CN109394501A - A kind of massage nursing robot - Google Patents
A kind of massage nursing robot Download PDFInfo
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- CN109394501A CN109394501A CN201811208727.3A CN201811208727A CN109394501A CN 109394501 A CN109394501 A CN 109394501A CN 201811208727 A CN201811208727 A CN 201811208727A CN 109394501 A CN109394501 A CN 109394501A
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- massage
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- sleeve
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Massaging Devices (AREA)
Abstract
A kind of massage nursing robot disclosed by the invention, including rotating base, elevating mechanism, telescoping mechanism and Massage box rotating base include pedestal, the top of pedestal is connect by screw with cover board, the bottom surface of cover board is connected with sleeve, the free end of sleeve is connected by screw to backing plate, stepper motor I is connected on backing plate, stepper motor is connected with retarder I, lid surface center is provided with through-hole, through-hole is through sleeve center, lid surface is provided with turntable, turntable connects elevating mechanism, elevating mechanism upper end connects telescoping mechanism, telescoping mechanism can be moved along elevating mechanism in vertical direction, elevating mechanism is identical as the structure of telescoping mechanism, telescoping mechanism connects Massage box, Massage box can be moved left and right along telescoping mechanism, Massage box is internally provided with six massage heads.The design massage manipulation multiplicity of massage nursing robot disclosed by the invention, can efficiently accomplish the demand of the massage nursing of the people under high pressure, and structure is simple, at low cost, easily controllable.
Description
Technical field
The invention belongs to massage service robotic technology fields, are related to a kind of massage nursing robot.
Background technique
Nowadays the life and work state of high pressure has become normality, people's bring waist due to long-time study, work
Sour backache has become an important social concern.Massage therapy is a kind of effective therapeutic modality.However since profession is massaged
The shortage of technician, most of general family of economic condition are all difficult to undertake this high manual service cost.So far, city
Intelligence, the person of often requiring to use do not hold it and needs just can be achieved to specific physical feeling mechano-electronic massager on field
Massage, most of massager can only realize the massage of simple vibration percussion, and its massaging way is single, there is usually one
Massage head has also seriously affected massage efficiency.Massaging nursing robot replaces professional masseur's work to become a kind of needs.Cause
This, designs a kind of massage nursing robot that intelligent, efficiently, inexpensive imitation people is massaged, is able to solve current profession
The shortage of technician, the problems such as massage device mode is single are massaged, to meet the needs of people are to massage service, it is raw to improve the people
Bioplasm amount.
Summary of the invention
The object of the present invention is to provide a kind of massage nursing robots, solve existing massage robot massaging way list
One, problem inconvenient to use and expensive.
The technical scheme adopted by the invention is that a kind of massage nursing robot, including rotating base, elevating mechanism, stretch
Contracting mechanism and Massage box；
Rotating base includes pedestal, and the top of pedestal is connect by screw with cover board, and the one of the affixed sleeve in the bottom surface of cover board
End, the other end of sleeve are connected by screw to backing plate, stepper motor I are connected on backing plate, and stepper motor I is connected with retarder I,
Lid surface is provided with turntable, and turntable connects elevating mechanism, and elevating mechanism includes stepper motor II, ball screw and cunning
Platform, telescoping mechanism is identical as elevating mechanism structure, and telescoping mechanism is horizontal positioned elevating mechanism, is equipped with step on telescoping mechanism
The slide unit of one end and elevating mechanism into motor II is fixedly connected, for stretching so that telescoping mechanism is moved with elevating mechanism
The slide unit of mechanism connects Massage box, and Massage box is moved left and right along telescoping mechanism axis.
Other features of the invention also reside in,
Lid surface center is provided with through-hole, and for through-hole through sleeve center, sleeve inner is provided with shaft I, and shaft I is located at logical
In hole, shaft I and sleeve lining are circumferentially equipped with bearing I, and the upper end shaft I is connected by screw to turntable, and stepper motor I is logical
It crosses flat key drive shaft I and realizes rotation, shaft I drives turntable to rotate by screw, to realize entire massage robot
Rotary motion.
Elevating mechanism includes the bottom plate that turntable surface is fixed in by screw, and the one of the affixed ball screw in bottom plate center
End, turntable side wall are connected by screw to motor support plate by the also affixed back plate I of screw, the top of back plate I, ball screw
The other end is fixed in the bottom surface of motor support plate, the affixed stepper motor II of motor support plate surface, and stepper motor II connection is slowed down
Device II, ball screw drive slide unit along the axial-movement of ball screw.
Also affixed there are two support rod on bottom plate, two support rods are located at the two sides of ball screw, and slide unit is connected by screw
It connects on support rod, slide unit center is provided with threaded hole, moves for cooperating with ball screw, close to motor support plate on back plate I
Position be connected by screw to middle connecting plate, ball screw passes through middle connecting plate, and sets with middle connecting plate junction
It is equipped with bearing I I, shaft coupling I is installed between middle connecting plate and motor support plate, shaft coupling I is electric by ball screw and stepping
Machine II is connected.
Massage box includes box shell, and box shell upper face center is equipped with connector, and connector includes both ends two pressure plates in
Portion is in the top plate of inverse u shape, and every block pressur plate at connector both ends is fixed in the surface of box shell, connector by several screws respectively
The top plate upper end at middle part is connected with connecting plate, and connecting plate is fixed on the slide unit side wall of telescoping mechanism by several screws.
Include six massage heads inside box shell, every massage head include be fixed on box shell top surface it is affixed by several screws
It is socketed with shaft II inside six sleeves II, each sleeve II, several are installed between shaft II outer wall and sleeve II inner wall
Bearing pair, shaft II is connected through a screw thread close to one end of box shell with box shell surface, and is fixed by locking nut, shaft II's
The other end stretches out outside sleeve II, and the side wall that shaft II stretches out outside sleeve II is connect with driven wheel, and end face is connected with big magnetic pole.
Box shell inside top surface is connected with servo motor, and servo motor is located at the underface of connector, and servo motor passes through connection
Axis device II connection power gear engages six driven wheels around power gear, and power gear drives driven wheel rotation, each driven
Wheel has been correspondingly connected with a splined shaft to drive splined shaft to rotate, and each splined shaft passes through spiral shell close to one end of box shell bottom surface
Nail II is connected with massage plunger, and massage plunger is rotated with the rotation of splined shaft；Another end surfaces of splined shaft pass through countersunk head
Screw is connect with small magnetic pole, and small magnetic pole and spline shaft connection place are equipped with buffering spacer, and small magnetic pole is opposite with big magnetic pole surfaces to be set
It sets.
Massage plunger be rubber material and human contact by rotation can rolling massage, the rear end cap and back plate II of box shell
It shields.
The invention has the advantages that a kind of massage nursing robot, solves existing massage robot massaging way list
One, problem inconvenient to use and expensive.The design massage manipulation multiplicity of massage nursing robot of the invention, can have
Effect completes the demand of the massage nursing of the people under high pressure, and structure is simple, at low cost, easily controllable, and the market in China is suitble to need
It asks, people's living standard can be improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of massage nursing robot of the invention a kind of；
Fig. 2 is a kind of structural schematic diagram of the rotating base of massage nursing robot of the invention；
Fig. 3 is the lifting structure of massage nursing robot of the invention a kind of and the structural schematic diagram of stretching structure；
Fig. 4 is the Massage box of massage nursing robot of the invention a kind of according to the left cross-sectional view in direction in Fig. 1；
Fig. 5 is the Massage box of massage nursing robot of the invention a kind of according to direction main view in Fig. 1；
Fig. 6 is the cross-sectional view in the face B-B in Fig. 5.
In figure, 1. pedestals, 2. stepper motor I, 3. retarder I, 4. sleeves, 5. bearing Is, 6. screws, 7. cover boards, 8. shafts
I, 9. turntables, 10. flat keys, 11. stepper motor II, 12. retarder II, 13. motor support plates, 14. shaft coupling I, among 15.
Connecting plate, 16. bearing I I, 17. back plate I, 18. ball screws, 19. slide units, 20. bottom plates, 21. massage plungers, 22. springs, 23.
Splined shaft, 24. driven wheels, 25. buffering spacers, 26. small magnetic poles, 27. sunk screws, 28. big magnetic poles, 29. shaft II, 30. axis
It honours, 31. sleeve II, 32. locking nuts, 33. connectors, 34. rear end caps, 35. back plate II, 36. shaft coupling II, 37. power
Gear, 38. box shells, 39. screw II.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of massage nursing robot of the invention, as shown in Figure 1 include rotating base, elevating mechanism, telescoping mechanism and
Massage box；
As shown in Fig. 2, rotating base includes pedestal 1, the top of pedestal 1 is connect by screw 6 with cover board 7, the bottom of cover board 7
One end of the affixed sleeve 4 in face, the other end of sleeve 4 are connected by screw to backing plate, stepper motor I 2, stepping are connected on backing plate
Motor I 2 is connected with retarder I 3, and 7 surface of cover board is provided with turntable 9, and turntable 9 connects elevating mechanism, elevating mechanism packet
Stepper motor II 11, ball screw 18 and slide unit 19 are included, telescoping mechanism is identical as elevating mechanism structure, and telescoping mechanism is level
The elevating mechanism of placement is equipped with one end of stepper motor II 11 on telescoping mechanism and is fixedly connected with the slide unit 19 of elevating mechanism,
For moving telescoping mechanism with elevating mechanism, the slide unit of telescoping mechanism connects Massage box, and Massage box can be along telescoping mechanism
It axially moves left and right, Massage box is internally provided with six massage heads.
7 face center of cover board is provided with through-hole, and through-hole is internally provided with shaft I8, shaft I8 through 4 center of sleeve, sleeve 4
In through-hole, shaft I8 and 4 inner wall of sleeve are circumferentially equipped with bearing I 5, and the upper end shaft I8 is connected by screw to turntable 9,
Stepper motor I 2 realizes rotation by 10 drive shaft I8 of flat key, and shaft I8 drives turntable 9 to rotate by screw, thus real
The now rotary motion of entire massage robot.
As shown in figure 3, elevating mechanism includes the bottom plate 20 for being fixed in 9 surface of turntable by screw, 20 center of bottom plate is solid
One end of ball screw 18 is connect, by the also affixed back plate I17 of screw, the top of back plate I17 is connected by screw to 9 side wall of turntable
The other end of motor support plate 13, the ball screw 18 of motor support plate is fixed in the bottom surface of motor support plate 13, motor support
Plate 13 is parallel with the bottom plate 20, the affixed stepper motor II 11 in surface, the connection retarder of stepper motor II 11 II 12, ball
Screw rod 18 drives slide unit 19 along the axial-movement of ball screw 18.
Also affixed there are two support rod on bottom plate 20, two support rods are located at the two sides of ball screw 18, and slide unit 19 passes through
Screw is connected on support rod, and 19 center of slide unit is provided with threaded hole, is moved for cooperating with ball screw 18, is leaned on back plate I17
The position of nearly motor support plate 13 has been connected by screw to middle connecting plate 15, and middle connecting plate 15 and motor support plate 13 are flat
Row, ball screw 18 passes through middle connecting plate 15, and 15 junction of middle connecting plate is provided with bearing I I16, middle connecting plate
Shaft coupling I14 is installed, shaft coupling I14 has connected ball screw 18 with stepper motor II11 between 15 and motor support plate 13
Come.
As shown in Figure 4, Figure 5 and Figure 6, Massage box includes box shell 38, and 38 upper face center of box shell is equipped with connector 33, even
Fitting 33 includes both ends two pressure plates and middle part is in the top plate of inverse u shape, if every block pressur plate at 33 both ends of connector passes through respectively
Dry screw is fixed in the surface of box shell 38, and the top plate upper end at 33 middle part of connector is connected with connecting plate, and connecting plate passes through several spiral shells
Nail is fixed on the slide unit side wall of telescoping mechanism.
Box shell is internally located at 33 two sides of connector and is symmetrical arranged there are six massage head, the complete phase of the structure of each massage head
Together.
Massage head includes 38 inside top surface of box shell, the six sleeve IIs 31, each sleeve II 31 affixed by several screws
Inside is socketed with shaft II 29, several bearings is equipped between 31 inner wall of 29 outer wall of shaft II and sleeve II to 30, shaft
II 29 is connected through a screw thread close to one end of box shell 38 with 38 surface of box shell, and fixed by locking nut 32, shaft II 29
The other end stretch out sleeve II 31 outside, shaft II 29 stretch out sleeve II 31 outside side wall connect with driven wheel 24, and end face consolidate
It is connected to big magnetic pole 28.
38 inside top surface of box shell is connected with servo motor, and servo motor is located at the underface of connector 33, and servo motor is logical
Shaft coupling II36 connection power gear 37 is crossed, 37 surrounding of power gear engages six driven wheels 24, and power gear 37 drives driven
24 rotation of wheel, each driven wheel 24 have been correspondingly connected with a splined shaft 23 to drive the rotation of splined shaft 23, each splined shaft
One end of 23 38 bottom surface of close box shell is connected with massage plunger 21 by screw II39, massages plunger 21 with splined shaft 23
It rotates and rotates；Another end surfaces of splined shaft 23 are connect by sunk screw 27 with small magnetic pole 26, small magnetic pole 26 and splined shaft
23 junctions are equipped with buffering spacer 25, and small magnetic pole 26 is oppositely arranged with big 28 surface of magnetic pole；Splined shaft 23 is also socketed with spring
22, it one end of spring 22 and is fixed on the bottom surface of small magnetic pole 26, the other end of spring 22 is fixed on massage plunger 21.
Massage plunger 21 be rubber material and human contact by rotation can rolling massage, 34 He of rear end cap of box shell 38
Back plate II35 shields.
The design principle of massage nursing robot of the invention a kind of is as follows:
When being designed to Three Degree Of Freedom structure, the present invention propose to complete using two ball-screws up and down two from
Main execution unit (massage head) is controlled by spending, pedestal is the supporting mechanism of entire massage nursing robot, electronic
The rotation of entire robot fuselage is realized in rotation under the drive of machine, realizes the control to three degree of freedom.The present invention is designing
When multifunctional massage head, each massage head is by massage plunger, spring, rolling bearing, splined shaft, buffering spacer, small magnetic pole, big magnetic
Pole, shaft, light bearing, axle sleeve, this several part of locking nut form.When carrying out vibromassage operation, big magnetic pole being capable of the period
Property obtain electric and power loss and periodical band is magnetic, obtain electromagnetic force when big magnetic pole is powered small magnetic pole will be attracted to move upwards, flower
The spring installed on key axis just has to be compressed to a certain degree, once big magnetic pole power loss, massage head will be real under spring force drive
It now moves downward, thus may be implemented periodically to tap massage.Rolling massage is realized by rolling bearing, when rolling tooth
The operation of rolling massage gimmick is realized when wheel rotation.Due to there is the presence of splined shaft, rolling massage is carried out and percussion is pressed when simultaneously
When rubbing, massage head is able to carry out compound massage.In order to improve massage efficiency, massage nursing robot is provided with six massage heads,
They are integrated within closed Massage box, in order to avoid there is transmission interference, driving wheel is arranged among Massage box.
The present invention selects Siemens SMART S7-200, CPUSR30 when designing PLC control, and carries out to the I/O of the PLC chosen
Distribution, the working principle of each movement of analysis robot design the control circuit of robot PLC, use STEP7 software programming
Massage the control program of nursing robot, reusable, easy management.In view of trapezoid figure language is easily understood, journey is controlled
Sequence has selected to be write with trapezoid figure language.
A kind of massage nursing robot of the invention, the rotating base of robot are the supports of entire massage nursing robot
Mechanism, and it is able to achieve the rotation of entire robot fuselage.The mode that stepper motor is connected by key drives hollow rotating shaft to realize rotation
Turn, and shaft is connected with turntable by screw and has driven the rotation of turntable indirectly, to realize the rotary motion of robot.
The present invention is realized the lifting of massage nursing robot massage head using ball screw framework and stretched.Ball wire
Bar is a kind of linear transmission mechanism that will commonly be converted to linear motion.Specific work process is that ball screw is in step
It is rotated under into the drive of motor, the rotational angle of screw cooperation screw rod converts corresponding straight line for rotation according to lead specification and transports
It is dynamic, need to realize the workpiece of linear motion by being connected in nut to realize linear motion.Each massage head by massage plunger,
This several part of spring, rolling bearing, splined shaft, buffering spacer, small magnetic pole, big magnetic pole, shaft, light bearing, axle sleeve, locking nut
Composition.When carrying out vibromassage, big magnetic pole periodically electric and power loss is magnetic to periodical band, big magnetic pole, which is powered, to be obtained
Small magnetic pole is attracted to move upwards when electromagnetic force, the spring installed on splined shaft just has to be compressed to a certain degree, once big magnetic pole loses
Electricity, massage head will be realized under spring force drive and be moved downward, and periodically tap massage to realize.Rolling massage relies on
Rolling bearing is realized, realizes rolling massage when rolling bearing rotation.Due to there is the presence of splined shaft, rolled when simultaneously
When massage and percussion massage, massage head is able to carry out compound massage.
The present invention gets rid of the defect of single massage head, devises Massage box, wherein having 6 massage heads, in order to avoid occurring
Transmission interference, driving wheel is arranged among Massage box.The size and realization rolling massage wheel chain of Massage box rear cover are close
It is related.In view of the actual size of human body back, following design has been carried out to Massage box: in Massage box massage head with wheel chain into
Row transmission, 20 ° of pressure angle, in order to keep robot can even running, modulus takes small as far as possible, and the modulus m of gear takes 1.5, greatly
Number of gear teeth Z230 are taken, in order to keep gear wear uniform, the number of teeth of gear wheel and pinion gear should prime number, wheel chain be each other open type
Gear drive, and exposed gear wear-out failure is its main failure forms, so should be as small as possible for the pinion gear number of teeth.And it is
Root is avoided to cut, the pinion gear number of teeth should be not less than 17.By calculating, the centre distance between six massage heads is point of gear wheel
Circular diameter 45mm is spent, as shown in fig. 6, the position to six massage heads is reasonably arranged.By calculating design Massage box
Rear cover meets the requirement to human body back massage having a size of 166mm × 148mm.It is verified by calculating, the strength of gear teeth, which also meets, to be wanted
It asks.
Claims (8)
1. a kind of massage nursing robot, which is characterized in that including rotating base, elevating mechanism, telescoping mechanism and Massage box；
The rotating base includes pedestal (1), and the top of the pedestal (1) is connect by screw (6) with cover board (7), the lid
The other end of one end of the affixed sleeve in bottom surface (4) of plate (7), the sleeve (4) is connected by screw to backing plate, is connected on backing plate
Stepper motor I (2), the stepper motor I (2) are connected with retarder I (3), and cover board (7) surface is provided with turntable (9),
The turntable (9) connects elevating mechanism, and the elevating mechanism includes stepper motor II (11), ball screw (18) and slide unit
(19), the telescoping mechanism is identical as the elevating mechanism structure, and the telescoping mechanism is the horizontal positioned elevating mechanism,
One end that stepper motor II (11) is equipped on the telescoping mechanism is fixedly connected with the slide unit (19) of the elevating mechanism, is used for
So that the telescoping mechanism is moved with the elevating mechanism, the slide unit of the telescoping mechanism connects the Massage box, described to press
The case that rubs is moved left and right along the telescoping mechanism axis.
2. a kind of massage nursing robot as described in claim 1, which is characterized in that cover board (7) face center is provided with
Through-hole, the through-hole are internally provided with shaft I (8) through the sleeve (4) center, the sleeve (4), shaft I (8) position
In in the through-hole, the shaft I (8) and the sleeve (4) inner wall are circumferentially equipped with bearing I (5), on the shaft I (8)
End is connected by screw to the turntable (9), and the stepper motor I (2) realizes rotation by flat key (10) drive shaft I (8),
The shaft I (8) drives the turntable (9) to rotate by screw, to realize the rotary motion of entire massage robot.
3. a kind of massage nursing robot as described in claim 1, which is characterized in that the elevating mechanism includes passing through screw
It is fixed in the bottom plate (20) on the turntable (9) surface, one end of the affixed ball screw (18) in bottom plate (20) center is described
For turntable (9) side wall by the also affixed back plate I (17) of screw, the top of the back plate I (17) is connected by screw to the motor
The other end of support plate (13), the ball screw (18) is fixed in the bottom surface of motor support plate (13), the motor support plate
(13) the affixed stepper motor II (11) in surface, the stepper motor II (11) connect retarder II (12), the ball screw
(18) drive the slide unit (19) along the axial-movement of the ball screw (18).
4. a kind of massage nursing robot as claimed in claim 3, which is characterized in that be also connected with two on the bottom plate (20)
A support rod, two support rods are located at the two sides of the ball screw (18), and the slide unit (19) is connected by screw to
On the support rod, slide unit (19) center is provided with threaded hole, moves for cooperating with the ball screw (18), after described
Position on plate I (17) close to the motor support plate (13) has been connected by screw to middle connecting plate (15), the ball wire
Bar (18) passes through the middle connecting plate (15), and the middle connecting plate (15) junction is provided with bearing I I (16), institute
It states and is equipped between middle connecting plate (15) and the motor support plate (13) shaft coupling I (14), the shaft coupling I (14) is by institute
It states ball screw (18) and stepper motor II (11) is connected.
5. a kind of massage nursing robot as described in claim 1, which is characterized in that the Massage box includes box shell (38),
Box shell (38) upper face center is equipped with connector (33), and the connector (33) includes both ends two pressure plates and middle part is in
Every block pressur plate of the top plate of inverse u shape, connector (33) both ends is fixed in the box shell (38) by several screws respectively
Surface, the top plate upper end in the middle part of the connector (33) is connected with connecting plate, and the connecting plate is fixed in by several screws
On the slide unit side wall of the telescoping mechanism.
6. a kind of massage nursing robot as claimed in claim 5, which is characterized in that include six inside the box shell (38)
Massage head, each massage head include being fixed on the box shell (38) top surface to pass through six affixed sleeve II of several screws
(31), it is socketed with shaft II (29) inside each sleeve II (31), shaft II (29) outer wall and the sleeve II
(31) several bearings are installed to (30) between inner wall, the shaft II (29) close to the box shell (38) one end with it is described
Box shell (38) surface is connected through a screw thread, and fixed by locking nut (32), and the other end of the shaft II (29) stretches out institute
State sleeve II (31) outside, the shaft II (29) is stretched out the side wall of the sleeve II (31) outside and connect with driven wheel (24), and holds
Face is connected with big magnetic pole (28).
7. a kind of massage nursing robot as claimed in claim 6, which is characterized in that box shell (38) inside top surface is affixed
There is servo motor, the servo motor is located at the underface of the connector (33), and the servo motor passes through shaft coupling II
(36) power gear (37) are connected, six driven wheels (24), the power gear is engaged around the power gear (37)
(37) driven wheel (24) rotation is driven, each driven wheel (24) has been correspondingly connected with a splined shaft (23) to band
The splined shaft (23) rotation is moved, each splined shaft (23) passes through screw II close to one end of the box shell (38) bottom surface
(39) it is connected with massage plunger (21), massage plunger (21) rotates with the rotation of the splined shaft (23)；The flower
Another end surfaces of key axis (23) are connect by sunk screw (27) with small magnetic pole (26), the small magnetic pole (26) and the spline
Axis (23) junction is equipped with buffering spacer (25), and the small magnetic pole (26) is oppositely arranged with big magnetic pole (28) surface.
8. a kind of massage nursing robot as claimed in claim 7, which is characterized in that the massage plunger (21) is rubber material
Material and human contact by rotation can rolling massage, the rear end cap (34) and back plate II (35) of the box shell (38) play protection work
With.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208727.3A CN109394501B (en) | 2018-10-17 | 2018-10-17 | Massage nursing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208727.3A CN109394501B (en) | 2018-10-17 | 2018-10-17 | Massage nursing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109394501A true CN109394501A (en) | 2019-03-01 |
| CN109394501B CN109394501B (en) | 2021-02-12 |
Family
ID=65468444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811208727.3A Active CN109394501B (en) | 2018-10-17 | 2018-10-17 | Massage nursing robot |
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| Country | Link |
|---|---|
| CN (1) | CN109394501B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110179648A (en) * | 2019-05-29 | 2019-08-30 | 周萍 | A kind of multi-functional percussion convalescence device of TCM nursing |
| CN113085687A (en) * | 2021-04-22 | 2021-07-09 | 南通理工学院 | Automobile seat |
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| CN113085687A (en) * | 2021-04-22 | 2021-07-09 | 南通理工学院 | Automobile seat |
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