetric wheel is connected on the axis hole, which passes through corresponding Rotary electric machine 465 drive, which is preferably disposed on the lower end of connecting pin 42, and the rotary electric machine 465 and rotation The connection of axis 466 is to drive rotation axis 466 to rotate, and typically reciprocating rotation, i.e. positive and negative alternate rotate, and the rotation axis level is set It sets, passes through the lower end for the connecting pin 42 being vertically arranged, and can be freely rotated in connecting pin 42.

Preferably, it is described carry pinching smooth out with the fingers there are two massage head 460 sets, two carry pinching and smooth out with the fingers massage head 460 with the axis of connecting pin 42 Line is that symmetrical take out is symmetrical arranged, and carries pinching described in two and smooth out with the fingers the shared rotary shaft 466 of massage head 460, the rotary shaft 466 It can rotate across connecting pin 42 and in connecting pin 42；It is highly preferred that two carry and pinch the fixing axle 456 for smoothing out with the fingers massage head 460 and be also Same axis；It is highly preferred that it is both provided with axle sleeve 463 in the fixing axle 456 and the rotation axis, corresponding two up and down Axle sleeve 463 is connected by third elastic string 464, two axle sleeves 463 can be arranged in the both sides of connecting pin 42 and a third connects Splicing.Because the fixing axle 456 passed through from the lower end of connecting pin 42 is stablized relatively, and connect the rotation of two asymmetric wheels 457 466 less stable of axis is easy when the both ends of 457 major diameters of asymmetric wheel are horizontal in upper chamber 458 Rotary state is disengaged from the groove upwards, that is, is detached from rotation space 461, therefore needs to make rotation axis 466 always pre- there are one downward pulling force Its rotation is not influenced again in fixed track.Vibration is had when asymmetry 457 rotation of wheel, apparatus is flexible between upper and lower axle sleeve 463 Third elastic string 464 connect, can be with damping.

It is highly preferred that between first holding part, 453 and second holding part 455 by the second elastic string 462 connect with Make to carry that pinch effect more preferable；It carries pinching described in two and smoothes out with the fingers the shared fixing axle 456 of massage head 460 so that two carry pinching and smooth out with the fingers massage First 460 stability is more preferable.

This proposes the rotation pinched and smooth out with the fingers massage head 460 by asymmetric wheel 457, i.e. major diameter part turns to horizontal ends or vertical End etc. adjusts the folding of the first service portion 450 and the second service portion 451, and the first holding part can be realized in rotation process 453 with the second holding part 455 to human body " smooth out with the fingers -- folder -- pressure -- pine -- liter " process；If coordinating horizon bar 3,1 and of longitudinal rod The linkage of transverse bar 2 etc. can then realize the better massage effect of more accurate effect.

(6) as shown in Figure 12~14, the matrix form massage head 470 includes connection structure 471, the connection structure 471 Upper end be fixedly connected with the connecting pin 42, the lower end of the connection structure 471 is equipped with multiple massage ends 472.

The massage end 472 includes vertical pivot 473, can be in direct contact the rolling wheel 474 of human body and be set to fitting Spring 475 in vertical pivot periphery, upper end and the connection structure 471 of the vertical pivot 473 are that can slide up and down to connect, vertical pivot 473 Lower end is connect with rolling wheel 474 and the rolling wheel 474 circular-rotation, the upper and lower side of the spring 475 can be distinguished on vertical pivot It is connected to the lower face of the connection structure and the top of rolling wheel.

Connection structure 471 is by upper surface, lower face and the side joint face for connecting upper and lower end face, and the upper and lower end face is equal Can be platy structure or several steel bars etc., as long as connecting pin 42 is facilitated to be connect with vertical pivot 473.

When then the matrix form massage head 470 being used to press, vertical pivot 473 makes it to 471 institute of connection structure by upward power Moved in direction, then spring 475 is compressed, therefore the power of the massage end 472 be just in soft, and can be with the bumps of human body Height is adjusted in face, and each rolling wheel 474 is made effectively to be contacted with human body always.

The matrix form massage head 470 is capable of the pain spot of validity test human body.Pain caused by the reasons such as many muscular strains, Sufferers themselves not necessarily know pain spot, and searching for pressing with hand through doctor can find.The matrix form massage head 470 is by multiple spies The massage end 472 for determining structure rearranges matrix, by not waiting just when having the body surface read, can be formed close etc. The surface pressing of pressure just can be very easy to find pain spot by rolling for the matrix form massage head 470.In addition, the matrix form is massaged First 470 itself also have good therapeutic efficiency, and massage effect is unique, being capable of large area pressing whole body.

Embodiment 3

On the basis of embodiment 1 or 2：The massage strut 40 and the connection type of massage head are：As shown in figure 15, institute The lower end for stating massage strut 40 is equipped with groove 45, and the upper end of the connecting pin is set in the groove 45, on the groove 45 Equipped with the slot hole inside and outside the groove 45, the upper end of the connecting pin is equipped with pin hole 44, referring to Fig. 3~12, and works as When the upper end of the connecting pin is located in the groove 45, the pin hole 44 is Chong Die with the slot hole so that bolt 47 is inserted into institute Pin hole 44 is stated in the slot hole, is massaged on strut 40 to which connecting pin to be fixed on.

As shown in figure 15, the massage strut 40 is externally provided with the latch assembly 46 for fixing the massage head, described to insert Pin assemblies 46 include the bolt 47, bending connecting rod 48 and elastic connection rope 49, and the bending connecting rod 48 is two straight lines Outward bending is constituted, that is, is bent connecting rod 48 and be formed by connecting by two straight lines, and the angle between two straight lines is more than 0 degree Less than 180 degree, wherein the free end of a straight line is fixed by elastic connection rope 49 and the lateral surface of massage strut 40 Connection, the free end of another straight line is fixedly connected with the tail end of the bolt 47, then the latch assembly 46 oneself Fixed massage is allowed it to by (when no External force interference), the bolt 47 is inserted into be inserted into out of described slot hole when state Head；When the straight line that pressing is connect with elastic connection rope 49, elastic connection rope 49 can be compressed, the straight line being connect with bolt 47 Bolt 47 can be driven to be displaced outwardly for side so that the head of bolt 47 is exited from pin hole 44, then the massage head and massage strut 40 It is detached from；After the power that will be compressed on elastic connection rope 49 removes, bolt 47 again can automatic rebounding to slot hole or slot hole with In pin hole 44.

Preferably, the upper surface of the bolt 47 is horizontally disposed, and the lower face of head one end of bolt 47 is by outside extremely The ramp structure that interior (i.e. tail end side to head side) diameter is sequentially reduced, the pin hole 44 are shape and the bolt 47 The consistent wedged hole in the one end in portion that is, under 46 free state of latch assembly, is inserted so that massage head connection is easy but is not easily disconnected from Slot hole is passed through when pin, and head one end of bolt is located in groove, then during massage head is inserted into groove 45, Since the lower end of bolt is ramp structure, gradually can be ejected or be released groove 45, the bolt its can not stop massage head It is inserted into, when being inserted into the pin hole 44 and being overlapped with slot hole, since the screen resilience of bolt itself makes bolt encounter pin hole 44 After will enter pin hole 44, then massage head with massage strut 40 connect, do not need specialized operations latch assembly 46 can directly by Massage head is inserted into, and since the upper surface of bolt is horizontal, massage head can not be fallen out of groove, remove not operation latch assembly 46；Therefore installation massage head is very convenient.

Embodiment 4

On the basis of embodiment 1 or 2 or 3：As shown in figure 16, the longitudinal rod 1 includes the first sleeve 10 and second set Cylinder 11, the fixing end of first sleeve 10 is fixedly connected with horizon bar 3, the fixing end of second sleeve 11 and the transverse bar 2 It is fixedly connected, the sliding end of second sleeve 11 is set on the inside of the sliding end of the first sleeve 10, and the outside of the second sleeve 11 It can be slided up and down on the inner wall of the first sleeve 10, can be coordinated by guide rail mode and be slided, naturally it is also possible to which other manner is slided It is dynamic；The inside of the second sleeve 11 is fixedly connected with the fixed plate 14 for covering 11 inner chambers of second sleeve, described Fixed plate 14 is equipped with the thread lead screw hole that can coordinate with longitudinal leadscrew 13.

The lower end of first sleeve 10 is provided with longitudinal motor, and longitudinal leadscrew 13 is along the first sleeve 10 and second sleeve 11 axial directions extend, and one end of longitudinal leadscrew 13 is connect with longitudinal motor, and the other end (i.e. free end) passes through the spiral shell Line lead screw hole, longitudinal motor driving longitudinal leadscrew 13 are rotated forward or backwards so that second sleeve 11 is along in the first sleeve 10 Wall moves up or down, then the second sleeve 11 drives transverse bar 2 and mechanical massage component 4 to move up and down.

The move mode of horizon bar 3 and transverse bar 2 also can, for horizon bar 3, can be horizontal motor as longitudinal rod 1 It drives horizontal screw lead to move forward and backward to be driven, realizes mobile sleeve (second sleeve 11 in similar longitudinal rod 1) in fixation Sleeve (the first sleeve 10 in similar longitudinal rod 1) inner wall sliding, to realize the horizontal movement of horizon bar 3, longitudinal rod 1 It is fixedly connected with the sleeve moved on horizon bar 3, then can make the movement of horizon bar 3 that longitudinal rod 1 be driven to move；Similarly, transverse bar 2 Interior to drive horizontal leading screw 24 to move left and right for cross motor 23, the final moving sleeve 22 for realizing 2 outside of transverse bar is in fixing sleeve Slideslip in cylinder 21 realizes the left and right horizontal movement of transverse bar 2, the second sleeve of the fixes sleeve 21 and longitudinal rod 1 of transverse bar 2 11 are fixedly connected, referring to Figure 16.For details, reference can be made to the driving structures of longitudinal rod 1.

Using type of drive in the present embodiment, the number of turns that is turned by leading screw be easy to can to calculate its movement away from From very easy to realize automation control.Certain transverse bar 2, longitudinal rod 1, horizon bar 3 move mode be alternatively others Type of drive.

Embodiment 5

On the basis of embodiment 1 or 2 or 3 or 4：As shown in figure 18, the longitudinal rod 1 includes being set to external two It is capable of the sleeve of longitudinally opposed sliding and the longitudinal leadscrew 13 being set in sleeve, the longitudinal leadscrew 13 and the longitudinal motor Between by can adjust in real time pressure improve safety spring axle construction 9 connect.

As shown in Figure 18~19, the spring axle construction 9 includes driving disc spacing pressing 91, friction plate 92, driven disc successively from the bottom to top 93, the pressure reed 94 and gear set 100 of elastic compression and rebound can be carried out, the lower end of the friction plate 92 passes through short axle 90 connect with the longitudinal motor 12, and the upper end of driving disc spacing pressing 91 is connect by friction plate 92 with driven disc 93, driven disc 93 it is upper End is connect with pressure reed 94, and the upper end of the pressure reed 94 is fixedly connected with longitudinal leadscrew 13, and the gear set 100 is arranged In the periphery of longitudinal leadscrew and positioned at the top of pressure reed 94, realization is moved up and down to pressure reed by gear set 100 94 pushing or rebound.

The longitudinal motor 12 drives driving disc spacing pressing 91 to rotate by short axle 90, and driving disc spacing pressing 91 passes through frictional force band movable friction plate 92 rotations, friction plate 92 drive driven disc 93 to rotate, and driven disc 93 drives pressure reed 94 to rotate, and pressure reed 94 drives longitudinal direction Leading screw rotates.Gear set 100 move down will compression pressure reed 94, pressure reed 94 just transmits downwards pressure so that below Frictional force increase, if the pressure that friction plate is given is too big, frictionally can not be with movable friction plate, and driving wheel is with regard to skid ?；If gear set 100 moves up, it is just small to pass to following frictional force for the gradually rebound upwards of pressure reed 94；Therefore Different pressure can be generated to pressure reed 94 by upper and lower can realize of adjustment gear group 100, these power finally can be from silk It is transmitted on thick stick in the massage head of mechanical massage component 4, as the feeling of muscle tone so that the pressure in massage head is certain Timely adjusting is realized in degree, and keeps massage more comfortable.

The pressure reed 92 can be the bowl-shape reed of spiral helicine spring or hemispherical dome structure, the bowl-shape reed Open end towards driven disc, the other end or blind end of bowl-shape reed, that is, the arcwall face one end outwardly protruded and longitudinal leadscrew It is fixedly connected.

As shown in figure 19, the gear set includes first gear 95 and second gear 96, the first gear and longitudinal silk Thick stick threadedly connects, and can move up and down or rotate on longitudinal leadscrew, the first gear and second gear It is connected, second gear rotation can drive first gear to rotate, and first gear is transported on longitudinal leadscrew upward or downward again It is dynamic.

Preferably, the hand holding handle 97 that second gear can be made to rotate is provided in the second gear, then user also may be used To realize the rotation of gear set by rotating hand holding handle, that is, move up and down, to realize the real-time adjusting of pressure.It is preferred that described It is connected with gear motor 98 simultaneously in second gear, then conveniently second gear is made to rotate, is also convenient for realizing automation or mechanization It adjusts.

Preferably, it is equipped between the lower face of the first gear and the upper surface of the pressure reed and is linked in leading screw On elastomeric element 99 so that the effect of gear set is more firm.

Preferred embodiment, as shown in Figure 20~21, the longitudinal leadscrew 13 is externally provided with fixing sleeve 30, the fixing sleeve Outer wall will not be rotated with the rotation of longitudinal leadscrew 13, and the gear set is connected to outside fixing sleeve, so that longitudinal leadscrew and tooth The rotation of wheel group is independent of one another.

Specifically, the fixing sleeve includes the bearing 301 being fixedly connected on outside longitudinal leadscrew 13, on the outer wall of the bearing It is fixedly connected with housing 302, gear set, as first gear up and down can be connected on 302 outer wall of housing.

It is highly preferred that the bearing 301 is equipped with two groups, the housing 302 is set to outside the bearing 301 described in two groups, two The distance between group bearing 301 can be depending on the length of required housing 302 or height, then so that the length of housing 302 Increase, and stability is good；It is equipped with external screw thread in the outside of housing 302, the inner wall of the first gear is equipped with matches with external screw thread The internal thread of conjunction, then first gear can be cared for moves up and down along the outer wall of housing 302, only each other with the rotation of longitudinal leadscrew 13 It is vertical.

Embodiment 6

On the basis of embodiment 1 or 2 or 3 or 4 or 5：As shown in figure 17, the massage strut 40 is equipped with and can discharge Mechanical massage component is applied to the emergency pressure deactivation system of the power on human body.

The massage strut 40 is connect with transverse bar 2 by connection component, and the emergency pressure deactivation system includes fitting Elastomer 7 on massage strut 40, after massage strut 40 is connected on transverse bar 2, the elastomer is located at transverse bar 2 Top, and bar elastomer 7 is compressed；After connection component is opened, due to elastomer 7 rebound effect and by mechanical massage group Part pops up；Pressure on human body just releases.

Preferably, the top of the massage strut 40 is equipped with the end cap 6 that diameter is more than massage strut 40, the elastomer 7 It is connected between end cap 6 and transverse bar 2, when massage strut 40 is normally connected on transverse bar 2, elastomer 7 is in compression State.

It is highly preferred that being connected on the connection component convenient for users to connection component to be detached to the rope of massage strut 40 84, then pull rope 84 that will will massage the connection opening of strut 40 and transverse bar.

It is highly preferred that the connection component includes fixed fixed part 83 on the transverse bar, through fixed part 83 and can edge The elastic device 82 pin 81 of the sliding of fixed part 83 and be linked on pin 81, one end of the elastic device 82 is fixed It is connected on pin 81, the other end is abutted or is fixedly connected on fixed part；Specifically, the pin 81 is on the outer wall of front end It is fixedly installed blocking portion (show in figure, but indicated without reference numeral), the elastic device 82 can be fixed with blocking portion to be connected It connects or is connected on blocking portion；The rope 84 is connected to the tail end of pin 81.Then when massage head is against the pressure on human body too When big, rope 84 can be pulled, then pin 81 is extracted out of massage strut 40, then the elastomer 7 for being in compressive state will Rebound upwards so that massage strut 40 or mechanical massage component are popped up, the power removal being applied on human body.And in pin During 81 extract, elastic device 82 is compressed, due to there is the presence of the elastic device 82 that pin 81 is made not take off completely Rope is decontroled after massage strut 40 or mechanical massage component are ejected from fixed part 83 or transverse bar 2, since elasticity fills The screen resilience set makes pin restore original state.

It is highly preferred that the pin flushes for lower end, and upper end is to be inclined by what tail end to head diameter was sequentially reduced It then massages limb insertion referring to Figure 17 and is easy in inclined-plane.Then during massage limb is by upper straight lower insertion, drawn without thinking Rope or pin, pin can be inserted into the jack on massage strut 40.

Elastomer 7 and elastic device 82 in the present embodiment can be spring etc..

Embodiment 7

On the basis of any of the above one embodiment, as a selectable embodiment, the massaging manipulator Further include controller, CPU is equipped in the controller, all motors of the application can be electrically connected to realize quilt with controller Controller controls, and the realizations such as the pressure sensor being connect with controller can also be arranged in massage head simultaneously and more accurately control. The controller is connect with display screen so that user checks conveniently.The setting of controller can be each to what is arrived involved in manipulator The startup and stopping of motor carry out automatically controlling so that the use of manipulator is more convenient, certainly in practical application, needing controlling Program appropriate prepared in advance in device processed, these are all the technical issues of being easy to solve.

Embodiment 8

On the basis of any of the above one embodiment, as a selectable embodiment, the massaging manipulator Further include computer, which can connect with the pressure sensor in massage head so that the pressure data in massage head can be transmitted to In computer；The bed 5 for making to be lain down by massage person is provided with below the mechanical massage component；In the CPU of the computer It is stored with template (the i.e. human body of standard of the simulation bed 15 simulated according to the size specification of the bed and holographic human body figure Figure 17 is matched in holography), with scale 16 preferably on simulation bed 15, the scale as simulated, as shown in figure 22, the holographic human body of standard It is as shown in figure 23 with Figure 17, and in computer, the template of the holography human body figure, which may be provided at, forms standard on simulation bed Simulation bed equipped with holographic human body figure.

The shooting of the picture or dynamic video of the patient in bed that lies down can be absorbed in being arranged above for the bed 5 Device, and the filming apparatus is electrically connected or communicates with the computer and connects the image transmitting so that the patient shot in filming apparatus Into computer, on holographic human body figure that then image of patient is arranged on simulation bed, the human body shadow with patient is formd As consistent deformed holographic human body figure, Figure 20 is matched in the as human body holography of real image, as shown in figure 24, and according to complete Channels and collaterals, acupuncture point, bone, the muscle of breath human body figure are massaged.

It is preferred that the computer is electrically connected with the controller so that mechanical massage component can be according to the change indicated in computer Holographic human body figure after shape is positioned and is massaged.

When it is implemented, the position of bed 5 is made to fix, camera is put in the centre bit of the top face bed of bed 5, with computer It is connected.This image is as template typing computer.Then the scale and standard of the bed surface of this bed have been previously stored in computer Human body wall chart, i.e., holographic human body figure；It will be inserted in very with human body wall chart by the standard medical of channels and collaterals or skeletal muscle anatomical position In the human body camera shooting template of real patient, at this point, a deformed human body wall chart should be showed in computer.

Massage head is massaged according to the ratio of Figure 24 and figure apoplex involving the channels and collaterals acupuncture point or skeletal muscle.In practice, it is only necessary to One simple small routine of editor can be realized, a color identifier (commercially available) can be also installed in massage head, so that it may To be massaged according to the positioning on figure, specific positioning method is referring also to Figure 25.Such as：One people suffers from cervical spondylosis, warp Often can be in shoulder, neck, back pain, the position of vertebra 18 and shoulder blade 19 is as shown in figure 23, and when specific treatment, massage doctor is often It can be drawn such as figure at it and be pressed into pain spot, and the tangible lump (streak or nodositas) to muscle cramp at black block.

These positions, the often anatomical title of existing doctor trained in Western medicine, and have the title at Chinese medicine meridian acupuncture point.And it is in this machinery In system, they are just the numerical value of one group of coordinate, X：Laterally；Y：It is longitudinal, in addition massage head is from bed surface distance Z, i.e. X, Y, Z, The numerical value of three length units, X and Y represent the coordinate values in the length and width or width and length of bed, due to computer The simulation length of middle storage has scale, therefore the two numerical value of X and Y and intuitively can be displayed on computer, then according to these numbers Value makes massage head be compared accurate positioning.Since the axial direction of these three numerical value corresponds to transverse bar, horizon bar 3 and longitudinal rod 1 equal three numerical value, therefore these three numerical value are all controllable, recordable, therefore, can be found in the treatment according to following path These massage positions.

In addition, the massaging manipulator also has following effect：A has already passed through the illness of diagnosis, and doctor provides The position that should be massaged and gimmick.Can be in the figure subscript out position of the treatment on mobile phone or computer contact screen, and control massage Manipulator fixed point treats.B, oneself finds massage point by medical use figure (holographic human body figure).C, oneself is with hand or detects tenderness The massage head of point, detection and the relevant tender point of disease, positioning on the diagram, are massaged.

It should be noted that the method in the present embodiment is finally to have the people of some relevant medical knowledges to operate.

In the present embodiment, computer available handsets replace or computer is connect with terminal phone simultaneously, then check more square Just.In the present embodiment, to sum up, the human body localization method of automation is：1, realization machine is rotated by corresponding leading screw The three-dimensional localization of tool massaging hand, the i.e. positioning of the plane coordinates of massage bed；2, holographic human body figure template and massage bed plane are sat It marks and compound carries out massage plane positioning；3, longitudinal rod etc. can be adjusted it in real time according to the pressure sensor data in massage head Highly.

In the present invention, when specifically used, the people massaged is needed to lie on bed 5, bed 5 can be placed on the lower section of transverse bar 2；So Pass through the front and back position of 3 adjusting massage head of horizon bar, the high and low position of 1 adjusting massage head of longitudinal rod, transverse bar adjusting massage afterwards The left and right directions of head realizes the accurate positionin of massage head by three-dimensional regulation.Different type is realized by different massage head types Massage and massage head there is human hand remarkably true to life to simulate effect, but than the dynamics of human hand massage evenly, be easier to control, Also more longlasting.

The present invention is not limited to above-mentioned preferred forms, anyone can show that other are various under the inspiration of the present invention The product of form, however, make any variation in its shape or structure, it is every that there is skill identical or similar to the present application Art scheme, is within the scope of the present invention.

Claims (10)

1. a kind of massaging manipulator, it is characterised in that：It includes horizon bar, longitudinal rod, transverse bar and mechanical massage component；

The horizon bar, it is horizontally disposed along front-rear direction；

The longitudinal rod is arranged along vertical direction, and vertical with the horizon bar；The bottom end of the longitudinal rod and the water Flat bar is fixedly connected, and the top of longitudinal rod is fixedly connected with the transverse bar；

The transverse bar, it is horizontally disposed along left and right directions and vertical with the longitudinal rod and horizon bar；The transverse bar On to be connected with can be the mechanical massage component massaged of human body；

The mechanical massage component, is longitudinally extended along vertical direction, which includes that can be in direct contact people The massage head of body；On the mechanical massage component massage head, the massage are equipped with the one end for capableing of directly human contact's massage Head includes the finger formula massage head that can singly refer to pressing, is capable of the hand held massage head of palm massage, is capable of the slap of palm slap type Massage head, be capable of both arms massage both arms massage head, can press from both sides-press-pine-liter carry pinch smooth out with the fingers massage head and simultaneously be equipped with it is multiple Massage head and at least one of the matrix form massage head that acupuncture point pain spot can be perceived；

The horizon bar can drive the longitudinal rod, transverse bar and mechanical massage component to move forward and backward along horizontal direction, The longitudinal rod can drive the transverse bar and mechanical massage component to move up and down along vertical direction, and the transverse bar can Mechanical massage component side-to-side movement is driven along horizontal direction, then the massaging manipulator can be moved in front and back, upper and lower, left and right directions The dynamic position for allowing it to adjust the mechanical massage component from three-dimensional makes massage head be in human body place to be massaged.

2. massaging manipulator according to claim 1, it is characterised in that：The mechanical massage component further includes and the cross To the massage strut of the dismantled and assembled connection of bar, the lower end of the massage strut is fixedly connected with the massage head to be dismantled and assembled；

The massage head includes connecting pin and the press section that can be massaged with human contact, and the upper end of the connecting pin is pressed with described The strut that rubs is fixedly connected to be dismantled and assembled, and the lower end of connecting pin is connect with the press section；

The horizontal motor that horizon bar can be driven to be moved forward and backward or move in the horizontal direction is provided in the horizon bar；It is described vertical Longitudinal rod lower mobile or movement longitudinal motor in the vertical direction can be driven by being provided with into bar；Setting in the transverse bar There is the cross motor that transverse bar can be driven to move left and right or move in the horizontal direction；

Preferably, the longitudinal rod includes the first sleeve and second sleeve, and the fixing end of first sleeve is fixed with horizon bar Connection, the fixing end of second sleeve are fixedly connected with the transverse bar, and the sliding end of second sleeve is set to the cunning of the first sleeve On the inside of moved end, and the outside of the second sleeve can slide up and down on the inner wall of the first sleeve；The inside of the second sleeve It is fixedly connected with the fixed plate for covering the second sleeve inner chambers, the fixed plate, which is equipped with, to match with the longitudinal leadscrew The thread lead screw hole of conjunction；

The lower end of first sleeve is provided with longitudinal motor, and the longitudinal leadscrew is along the first sleeve and second sleeve axial direction side To extend and leading screw free end pass through the thread lead screw hole, longitudinal motor driving longitudinal leadscrew rotate forward or backwards with Second sleeve is set to be moved up or down along the inner wall of the first sleeve, then the second sleeve drives transverse bar and mechanical massage group Part moves up and down.

3. massaging manipulator according to claim 2, it is characterised in that：Press section in the finger formula massage head is finger formula Press section, is equipped with finger formula motor between finger formula press section and connecting pin, the finger formula motor can drive the finger formula to press Splenium rotates or presses up and down movement；

The hand held massage head, press section thereon is hand held press section, and the palm is equipped between the hand held press section and connecting pin Formula motor, the hand held motor can drive the hand held press section rotate front and back fricting movement or left and right friction fortune It is dynamic；

The slap massage head, press section thereon is impact press section, and energy is equipped between impact press section and the connecting pin The impact motor enough flopped, the impact motor drive impact press section to do pressing or slamming repeatedly；

The both arms massage head comprising the supporting rod being laterally arranged, central position of centre of gravity and the connecting pin of the supporting rod Connection, the first arm press section and the second arm press section that the both ends of the supporting rod are provided symmetrically, the first arm pressing The first arm motor is connected in portion for driving the movements such as the rotation of the first arm press section, second arm to be connected on press section Second arm motor is for driving the movements such as the rotation of the second arm press section；

It is described carry pinching smooth out with the fingers massage head comprising the first service portion and the second service portion arranged in a crossed manner, first service portion and The overlapping of two service portions is by fixed axis connection so that the first service portion and the second service portion can be random relative to fixing axle Rotation, the first service portion include be located at fixing axle upper and lower side and the first opening and closing portion for being integrated connection and first pinch Portion, second service portion include be located at fixing axle upper and lower side and the second opening and closing portion for being integrated connection and the second folder Pinch portion；The free end of first holding part and the second holding part allows it to mediate skin to contract；

The matrix form massage head comprising connection structure, the upper end of the connection structure are fixedly connected with the connecting pin, institute The lower end for stating connection structure is equipped with multiple massage ends.

4. massaging manipulator according to claim 3, it is characterised in that：In the both arms massage head, first arm The distance between press section and the second arm press section can be adjusted；Preferably, between the first arm press section and the second arm press section It is adjusted by wheelbase regulating device, the wheelbase regulating device includes the first rack being connect with the first arm press section and second The second rack and be set between the first rack and the second rack and stung with the first rack and the second rack that arm press section connects The gear of conjunction, gear rotation drive the first rack and the second rack in opposite directions or reverse movement, then the first rack and the second rack point Do not drive the first arm press section and the second arm press section in opposite directions or relative movement；It is highly preferred that being provided with handle on the gear So that user holds handle rotate gear；

It is highly preferred that first arm press section and/or the second arm press section include be vertically arranged vertical shaft, fifth wheel and with The upper end of the Massage Department of direct body contact, the vertical shaft is connect with supporting rod, and the lower end of the vertical shaft is connect with fifth wheel, institute It states fifth wheel to be fixedly connected with Massage Department, preferably Massage Department and the plane of human contact is parallel with fifth wheel, connects by vertical shaft The change in location on fifth wheel is connected in the variation of the position on fifth wheel and Massage Department to realize between fifth wheel and vertical shaft Angle variation；It is further preferred that the lower face of the fifth wheel is connect with Massage Department by elastic construction so as to massage With soft in having the characteristics that in the process just；

It pinches in described carry and smoothes out with the fingers massage head, being equipped with energy in the upper chamber be made of first opening and closing portion and the second opening and closing portion The asymmetric wheel of angle between the first holding part and the second holding part is enough adjusted, the vertical outer diameter of asymmetry wheel is outer with transverse direction Diameter is different；

Preferably, first opening and closing portion connected by the first elastic string with the upper end in the second opening and closing portion so that the first holding part and The center of the more flexible convenience of angular adjustment between second holding part, the asymmetric wheel is equipped with axis hole, is connected on the axis hole Having can drive the rotation axis of asymmetric wheel rotation, the rotation axis to pass through the lower end of the connecting pin, and can be in connecting pin It is freely rotated；

It is highly preferred that it is described carry pinching smooth out with the fingers there are two massage head sets, two carry and pinch that smooth out with the fingers massage head with the axis of connecting pin be symmetrical take out It is symmetrical arranged, and carries pinching described in two and smooth out with the fingers the shared rotary shaft of massage head；

Effect is pinched it is further preferred that being connected by the second elastic string so as to carry between first holding part and the second holding part More preferably；Carried described in two pinch smooth out with the fingers massage head share a fixing axle so that two carry pinch smooth out with the fingers massage head stability it is more preferable；

In the matrix form massage head, the massage end includes vertical pivot, the rolling wheel that can be in direct contact human body and sets Be placed in the spring being set to outside vertical pivot, the upper end of the vertical pivot and connection structure are that can slide up and down connect, the lower end of vertical pivot and Rolling wheel connects and the rolling wheel circular-rotation, the upper and lower side of the spring can be connected to the connection knot respectively on vertical pivot The lower face of structure and the top of rolling wheel.

5. massaging manipulator according to claim 4, it is characterised in that：The connection type of the massage strut and massage head For：The lower end of the massage strut is equipped with groove, and the upper end of the connecting pin is set in the groove, and the groove is equipped with The upper end of slot hole inside and outside the groove, the connecting pin is equipped with pin hole, and when the upper end of the connecting pin is located at When in the groove, the pin hole is Chong Die with the slot hole so that bolt is inserted into the pin hole and the slot hole；

Preferably, the massage strut is externally provided with the latch assembly for fixing the massage head, and the latch assembly includes institute Bolt, bending connecting rod and elastic connection rope are stated, the top and bottom of the bending connecting rod extend outwardly, the bending connecting rod Upper end is fixedly connected by elastic connection rope with massage strut, and the tail end of the lower end of the bending connecting rod and the bolt, which is fixed, to be connected It connects；The latch assembly in a free state, the bolt is inserted into is inserted into fixed massage head out of slot hole；When pressing with Elastic connection rope connection straight line when, the straight line being connect with bolt bolt can be driven to be displaced outwardly so that bolt head from It is exited in pin hole, then the massage head is detached from massage strut；After the power that will be compressed on elastic connection rope removes, bolt is again In meeting automatic rebounding to slot hole or across slot hole and enter in pin hole；

It is highly preferred that the upper surface of the bolt is horizontally disposed, the lower face of head one end of bolt is by outside to interior diameter The ramp structure being sequentially reduced, the pin hole are the shape wedged hole consistent with the described one end on bolt head so that massage head connects It connects and is easy but is not easily disconnected from.

6. massaging manipulator according to claim 5, it is characterised in that：The massage strut, which is equipped with, can discharge machinery Massage assembly is applied to the emergency pressure deactivation system of the power on human body；

Preferably, the massage strut is connect with transverse bar by connection component, and the emergency pressure deactivation system includes fitting Elastomer on massage strut, after massaging strut connection on the transverse bar, the elastomer is located at the top of transverse bar, and Bar elastomer is compressed；After opening connection component, mechanical massage component is upspringed due to the rebound effect of elastomer Go out；

It is highly preferred that the top of the massage strut is equipped with the end cap that diameter is more than massage strut, the elastomer is connected to Between end cap and transverse bar；

It is highly preferred that being connected on the connection component convenient for users to connection component to be detached to the rope of massage strut, then draw Running rope will open the connection for massaging strut and transverse bar；

It is further preferred that the connection component includes fixed fixed part on the transverse bar, through fixed part and can be along consolidating The elastic device determined the pin of portion's sliding and be linked on pin, one end of the elastic device are fixedly connected on pin, The other end is abutted or is fixedly connected on fixed part；The rope is connected to the tail end of pin.

It is further preferred that the pin flushes for lower end, and upper end is sequentially reduced by tail end to head diameter Inclined surface is then massaged strut insertion and is easy.

7. according to massaging manipulator according to any one of claims 1 to 6, it is characterised in that：The longitudinal leadscrew with it is described The spring axle construction connection of safety is improved between longitudinal motor by can adjust pressure in real time；

Preferably, the spring axle construction includes successively from the bottom to top driving disc spacing pressing, friction plate, driven disc, can carry out elastic compression It is connect with the longitudinal motor by short axle with the lower end of the pressure reed and gear set of rebound, the friction plate, driving disc spacing pressing Upper end connect with driven disc by friction plate, the upper end of driven disc is connect with pressure reed, the upper end of the pressure reed with Longitudinal leadscrew is fixedly connected, and the gear set is set to the periphery of longitudinal leadscrew and the top positioned at pressure reed；Longitudinal motor Driving disc spacing pressing rotation, driving disc spacing pressing is driven to be rotated by frictional force band movable friction plate by short axle, friction plate drives driven disc rotation, from Moving plate drives the rotation of pressure reed, pressure reed to drive longitudinal leadscrew rotation；Gear set move down will compression pressure reed, pressure Reed just transmits downwards pressure；

It is highly preferred that the gear set includes first gear and second gear, the first gear passes through screw thread with longitudinal leadscrew Connection, the first gear are connected with second gear, and second gear rotation can drive first gear to rotate, first gear It is moved upwardly or downwardly on longitudinal leadscrew again；

It is further preferred that being provided with the hand holding handle that second gear can be made to rotate in the second gear to realize the reality of pressure When adjust；It is preferred that being connected with gear motor simultaneously in the second gear.

8. according to the massaging manipulator described in claim 7, it is characterised in that：The longitudinal leadscrew is externally provided with fixing sleeve, should The outer wall of fixing sleeve will not be rotated with the rotation of longitudinal leadscrew, and it is outer so that longitudinal leadscrew that the gear set is connected to fixing sleeve It is independent of one another with the rotation of gear set；Preferably, the fixing sleeve includes the bearing being fixedly connected on outside longitudinal leadscrew, the axis Housing is fixedly connected on the outer wall held, the gear set or first gear up and down can be connected on the outer wall of housing；

The massaging manipulator further includes controller, is equipped with CPU in the controller, involved all electricity in mechanical massage hand Machine is electrically connected with controller, and the controller is connect with display screen so that user checks conveniently.

9. a kind of mechanical massage component, which is characterized in that the mechanical massage component is described in any one of claim 1~8 Mechanical massage component, which is alternatively positioned on supporting rack.

10. a kind of human body localization method of the massaging manipulator described in claim 7, which is characterized in that the massaging manipulator It further include computer；The bed for making to be lain down by massage person is provided with below the mechanical massage component；The CPU of the computer In be stored with the template of the simulation bed simulated according to the size specification of the bed and holographic human body figure, and in computer In, the template-setup of the holography human body figure forms the simulation bed equipped with holographic human body figure of standard on simulation bed；

The lie down picture of patient in bed or the filming apparatus of dynamic video can be absorbed in being arranged above for the bed, And the filming apparatus is electrically connected or communicates with the computer and connects so that the image transmitting of the patient shot in filming apparatus is to electricity In brain, on holographic human body figure that then image of patient is arranged on simulation bed, form and the body image of patient one The deformed holographic human body figure caused, and massaged according to channels and collaterals, acupuncture point, bone, the muscle of holographic human body figure；

Preferably, the computer is electrically connected with the controller so that mechanical massage component can be according to the deformation indicated in computer Holographic human body figure afterwards is positioned and is massaged.