CN109620673A - A kind of massaging manipulator of angle adjustable - Google Patents
A kind of massaging manipulator of angle adjustable Download PDFInfo
- Publication number
- CN109620673A CN109620673A CN201910073583.3A CN201910073583A CN109620673A CN 109620673 A CN109620673 A CN 109620673A CN 201910073583 A CN201910073583 A CN 201910073583A CN 109620673 A CN109620673 A CN 109620673A
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- detection
- kneading
- mounting rack
- rotation
- gear
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- 238000004898 kneading Methods 0.000 claims abstract description 120
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 154
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000004886 head movement Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000007689 inspection Methods 0.000 description 4
- 241000237858 Gastropoda Species 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000003967 crop rotation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009982 effect on human Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Dermatology (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
The present invention relates to a kind of massaging manipulators of angle adjustable, including mounting rack and massage head module, the massage head module includes to crank arm and massage head, the massage head is arranged on cranking arm, the kneading component that driving is cranked arm with massage head movement is additionally provided on the mounting rack, the kneading component includes the kneading shaft being rotatably arranged on mounting rack, described crank arm is rotatably arranged in kneading shaft, the mounting rack is equipped with the regulating mechanism of adjustable rotational angle of cranking arm, the regulating mechanism includes rotation seat, the rotation seat is rotatably arranged on mounting rack, rotation seat can drive rotation of cranking arm to realize the angular adjustment cranked arm, mounting rack is equipped with the driving assembly of powered rotatable seat rotation.By using above scheme, the present invention overcomes the shortcomings of the prior art, provides a kind of massaging manipulator of angle adjustable, and the angle of massage head is adjusted, and convenient for storage, comfort is more preferable.
Description
Technical field
The present invention relates to massage armchair technical field, especially a kind of massaging manipulator of angle adjustable.
Background technique
General office chair can only meet daily seating, do not have massage functions, then occur with massage functions
Office chair, including massage armchair skeleton and massaging manipulator, massage armchair skeleton are equipped with guide rail, and massaging manipulator includes mounting rack,
Mounting rack can slide up and down along guide rail, and the massage head module massaged to human body, driving massage head group are equipped on mounting rack
The percussion component that part carries out the kneading component of kneading and driving massage head module is tapped, is equipped between mounting rack and guide rail and drives
The walking component that dynamic mounting rack is moved along guide rail, walking component include active walking axle, walking roller, walking gear and walking electricity
Machine, active walking axle are rotatably arranged on mounting rack, and movable motor is fixed on mounting rack, and active walking axle is driven to turn
Dynamic, the end position of active walking axle is arranged in walking roller, and can roll along guide rail, and walking roller is arranged in walking gear
On one side, guide rail is equipped with the rack gear being meshed with walking gear, and movable motor drives walking gear rotation, so as to drive
Mounting rack slides up and down along guide rail.
However this kind of massaging manipulator, since massage head module needs to massage human body, needs are provided projectingly, and are pressed
Head assembly of rubbing can not be stored, and when not needing massage, one seating of people will encounter, and be seated and push up people, influence comfort.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, provide a kind of massaging manipulator of angle adjustable, adjustable to press
It rubs the angle of head, convenient for storage, comfort is more preferable.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of massaging manipulator of angle adjustable, including
Mounting rack and massage head module, the massage head module include to crank arm and massage head, and the massage head is arranged on cranking arm, institute
It states and is additionally provided with the kneading component that driving is cranked arm with massage head movement on mounting rack, the kneading component includes being rotatably arranged on installation
Kneading shaft on frame, described crank arm are rotatably arranged in kneading shaft, and the mounting rack is equipped with adjustable rotational angle of cranking arm
Regulating mechanism, the regulating mechanism include rotation seat, and the rotation seat is rotatably arranged on mounting rack, and rotation seat can drive song
The angular adjustment cranked arm is realized in arm rotation, and mounting rack is equipped with the driving assembly of powered rotatable seat rotation.
By using above scheme, the end cranked arm is fixed or be integrally disposed upon to massage head, and kneading component can drive and crank arm
Kneading is carried out to human body with massage head, massage head and skin contact massage, more comfortably, crank arm and be rotatably arranged in kneading shaft,
Kneading shaft can not only drive kneading massage, can also carry out angular adjustment for cranking arm, and driving assembly drives rotation seat rotation, rotation
Seat, which can drive to crank arm, to be rotated together, and the adjusting of 0-90 degree is carried out, when needing to massage, rotatable certain angle of cranking arm, and massage head
Stretch out can shoulder, back and waist to human body massage；When not needing massage, rotatable reset of cranking arm, massage head is therewith
Storage is completed, human body will not be pushed up, the angle of massage head is adjusted in no interference, and convenient for storage, comfort is more preferable.
The further setting of the present invention is: the rotation seat is rotatably arranged in kneading shaft, and the driving component includes sliding
Block, screw rod and first motor, the sliding block and mounting rack guiding sliding cooperation, sliding block are set along the axial direction perpendicular to kneading shaft
There is rack gear, the outer peripheral surface of the rotation seat is equipped with the swiveling gear being meshed with rack gear, and the first motor is fixed at
On mounting rack, screw rod is rotatably arranged on mounting rack, and the output shaft and screw rod linkage of first motor are arranged, and screw rod is matched with sliding block screw thread
It closes, rotation screw rod can be mobile to drive rotation seat to rotate with movable slider, and rotation seat rotation drives the angular adjustment cranked arm.
By using above scheme, rotation seat is rotatably arranged in kneading shaft, can also be rotatably arranged in other shafts,
Sliding block is arranged along the direction perpendicular to kneading shaft, and mounting rack is equipped with guide groove, and sliding block is along guide groove toward polyslip, swiveling gear
It fixes or is integrally disposed upon on the lateral surface of rotation seat, swiveling gear is also possible to a part of gear, the upper surface edge of sliding block
It is equipped with rack gear perpendicular to the direction of kneading shaft, for sliding block when moving back and forth, since rack gear is meshed with swiveling gear, sliding block can band
Dynamic rotation seat rotation, to adjust the rotational angle cranked arm, first motor drives screw rod rotation by the structure of worm gear and worm screw,
Since screw rod and sliding block are threadedly engaged, screw rod rotation can be mobile with movable slider, and has since screw rod is threadedly engaged with sliding block
Self-locking function can be locked in specified position, structure is simple, stable transmission, controlling party after driving rotation seat to turn an angle
Just.
The further setting of the present invention is: the setting of the rack gear slip is equipped between rack gear and sliding block on sliding block
The two sides of bolster, bolster are fixedly connected with rack gear and sliding block respectively, and the sliding block is equipped with the first detection components, the first inspection
Surveying component includes the first detection block and the first detection piece for incuding the first detection block position, and first detection block is arranged in tooth
On item, the first detection piece is fixed on sliding block, and when massage head stress, rotation seat can slide with carry-over bar and compress buffering
Part, the first detection piece detect the first detection block；When the non-stress of massage head, rack gear resets under the resilient force of bolster,
The first detection block is not detected in first detection piece.
By using above scheme, bolster is yielding rubber, and yielding rubber is located between rack gear and sliding block, and rack gear can
On sliding block, sliding block is equipped with the position limiting structure that limitation rack gear is detached from sliding block for setting along the direction sliding perpendicular to kneading shaft,
When human body compresses massage head, massage head will drive rotation of cranking arm, so that rotation seat be driven to rotate, rotation seat is moved in band carry-over bar
Dynamic, rack gear is mobile and compresses bolster, and the first detection block on rack gear moves at the first detection piece, and the first detection piece is photoelectric transfer
Sensor detects the first detection block, and collects signal, can carry out kneading massage operation at this time；When human body does not compress massage
Head, bolster can strut rack gear, and the first detection piece cannot detect the first detection block, set after a certain period of time, if human body
It does not compress also, then massage head and cranking arm is stored, and structure is simple, easy to control.
The further setting of the present invention is: the one end of rack gear far from rotation seat, the first inspection is arranged in first detection block
It surveys part and is fixed at the one end of sliding block far from rotation seat, bolster is equipped with the first through hole worn for the first detection block, sliding
The end of block is equipped with the second through-hole worn for the first detection block, and when massage head stress, rotation seat can slide and press with carry-over bar
Contracting bolster, the first detection block stretch out the second through-hole, and the first detection piece detects the first detection block；When the non-stress of massage head, tooth
Item resets under the resilient force of bolster, and the first detection block retracts the second through-hole, and the first inspection is not detected in the first detection piece
Survey block.
By using above scheme, when human body compresses massage head, massage head will drive rotation of cranking arm, to drive rotation
Seat rotation, rotation seat is mobile in band carry-over bar, and rack gear is mobile and compresses bolster, and the first detection block on rack gear can be logical through first
Hole and the second through-hole are stretched out from the end of sliding block, and the first detection piece is photoelectric sensor, detect the first detection block, and acquire
To signal, kneading massage operation can be carried out at this time；When human body does not compress massage head, bolster can strut rack gear, and on rack gear
One detection block cannot be stretched out from the second through-hole, and the first detection piece cannot detect the first detection block, set after a certain period of time,
If human body does not compress also, massage head and cranking arm is stored, and structure is simple, and design is reasonable.
The further setting of the present invention is: the second detection components is additionally provided on the mounting rack, the second detection components include
The second detection block on mounting rack is set, and second detection block is located at the one end of sliding block far from rotation seat, when rotation of cranking arm
When to complete receiving state, the first detection piece moves at the second detection block with sliding block, and the first detection piece detects the second detection block.
By using above scheme, when crank arm stored with massage head when, sliding block is mobile to the direction far from rotation seat,
When crank arm stored completely with massage head after, the first detection piece moves at the second detection block with sliding block, and the first detection piece detects
Two detection blocks can stop first motor operation, it may be determined that the initial position of sliding block, structure is simple, easy to operate.
The further setting of the present invention is: the rotation seat includes interconnecting piece and rotation section, the rotation section rotation setting
In kneading shaft, the swiveling gear is arranged on the outer peripheral surface of interconnecting piece, and the interconnecting piece also extends along the axial direction of kneading shaft
There is extension, the length of extension is greater than the length of rotation section, and described crank arm is provided with two groups, and is located at rotation section
Two sides, corresponding extension setting of cranking arm, the extension are equipped with slot or inserted block, crank arm equipped with matched inserted block or
Slot, inserted block, which is plugged in slot, realizes that rotation seat drives rotation of cranking arm.
By using above scheme, kneading shaft is rotatably arranged on mounting rack by bearing, and the rotation section of rotation seat is arranged
In kneading shaft, kneading shaft is fixedly installed limit film in the two sides of rotation section respectively, and limit film can limit rotation seat along kneading
The axial movement of axis will not influence the normal rotation of kneading shaft, and there are two settings of cranking arm, and cranks arm and is set in kneading shaft, crank arm
End be equipped with inserted block, extension is equipped with slot, and inserted block is plugged in slot, and cranking arm can rotate together with rotation seat, thus
Realize the stretching or storage of massage head, structure is simple, stable transmission.
The further setting of the present invention is: the kneading component includes kneading motor, and kneading motor is fixed at installation
On frame, perpendicular to kneading shaft, the output shaft of the kneading motor is equipped with kneading worm screw for the output shaft of kneading motor, on mounting rack
Rotation is equipped with the kneading worm gear being meshed with kneading worm screw, fixes or be wholely set kneading driving tooth on the kneading worm gear
Wheel, kneading shaft are equipped with the kneading driven gear being meshed with kneading driving gear at corresponding kneading driving gear, and kneading shaft exists
Corresponding crank arm out is provided with drift angle wheel, and drift angle is taken turns and connect with cranking arm.
By using above scheme, kneading motor drives the rotation of kneading worm screw, and kneading worm screw drives the rotation of kneading worm gear, rubs
It pinches driving gear and fixes or be wholely set with kneading worm gear, kneading driving gear and kneading worm gear rotate synchronously, kneading driving tooth
Kneading driven gear is driven to rotate again for wheel, it can be achieved that a degree of deceleration, kneading driven gear and kneading shaft synchronous rotation, are rubbed
It pinches axis and drives the movement of drift angle crop rotation drift angle, crank arm and be set on the wheel of drift angle, kneading shaft can drive the rotation cranked arm Zuos by a small margin, lead to
Massage head effect on human body is crossed, realizes kneading movement, structure is simple, is driven more stable.
The further setting of the present invention is: walking component is additionally provided on the mounting rack, the walking component includes rotation
Active walking axle on mounting rack is set, and active walking axle and kneading shaft are parallel to each other and are spaced setting, the active walking
The both ends of axis are respectively equipped with the first idler wheel, and the both ends of the kneading shaft are respectively equipped with the second idler wheel, and mounting rack is equipped with driving master
Second motor of dynamic walking axle rotation, second motor are fixed on mounting rack, and the output shaft of second motor hangs down
Directly in being provided with walking worm screw in active walking axle, the output shaft of the second motor, rotation is equipped with and walking worm screw phase on mounting rack
The walking worm gear of engagement fixes or has been wholely set the first transmission gear on the walking worm gear, and also rotation is equipped on mounting rack
The first bevel gear is fixed or be wholely set to the second transmission gear being meshed with the first transmission gear on the second transmission gear,
Active walking axle is equipped with the second bevel gear being meshed with the first bevel gear.
By using above scheme, kneading shaft serves not only as kneading massage use, moreover it is possible to adjusting is cranked arm angle, also as from
Dynamic walking axle uses, and the second idler wheel does not need offer driving force and rotated, and the walking worm screw rotation of the second motor driven, walk snail
Bar drives walking worm gear rotation, and the first transmission gear is fixed or is wholely set with walking worm gear, the first transmission gear and walking snail
Wheel rotates synchronously, and the first transmission gear drives the rotation of the second transmission gear, plays certain decelerating effect, the second transmission gear with
First bevel gear is fixed or is wholely set, and the second transmission gear and the first bevel gear rotate synchronously, and the first bevel gear drives second
Bevel-gear rotating, the second bevel gear are fixed or are wholely set with active walking axle, and the second bevel gear is synchronous with active walking axle to be turned
Dynamic, structure is simple, stable transmission.
The further setting of the present invention is: third detection components, the third detection components are additionally provided on the mounting rack
The second detection piece including the first detection plate rotational angle of the first detection plate and induction, the first detection plate are fixed at actively
In walking axle, the second detection piece is fixed on mounting rack.
By using above scheme, the second detection piece is photoelectric sensor, and the first detection plate is provided with several along its circumferential direction
A loophole, the first detection plate and the second detection piece cooperate the rotational angle of detectable active walking axle, and third detection components can
The rotational angle of real-time monitoring active walking axle can control the rotation of the second motor, thus automation by peripheral control unit
The walking position of hand.
Of the invention being further arranged so that on the mounting rack is additionally provided with the 4th detection components, the 4th detection group
Part includes the second detection plate and the third detection piece for incuding the second detection plate rotational angle, and the second detection plate, which is fixed at, rubs
It pinches on axis, third detection piece is fixed on mounting rack.
By using above scheme, third detection piece is photoelectric sensor, and the second detection plate is provided with several along its circumferential direction
A loophole, the second detection plate and third detection piece cooperate the rotational angle of detectable kneading shaft, and photoelectric sensor collects letter
Number, and it is transferred to robot device, structure is simple, and design is reasonable.
The invention will be further described below in conjunction with the accompanying drawings.
Detailed description of the invention
Fig. 1 is that massage head stretches out status diagram；
Fig. 2 is massage head receiving state schematic diagram；
Fig. 3 is rotation seat and sliding block fit structure schematic diagram；
Fig. 4 is the schematic internal view of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of kneading component；
Fig. 6 is the structural schematic diagram of driving assembly；
Fig. 7 is the structural schematic diagram of walking component；
Fig. 8 is the fit structure schematic diagram cranked arm with rotation seat；
Fig. 9 is the structural schematic diagram of sliding block, rack gear, bolster and the first detection piece.
Specific embodiment
As shown in figs. 1-9, a kind of massaging manipulator of angle adjustable, including mounting rack 1 and massage head module, massage head
Component includes crank arm 21 and massage head 22, massage head 22 it is fixed or be integrally disposed upon crank arm 21 end, also set on mounting rack 1
There is driving to crank arm 21 with the kneading component 3 of 22 interoperation of massage head, kneading component 3 includes being rotatably arranged on mounting rack 1
Kneading shaft 31, cranking arm 21 is rotatably arranged in kneading shaft 31, and mounting rack 1 is equipped with the adjusting machine of adjustable 21 rotational angles of cranking arm
Structure, regulating mechanism include rotation seat 41, and rotation seat 41 is rotatably arranged on mounting rack 1, and rotation seat 41, which can drive, cranks arm 21 turns
It is dynamic realization crank arm 21 angular adjustment, mounting rack 41 be equipped with powered rotatable seat 41 rotate driving assembly.Kneading component 3 can
21 pairs of human bodies of cranking arm are driven to carry out kneadings, massage head 22 and skin contact are massaged, and more comfortably, driving assembly drives rotation seat 41
Rotation, rotation seat 41 can drive to crank arm and 21 rotate together, and the adjusting that 21 can carry out 0-90 degree of cranking arm is cranked arm when needing to massage
21 can be rotated certain angles, massage head 22 stretch out can shoulder, back and waist to human body massage；When not needing massage,
It cranks arm and 21 rotatably resets, massage head 22 completes storage therewith, it will not push up human body, no interference, adjustable massage head 22
Angle, convenient for storage, comfort is more preferable.
In the present embodiment, rotation seat 41 is rotatably arranged in kneading shaft 31, and driving assembly includes sliding block 42,43 and of screw rod
First motor 44, mounting rack 1 are equipped with sliding slot 11, sliding block 43 and the guiding sliding cooperation of sliding slot 11, and sliding block 42 is along perpendicular to kneading
The axial direction of axis 31 is equipped with rack gear 45, is wholely set the swiveling gear being meshed with rack gear 45 on the outer peripheral surface of rotation seat 41
411, swiveling gear 411 can also split settings on rotation seat 31, swiveling gear 411, which can be complete gear, can be gear
A part, first motor 44 is fixed on mounting rack 1, and screw rod 43 is rotatably arranged on mounting rack 1, it is fixed on screw rod 43 or
It has been wholely set driving worm gear 46, has fixed or has been wholely set driving worm screw 47 on the output shaft of first motor 44, drive worm gear
46 are meshed with driving worm screw 47, and sliding block 42 is equipped with threaded hole 421, and screw rod 43 is arranged in threaded hole 421, screw rod 43 and sliding block
42 are threadedly engaged, and rotation screw rod 43 can be mobile to drive rotation seat 41 to rotate with movable slider 42, and the rotation of rotation seat 41 drives bent
The angular adjustment of arm 21.Certain rotation seat 41 can also be rotatably arranged on mounting rack 1 by another shaft, as long as rotation can be allowed
Seat 41 drives 21 rotations of cranking arm.
In the present embodiment, rack gear 45 by the setting of the structure sliding of guide rail and guide groove on sliding block 42, rack gear 45 with
Between sliding block 42 be equipped with bolster 48, bolster 48 be yielding rubber, the two sides of bolster 48 respectively with rack gear 45 and sliding block 42
It is fixedly connected, sliding block 42 is equipped with the first detection components, and the first detection components include the first inspection of the first detection block 51 and induction
The first detection piece 52 of 51 position of block is surveyed, the one end of rack gear 45 far from rotation seat 41, the first detection is arranged in the first detection block 51
Part 52 is fixed at the one end of sliding block 42 far from rotation seat 41, and bolster 48 is equipped with first worn for the first detection block 51
Through-hole 481, the end of sliding block 42 is equipped with the second through-hole 422 worn for the first detection block 51, when 22 stress of massage head, rotation seat
41 can slide with carry-over bar 45 and compress bolster 48, and the first detection block 51 stretches out the second through-hole 422, the detection of the first detection piece 52
To the first detection block 51；When the non-stress of massage head 22, rack gear 45 resets under the resilient force of bolster 48, the first detection block
51 retract the second through-hole 522, and the first detection block 51 is not detected in the first detection piece 52.Certain first detection block 51 and the first detection
Part 52 can be separately positioned on side or the other positions of rack gear 45 and sliding block 42, as long as the mobile compression bolster 48 of rack gear 45
When, the first detection piece 52 is able to detect that the first detection block 51.Certain bolster 48 can also be the structure of spring.
In the present embodiment, the second detection components are additionally provided on mounting rack 1, the second detection components include being arranged in mounting rack
The second detection block 6 on 1, the second detection block 6 are located at the one end of sliding block 42 far from rotation seat 41,21 turn to complete receipts when cranking arm
Receive state when, the first detection piece 6 moves at the second detection block 6 with sliding block 42, and the first detection piece 52 detects the second detection block 6.
In the present embodiment, rotation seat 41 includes interconnecting piece 412 and rotation section 413, and rotation section 413 is rotatably arranged on kneading
On axis 31, kneading shaft 31 is fixedly installed limit film 49 in the two sides of rotation section 413 respectively, and limit film 49 can limit rotation seat 41
Along the axial movement of kneading shaft 31, swiveling gear 411 is arranged on the outer peripheral surface of interconnecting piece 412, and interconnecting piece 412 is along kneading shaft 31
Axial direction be also extended with extension 414, the length of extension 414 is greater than the length of rotation section 413, and cranking arm 21 is provided with two groups,
And the two sides of rotation section 413 are located at, 21 corresponding extensions 414 of cranking arm are arranged, and extension 414 is equipped with slot 4141,
21 are cranked arm equipped with matched inserted block 211, inserted block 211, which is plugged in slot 4141, realizes that the drive of rotation seat 41 is cranked arm 21 turns
It is dynamic.It can certainly be that inserted block is set on rotation seat 41, slot is set on 21 cranking arm.
In the present embodiment, kneading component 3 includes kneading motor 32, and kneading motor 32 is fixed on mounting rack 1, rubs
The output shaft of motor 32 is pinched perpendicular to kneading shaft 31, kneading worm screw 33 has been wholely set on the output shaft of kneading motor 32, has installed
Rotation is equipped with the kneading worm gear 34 being meshed with kneading worm screw 33 on frame 1, fixes or be wholely set kneading on kneading worm gear 34
Driving gear 35, it is driven that kneading shaft 31 is equipped with the kneading being meshed with kneading driving gear 35 at corresponding kneading driving gear 35
Gear 36, kneading shaft 31 21 go out to be fixedly installed drift angle wheel 37 in corresponding crank arm, and cranking arm 21 is set on drift angle wheel 37.
In the present embodiment, walking component is additionally provided on mounting rack 1, walking component 7 includes being rotatably arranged on mounting rack 1
Active walking axle 71, active walking axle 71 and kneading shaft 31 are parallel to each other and are spaced setting, the both ends point of active walking axle 71
Not She You the first idler wheel 72, the both ends of kneading shaft 31 are respectively equipped with the second idler wheel 73, and mounting rack 1 is equipped with driving active walking axle
Second motor 74 of 71 rotations, the second motor 74 are fixed on mounting rack 1, and the output shaft of the second motor 74 is perpendicular to actively
Walking axle 71 has been wholely set walking worm screw 75 on the output shaft of second motor 74, and rotation is equipped with and walking worm screw on mounting rack 1
The 75 walking worm gears 76 being meshed, walk worm gear 76 on fix or be wholely set the first transmission gear 77, also turn on mounting rack 1
It is dynamic to be equipped with the second transmission gear 78 being meshed with the first transmission gear 77, it fixes or has been wholely set on the second transmission gear 78
First bevel gear 79, active walking axle 71 are equipped with the second bevel gear 710 being meshed with the first bevel gear 79.
In the present embodiment, third detection components are additionally provided on mounting rack 1, third detection components include the first detection plate 81
And the second detection piece 82 of induction 81 rotational angle of the first detection plate, the first detection plate 81 are fixed at active walking axle 71
On, the second detection piece 82 is fixed on mounting rack 1, and the 4th detection components, the 4th detection components packet are additionally provided on mounting rack 1
It includes the second detection plate 91 and incudes the third detection piece 92 of 91 rotational angle of the second detection plate, the fixed setting of the second detection plate 91
In kneading shaft 31, third detection piece 92 is fixed on mounting rack 1, wherein the first detection piece 52, the second detection piece 82,
Three detection pieces 92 are photoelectric sensor.
Above embodiments, only one kind of the present invention preferably specific embodiment, those skilled in the art are in skill of the present invention
The usual variations and alternatives carried out in art aspects are included in protection scope of the present invention.
Claims (10)
1. a kind of massaging manipulator of angle adjustable, including mounting rack and massage head module, the massage head module include song
Arm and massage head, the massage head are arranged on cranking arm, and are additionally provided with to drive to crank arm on the mounting rack and rub with what massage head acted
Component is pinched, the kneading component includes the kneading shaft being rotatably arranged on mounting rack, it is characterised in that: the rotation setting of cranking arm
In kneading shaft, the mounting rack is equipped with the regulating mechanism of adjustable rotational angle of cranking arm, and the regulating mechanism includes to turn
Dynamic seat, the rotation seat are rotatably arranged on mounting rack, and rotation seat can drive rotation of cranking arm to realize the angular adjustment cranked arm, installation
Frame is equipped with the driving assembly of powered rotatable seat rotation.
2. a kind of massaging manipulator of angle adjustable according to claim 1, it is characterised in that: the rotation seat rotation is set
It sets in kneading shaft, the driving component includes sliding block, screw rod and first motor, and the sliding block is matched with mounting rack guiding sliding
It closes, sliding block is equipped with rack gear along the axial direction perpendicular to kneading shaft, and the outer peripheral surface of the rotation seat is equipped with to be meshed with rack gear
Swiveling gear, the first motor is fixed on mounting rack, and screw rod is rotatably arranged on mounting rack, the output of first motor
Axis and screw rod linkage are arranged, and screw rod is threadedly engaged with sliding block, and rotation screw rod can be mobile to drive rotation seat to rotate with movable slider,
Rotation seat rotation drives the angular adjustment cranked arm.
3. a kind of massaging manipulator of angle adjustable according to claim 2, it is characterised in that: the rack gear slip
It is arranged on sliding block, bolster is equipped between rack gear and sliding block, the two sides of bolster is fixedly connected with rack gear and sliding block respectively, institute
Sliding block is stated equipped with the first detection components, the first detection components include the of the first detection block position of the first detection block and induction
One detection piece, first detection block are arranged on rack gear, and the first detection piece is fixed on sliding block, when massage head stress,
Rotation seat can slide with carry-over bar and compress bolster, and the first detection piece detects the first detection block；When the non-stress of massage head, tooth
Item resets under the resilient force of bolster, and the first detection block is not detected in the first detection piece.
4. a kind of massaging manipulator of angle adjustable according to claim 3, it is characterised in that: first detection block is set
One end in rack gear far from rotation seat is set, the first detection piece is fixed at the one end of sliding block far from rotation seat, sets on bolster
There is the first through hole worn for the first detection block, the end of sliding block is equipped with the second through-hole worn for the first detection block, works as massage
Head stress, rotation seat can slide with carry-over bar and compress bolster, and the first detection block stretches out the second through-hole, the detection of the first detection piece
To the first detection block；When the non-stress of massage head, rack gear resets under the resilient force of bolster, and the first detection block retracts second
The first detection block is not detected in through-hole, the first detection piece.
5. a kind of massaging manipulator of angle adjustable according to claim 3 or 4, it is characterised in that: on the mounting rack
The second detection components are additionally provided with, the second detection components include the second detection block being arranged on mounting rack, second detection block
One end positioned at sliding block far from rotation seat, when crank arm turn to complete receiving state when, the first detection piece moves to second with sliding block
At detection block, the first detection piece detects the second detection block.
6. a kind of massaging manipulator of angle adjustable according to claim 1 or 2 or 3 or 4, it is characterised in that: described turn
Dynamic seat includes interconnecting piece and rotation section, and the rotation section is rotatably arranged in kneading shaft, and the swiveling gear is arranged in interconnecting piece
Outer peripheral surface on, the interconnecting piece is also extended with extension along the axial direction of kneading shaft, and the length of extension is greater than the length of rotation section
Degree, the two sides for being provided with two groups, and being located at rotation section of cranking arm, corresponding extension setting of cranking arm, the extension
It is equipped with slot or inserted block, cranks arm and is equipped with matched inserted block or slot, inserted block is plugged in realization rotation seat band in slot
Dynamic rotation of cranking arm.
7. a kind of massaging manipulator of angle adjustable according to claim 1 or 2 or 3 or 4, it is characterised in that: described to rub
Pinching component includes kneading motor, and kneading motor is fixed on mounting rack, and the output shaft of kneading motor is perpendicular to kneading shaft, institute
The output shaft for stating kneading motor is equipped with kneading worm screw, and rotation is equipped with the kneading worm gear being meshed with kneading worm screw on mounting rack,
Kneading driving gear is fixed or has been wholely set on the kneading worm gear, and kneading shaft is equipped with and rubs at corresponding kneading driving gear
The kneading driven gear that driving gear is meshed is pinched, kneading shaft is provided with drift angle wheel in corresponding crank arm out, drift angle wheel and the company of cranking arm
It connects.
8. a kind of massaging manipulator of angle adjustable according to claim 1 or 2 or 3 or 4, it is characterised in that: the peace
It shelves and is additionally provided with walking component, the walking component includes the active walking axle being rotatably arranged on mounting rack, is actively walked
Axis and kneading shaft are parallel to each other and are spaced setting, and the both ends of the active walking axle are respectively equipped with the first idler wheel, the kneading shaft
Both ends be respectively equipped with the second idler wheel, mounting rack is equipped with the second motor of driving active walking axle rotation, second motor
It is fixed on mounting rack, the output shaft of second motor is set on the output shaft of the second motor perpendicular to active walking axle
Be equipped with walking worm screw, rotation is equipped with the walking worm gear being meshed with walking worm screw on mounting rack, fixed on the walking worm gear or
It has been wholely set the first transmission gear, also rotation is equipped with the second transmission gear being meshed with the first transmission gear on mounting rack,
Fix or be wholely set the first bevel gear on second transmission gear, active walking axle is equipped with to be meshed with the first bevel gear
Second bevel gear.
9. a kind of massaging manipulator of angle adjustable according to claim 8, it is characterised in that: also set on the mounting rack
There are third detection components, the third detection components include the second of the first detection plate rotational angle of the first detection plate and induction
Detection piece, the first detection plate are fixed in active walking axle, and the second detection piece is fixed on mounting rack.
10. a kind of massaging manipulator of angle adjustable according to claim 1 or 2 or 3 or 4, it is characterised in that: the peace
It shelves and is additionally provided with the 4th detection components, the 4th detection components include the second detection plate and induction the second detection plate rotation
The third detection piece of angle, the second detection plate are fixed in kneading shaft, and third detection piece is fixed on mounting rack.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910073583.3A CN109620673B (en) | 2019-01-25 | 2019-01-25 | Angle-adjustable massage manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910073583.3A CN109620673B (en) | 2019-01-25 | 2019-01-25 | Angle-adjustable massage manipulator |
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| CN109620673B CN109620673B (en) | 2024-06-18 |
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| CN110812154A (en) * | 2019-11-28 | 2020-02-21 | 温州市坤元电气制造有限公司 | 3D manipulator for massage |
| CN111388299A (en) * | 2020-04-21 | 2020-07-10 | 恒林家居股份有限公司 | Massage chair and massage machine core thereof |
| CN111631930A (en) * | 2020-04-21 | 2020-09-08 | 恒林家居股份有限公司 | Massage chair and massage machine core thereof |
| CN112545866A (en) * | 2020-11-26 | 2021-03-26 | 未来穿戴技术有限公司 | Massage device, control method thereof, electronic apparatus, and computer-readable storage medium |
| CN112617812A (en) * | 2020-12-04 | 2021-04-09 | 重庆医药高等专科学校 | Application evaluation device of paclitaxel liposome |
| CN113397941A (en) * | 2021-07-05 | 2021-09-17 | 豪中豪健康科技有限公司 | Massage manipulator with front-mounted shaft seat and rotatable arm for collection |
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| CN109620673B (en) | 2024-06-18 |
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