CN110507524A - A kind of portable massage machine people - Google Patents
A kind of portable massage machine people Download PDFInfo
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- CN110507524A CN110507524A CN201910788031.0A CN201910788031A CN110507524A CN 110507524 A CN110507524 A CN 110507524A CN 201910788031 A CN201910788031 A CN 201910788031A CN 110507524 A CN110507524 A CN 110507524A
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- index finger
- massage
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- fixed
- finger
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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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
- A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
-
- 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
- A61H2201/1215—Rotary 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
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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)
- Dermatology (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The disclosure discloses a kind of portable massage machine people, including pedestal, the first massage mechanism, the second massage mechanism, fixed mechanism and regulating mechanism；The pedestal includes cover board and bracket, and the cover board is connect by interference fit with the bracket；First massage mechanism is fixedly connected on the base, including manipulator and driving unit, and the manipulator massages shoulders of human body by the control of the console；Second massage mechanism is fixedly connected on the base, is massaged by vibration human body back；The fixed mechanism is fixedly connected on the base, for the massage robot to be fixed on human body shoulder back position.The regulating mechanism is fixedly connected on the base, for adjusting the massage position and massage force of the manipulator.Disclosure delicate structure, mode is adjustable and easy to carry, need to only turn on the switch and put piggyback, just be able to carry out finger kneading massage and vibration head vibromassage.
Description
Technical field
The disclosure belongs to artificial intelligence field, and in particular to a kind of portable massage machine people.
Background technique
As the rhythm of social life is getting faster, highdensity work is often at the normality of modern people, for a long time
Bend over one's desk working, result in and human muscle's fatigue and ache.Therefore, tired after how efficiently and conveniently alleviating study and work
Labor, it has also become the problem of working people's headache.The appearance of massager can effectively solve the above problems, more and more people's selection
For massager as the indispensable tool relieved fatigue, the massager on existing market mainly includes following two categories:
One kind is portable massage machine: this kind of machine can reach certain massage effect, and easy to carry, still
Manpower is needed to hold when use, not wearable, holding may cause new muscular fatigue over time.
Another kind of is non-portable massage machine: this kind of machine can reach fine not against external force holding is old when in use
Relaxing massage effect, but this kind of machine volume is larger, not readily portable, is only capable of as household.
The above two classes massage machine all can not be combined well massage effect and portability, and massage functions
It is single, it is not applied for the crowd of all ages and classes.In order to which Portable belt and the adjustable function of massage mode are combined, it is necessary to
A kind of novel massage machine.
Summary of the invention
For deficiency existing for existing massager, the disclosure is designed to provide a kind of portable massage machine people, energy
It is enough that human body is massaged with the movement to personalize, and can be carried out for the figure of different crowd and the wish of user
Adaptivity is adjusted, easy to carry, and can be used in the case where not influencing user's normal activity.
The disclosure is achieved through the following technical solutions above-mentioned purpose:
A kind of portable massage machine people, comprising: pedestal, the first massage mechanism, the second massage mechanism, fixed mechanism and tune
Save mechanism；Wherein,
The pedestal includes cover board and bracket, and the cover board is connect by interference fit with the bracket；
First massage mechanism is fixedly connected on the base, including manipulator and driving unit,
The manipulator massages shoulders of human body by driving unit driving；
Second massage mechanism is fixedly connected on the base, is massaged by vibration human body back；
The fixed mechanism is fixedly connected on the base, for the massage robot to be fixed on human body shoulder back position
It sets.
The regulating mechanism is fixedly connected on the base, for adjusting the massage position and massage force of the manipulator
Degree.
Preferably, the manipulator includes index finger portion and thumb portion, wherein
The index finger portion includes that finger joint, index finger refer to root, first to the 5th sliding after finger joint, index finger before index finger tip, index finger
Wheel, threading axis reset rubber band and index finger driving line,
Finger joint and index finger refer to that root passes sequentially through the shaft of each finger joint end after finger joint, index finger before the index finger tip, index finger
It is connected with each other；
First, second pulley is fixed on before the index finger in finger joint by shaft, and the third, the 4th pulley pass through
Shaft is fixed on after the index finger in finger joint, and the 5th pulley is fixed on the index finger by shaft and refers on root；
The index finger refers to that root is connected and fixed on the pedestal by bolt cooperation with feed screw nut；
The threading axis is fixed in the axis hole of the index finger tip,
Index finger driving line is fixed on the threading axis, and is successively bypassed after the described first to the 5th pulley from described
Index finger, which refers to draw above root, is connected to the driving unit；
It is described reset rubber band by being located at the index finger tip, before index finger after finger joint, index finger finger joint top rubber band seat into
Row is fixed；
The thumb portion includes that thumb refers to root, thumb finger joint, connection sheet rubber and thumb drives line,
The thumb refers to that root is coaxially connected by finger root hole and the index finger portion,
The thumb, which refers to, to be connected between root and the thumb finger joint by connection sheet rubber,
The thumb, which refers to be respectively equipped in root and the thumb finger joint, refers to root outlet hole and finger joint outlet hole,
One end of the thumb drives line passes through the finger root outlet hole and is connected to the driving unit, and the other end passes through institute
It states finger joint outlet hole and is connected to the thumb finger joint.
Preferably, the thumb portion further includes rubber card slot, and the rubber card slot is located at the thumb and refers to root, thumb
Refer in finger joint, for preventing the connection sheet rubber from moving about.
Preferably, the driving unit includes winder and spiral motor,
The winder includes index finger winding bore, thumb winding bore, motor matching hole and winding slot, and the index finger drives line
It is wound in the winding slot after being each passed through the index finger winding bore, thumb winding bore with the thumb drives line；
The motor matching hole is located at the winder bottom, and the spiral motor is fixed on by the motor matching hole
On the winder.
Preferably, second massage mechanism includes spring and first to fourth vibrating massaging head,
It is fixed on the bracket that first to fourth vibrating massaging head passes through the spring respectively.
Preferably, the fixed mechanism include harness on first, on second harness, the first lower harness, the second lower harness with
And first buckles, the second buckle；Wherein,
Harness on described first, on second harness it is with holes from first be set on the pedestal respectively and second on band
Hole is pierced by,
Described first lower harness, on second harness respectively from setting and with holes under first on the pedestal and the second lower band
Hole is pierced by,
The first buckle and the second buckle are respectively equipped on described first lower harness and the second lower back band,
Harness on described first, harness on second are bonded with velcro on first lower back band respectively.
Preferably, the regulating mechanism include overturning motor, straight line lead screw stepper motor, feed screw nut, driving gear, from
Moving gear and guiding axis；Wherein,
The straight line lead screw stepper motor is fixed by screws on the bracket,
The feed screw nut is connect by lead screw with the straight line lead screw stepper motor, and passes through spiral shell with the driven gear
It tethers and connects；
The driving gear is fixed on the guiding axis, and with the ratcheting connection of the driven gear；
The side of the guiding axis is provided with mating groove, by with it is described overturning motor output shaft cooperation realize guiding axis with
Overturn the connection of motor.
Preferably, the massage robot further includes circuit control mechanism, the circuit control structure encapsulation and the lid
In the cavity that plate and the bracket are formed, comprising: arduino development board, HC05 bluetooth module, 28byj stepper motor and
ULN2003 motor drive module.
Preferably, the massage robot is controlled by mobile intelligent terminal, and the mobile intelligent terminal includes following appoints
One: smart phone, laptop, palm PC and wearable device.
Compared with prior art, disclosure bring effective technology effect are as follows:
1, the disclosure has fully considered ergonomics and human body aesthetic, by using apery hand design to shoulder carry out by
It rubs, while assistant massaging is carried out by massage head, shoulder can be made to carry on the back while being loosened；
2, the disclosure is small in size, light weight, easy to carry.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for portable massage machine people that the embodiment of the present disclosure provides；
Fig. 2 is the structural schematic diagram of the index finger portion of the embodiment of the present disclosure；
Fig. 3 is the structural schematic diagram of the thumb portion of the embodiment of the present disclosure；
Fig. 4 is the structural schematic diagram of the winder of the embodiment of the present disclosure；
Fig. 5 is the partial enlargement diagram of the regulating mechanism of the embodiment of the present disclosure；
Fig. 6 is the structural schematic diagram of the fixed mechanism of the embodiment of the present disclosure.
Label is described as follows in attached drawing: the first massage mechanism of I- (I-1 index finger portion, I-2 thumb portion), II- second is pressed
Rub mechanism, III- pedestal, IV- fixed mechanism, V- driving unit, VI- adjustment module；
A1- index finger tip, a2- thread axis, the first to the 5th pulley of a3-1~a3-5-, finger joint before a4- index finger, a5- index finger
Line is driven, a6- resets rubber band, finger joint after a7- index finger, and a8- index finger refers to root, a9- driven gear；
B1- thumb refers to root hole, b2- rubber card slot, b3- connection sheet rubber, b4- thumb finger joint, b5- finger joint outlet hole, b6-
Thumb drives line, b7- refer to that root outlet hole, b8- thumb refer to root；
C1- thumb winding bore, c2- index finger winding bore, c3- motor matching hole, c4- winding slot；
D1- overturns motor, d2- straight line spindle motor, d3- feed screw nut, d4- guiding axis, d5- driving gear, d6- branch
Frame, d7- spring, first to fourth vibrating massaging head of d8-1~d8-4-, d9- cover board；
Harness on e1-1- first, harness on e1-2- second, with holes, with holes on e2-2- second, e3-1- on e2-1- first
It is with holes under first, with holes under e3-2- second, the lower harnesses of e4-1- first, the lower harnesses of e4-2- second, e5- velcro, e6-1- the
One buckle, e6-2- second are buckled.
Specific embodiment
The technical solution of the disclosure is described in detail with reference to the accompanying drawings and examples.It should be understood that herein
Described specific embodiment is merely to illustrate and explain the present invention, and is not intended to restrict the invention.Any embodiment present invention
The specific embodiment of design is regarded as content disclosed in this invention.
As shown in Figure 1, the disclosure provides a kind of portable massage machine people, comprising: pedestal, the first massage mechanism, second
Massage mechanism, fixed mechanism and regulating mechanism；Wherein,
The pedestal includes cover board and bracket, and the cover board is connect by interference fit with the bracket；
First massage mechanism is fixedly connected on the base, including manipulator and driving unit,
The manipulator massages shoulders of human body by driving unit driving；
Second massage mechanism is fixedly connected on the base, is massaged by vibration human body back；
The fixed mechanism is fixedly connected on the base, for the massage robot to be fixed on human body shoulder back position
It sets.
The regulating mechanism is fixedly connected on the base, for adjusting the massage position and massage force of the manipulator
Degree.
Above-described embodiment constitutes the complete technical solution of the disclosure, in above-described embodiment, will be massaged by fixed mechanism
Robot is fixed on the waist of human body in a manner of dressing and shoulder back position, the first massage mechanism are adjusted to people by regulating mechanism
The suitable position of body, and can be massaged by preset suitable dynamics；Second massage mechanism can be to people by vibration
It is massaged at body back；After massage robot use, the first massage mechanism, which can be taken in, reduces volume in pedestal, a side
Face is easy to carry, on the other hand can also play the effect of the first massage mechanism of protection.
In another embodiment, as shown in Figure 2 and Figure 3, the manipulator includes index finger portion and thumb portion, wherein
The index finger portion includes that finger joint a7, index finger refer to root a8, first after finger joint a4, index finger before index finger tip a1, index finger
To the 5th pulley a3-1~a3-5, threading axis a2, rubber band a6, index finger driving line a5 are resetted,
Finger joint a7 and index finger refer to that root a8 passes sequentially through each finger joint end after finger joint a4, index finger before the index finger tip a1, index finger
The shaft at end is connected with each other,
The first pulley a3-1, second pulley a3-2 are fixed on before the index finger on finger joint a4 by shaft, and described
Three pulley a3-3, the 4th pulley a3-4 are fixed on after the index finger on finger joint a7 by shaft, and the 5th pulley a3-5 passes through
Shaft is fixed on the index finger and refers on root a8；
The index finger refers to that root a8 is connected and fixed on the pedestal by bolt cooperation with feed screw nut d3；
The threading axis a2 is fixed in the axis hole of the index finger tip a1,
The index finger driving line a5 is fixed on the threading axis a2, and successively bypasses the described first to the 5th pulley a3-1
Refer to draw above root a8 from the index finger after~a3-5 and is connected to the driving unit；
The rubber band a6 that resets passes through the top finger joint a7 after finger joint a4, index finger before the index finger tip a1, index finger
Rubber band seat is fixed；
The thumb portion includes that thumb refers to root b8, thumb finger joint b4, connection sheet rubber b3 and thumb drives line b6,
The thumb refers to that root b8 is coaxially connected by finger root hole b1 and the index finger portion,
The thumb, which refers to, passes through connection sheet rubber b3 connection between root b8 and the thumb finger joint b4,
The thumb, which refers to be respectively equipped on the root b8 and thumb finger joint b4, refers to root outlet hole and finger joint outlet hole,
One end of the thumb drives line b6 passes through the finger root outlet hole b7 and is connected to the driving unit, and the other end is worn
It crosses the finger joint outlet hole b5 and is connected to the thumb finger joint b4.
In another embodiment, as shown in figure 3, the thumb portion further includes rubber card slot b2, the rubber card slot b2
It is located at the thumb to refer on root b8 and thumb finger joint b4, for preventing the connection sheet rubber b3 from moving about.
In another embodiment, as shown in figure 4, the driving unit includes winder and spiral motor,
The winder includes index finger winding bore c2, thumb winding bore c1, motor matching hole c3 and winding slot c4,
The index finger driving line a5 and thumb drives line b6 is each passed through the index finger winding bore c2 and thumb coiling
It is wound in after the c1 of hole in the winding slot c4；
The motor matching hole c3 is located at the winder bottom, and the spiral motor is solid by the motor matching hole c3
Due on the winder.
In the present embodiment, when the massage robot receives massage instruction, spiral motor work, driving winder forward direction
Rotation tenses index finger and drives line a5, thumb drives line b6, so that index finger portion and thumb portion local inclination, to human body shoulder
Portion carries out kneading；When index finger portion and thumb portion bending amplitude reach predetermined extent, spiral motor is reversely rotated, and loosens food
Refer to driving line a5 and thumb drives line b6, at this point, index finger portion and thumb portion are resetting rubber band a6 and connection sheet rubber respectively
Restore straight configuration under the action of b3, completes a kneading actuation cycle.
In another embodiment, as shown in figure 5, second massage mechanism include spring d7 and first to fourth vibration by
Rub a d8-1~d8-4,
The first to fourth vibrating massaging head d8-1~d8-4 passes through the spring d7 respectively and is fixed on the bracket d6
On.
In the present embodiment, when receiving instruction, master control borad provides signal driving vibrating motor and starts to vibrate, and then drives
First to fourth vibrating massaging head d8-1~d8-4 vibrates at back, and spring d7 can play the role of buffering, by first to
The movement of 4th vibrating massaging head d8-1~d8-4 is isolated with bracket d6.
In another embodiment, as shown in figure 5, the regulating mechanism includes overturning motor d1, straight line lead screw stepper motor
D2, feed screw nut d3, driving gear d5, driven gear a9 and guiding axis d4；Wherein,
The straight line lead screw stepper motor d2 is fixed by screws on the bracket d6,
The feed screw nut d3 is connect by lead screw with the straight line lead screw stepper motor d2, and with the driven gear a9
It is bolted；
The driving gear d5 is fixed on the guiding axis d4, and with the ratcheting connection of driven gear a9；
The side of the guiding axis d4 is provided with mating groove, realizes guiding by the output shaft cooperation with the overturning motor d1
The connection of axis d4 and overturning motor d1.
In the present embodiment, when needing to use or withdraw manipulator, guiding axis d4 rotation is driven by overturning motor d1, in turn
Drive driving gear d5 rotation, due to the ratcheting connection of driving gear d5, driven gear a9 also rotates with driving gear d5 together,
To realize and the withdrawal or opening of the driven gear a9 index finger portion being fixedly connected.
After massage robot is fixed on shoulder, straight line spindle motor is controlled by the bluetooth module in circuit control mechanism
D2 can drive lead screw to rotate, and lead screw and feed screw nut d3 cooperate and then realize that change rotation into linear motion, realizes index finger portion
It is moved with thumb portion along shoulder direction.
After position of manipulator regulates, spiral motor is controlled by bluetooth module and drives index finger that line a5 and thumb is driven to drive
Moving-wire b6, and then realize the elastic situation under index finger portion and thumb portion original state, and then realize what massage force was adjusted
Purpose.
In another embodiment, as shown in fig. 6, the fixed mechanism includes harness e1-1 on first, harness e1- on second
2, the first lower harness e4-1, the second lower buckle of harness e4-2 and first e6-1, the second buckle e6-2；Wherein,
Harness e1-1 on described first, harness e1-2 is with holes from first be set on the pedestal respectively on second
E2-2 with holes is pierced by e2-1 and second,
Described first lower harness e4-1, the second lower harness e4-2 respectively from setting with it is with holes under first on the pedestal
E3-2 with holes is pierced by under e3-1 and second,
The card of the first buckle e6-1 and second is respectively equipped on described first lower harness e4-1 and the second lower harness e4-2
E6-2 is detained,
Harness e1-1 on described first, it is bonded with velcro e5 respectively on harness e1-2, the first lower harness e4-1 on second.
In the present embodiment, when needing for massage robot to be fixed on human body shoulder back, by the first lower harness e4-1 and the
Two lower harness e4-2 buckle e6-2 by the first buckle e6-1 and second and link together, will be on harness e1-1 on first, second
Harness e1-2 is fixed on the first lower harness e4-1 by velcro e5, so that entire massage robot is assembled into similar vest
Shape is clothed on human body, then is carried on the back on harness e1-1 and second on the tightness and first by adjusting the first lower harness e4-1
Fixation position with e1-2, is fixed on robot on human body.
In another embodiment, the massage robot further includes circuit control mechanism, the circuit control structure encapsulation
In in the cavity that the cover board and the bracket are formed, comprising: arduino development board, HC05 bluetooth module, 28byj stepping electricity
Machine and ULN2003 motor drive module.
In another embodiment, the massage robot is controlled by mobile intelligent terminal, the mobile intelligent terminal packet
It includes following any: smart phone, laptop, palm PC and wearable device.
In the present embodiment, mobile intelligent terminal is realized by establishing wireless telecommunications between bluetooth module to massage robot
Remote control specifically can be designed as " light specifically, the present embodiment is realized by designing special APP to massage robot control
By ", " pressing again ", " position moves to left ", " position moves to right ", " finger massage ", " vibromassage ", " finger opening ", " finger withdrawal ",
Functions such as " massage terminate ", above-mentioned each function successively indicate that these numbers are mobile intelligent terminal bluetooth with number 1-9 behind
It is sent to the digital signal of massage robot bluetooth module, is passing through massage robot in mobile intelligent terminal bluetooth connection in this way
After bluetooth module, different function module is clicked, mobile intelligent terminal will be sent by bluetooth to massage robot bluetooth module
Stationary digital signal, single-chip microcontroller can make different reactions to different signals, and then realize the control of different mode.
Illustratively, when click " finger opening ", mobile intelligent terminal is by transmitting number to massage robot bluetooth module
Word 7, single-chip microcontroller, once reading " 7 ", will control motor and execute movement, and then control during power supply opening code loop
The opening of whole finger.
Although being described above in conjunction with embodiment of the attached drawing to the disclosure, the disclosure is not limited to above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.Those skilled in the art under the enlightenment of this specification and are not departing from disclosure scope of the claimed protection
In the case where, a variety of forms can also be made, these belong to the column of disclosure protection.
Claims (10)
1. a kind of portable massage machine people, comprising: pedestal, the first massage mechanism, the second massage mechanism, fixed mechanism and adjusting
Mechanism；Wherein,
The pedestal includes cover board and bracket, and the cover board is connect by interference fit with the bracket；
First massage mechanism is fixed on the base, including manipulator and driving unit,
The manipulator massages shoulders of human body by driving unit driving；
Second massage mechanism is fixed on the base, is massaged by vibration human body back；
The fixed mechanism is fixed on the base, for the massage robot to be fixed on human body shoulder back position；
The regulating mechanism is fixed to be connected on the base and with the manipulator, for adjusting the massage position of the manipulator
It sets and massage force.
2. massage robot according to claim 1, which is characterized in that preferred, the manipulator includes index finger portion
And thumb portion, wherein
The index finger portion includes that finger joint, index finger refer to root, the first to the 5th pulley, wear after finger joint, index finger before index finger tip, index finger
Spool resets rubber band and index finger driving line,
Before the index finger tip, index finger after finger joint, index finger finger joint and index finger refer to root pass sequentially through each finger joint end shaft it is mutual
Connection；
First, second pulley is fixed on before the index finger in finger joint by shaft, and the third, the 4th pulley pass through shaft
It is fixed on after the index finger in finger joint, the 5th pulley is fixed on the index finger by shaft and refers on root；
The index finger refers to that root is connected and fixed on the pedestal by bolt cooperation with feed screw nut；
The threading axis is fixed in the axis hole of the index finger tip,
Index finger driving line is fixed on the threading axis, and is successively bypassed after the described first to the 5th pulley from the index finger
Refer to draw above root and is connected to the driving unit；
The rubber band that resets is consolidated by the rubber band seat on finger joint top after finger joint, index finger before the index finger tip, index finger
It is fixed；
The thumb portion includes that thumb refers to root, thumb finger joint, connection sheet rubber and thumb drives line,
The thumb refers to that root is coaxially connected by finger root hole and the index finger portion,
The thumb, which refers to, to be connected between root and the thumb finger joint by connection sheet rubber,
The thumb, which refers to be respectively equipped in root and the thumb finger joint, refers to root outlet hole and finger joint outlet hole,
One end of the thumb drives line passes through the finger root outlet hole and is connected to the driving unit, and the other end passes through the finger
Section outlet hole is connected to the thumb finger joint.
3. massage robot according to claim 2, which is characterized in that the thumb portion further includes rubber card slot, institute
It states rubber card slot and is located at the thumb and refer to root, in thumb finger joint, for preventing the connection sheet rubber from moving about.
4. massage robot according to claim 2, which is characterized in that the driving unit includes winder and spiral electricity
Machine,
The winder includes index finger winding bore, thumb winding bore, motor matching hole and winding slot,
The index finger driving line and the thumb drives line are wound in after being each passed through the index finger winding bore and thumb winding bore
In the winding slot；
The motor matching hole is located at the winder bottom, and the spiral motor is fixed on described by the motor matching hole
On winder.
5. massage robot according to claim 1, which is characterized in that second massage mechanism includes spring and first
To the 4th vibrating massaging head,
It is fixed on the bracket that first to fourth vibrating massaging head passes through the spring respectively.
6. massage robot according to claim 5, which is characterized in that inlayed in first to fourth vibrating massaging head
There is vibrating motor, for driving first to fourth vibrating massaging head to vibrate.
7. massage robot according to claim 1, which is characterized in that the fixed mechanism includes harness, the on first
Harness, the first lower harness, the second lower harness and the first buckle, the second buckle on two；Wherein,
Harness on described first, on second harness it is with holes from first be set on the pedestal respectively and second on holes wear
Out,
Described first lower harness, harness is worn from setting with holes under with holes under first on the pedestal and second respectively on second
Out,
The first buckle and the second buckle are respectively equipped on described first lower harness and the second lower back band,
Harness on described first, harness on second are bonded with velcro on first lower back band respectively.
8. massage robot according to claim 1, which is characterized in that the regulating mechanism includes overturning motor, straight line
Lead screw stepper motor, feed screw nut, driving gear, driven gear and guiding axis；Wherein,
The straight line lead screw stepper motor is fixed by screws on the bracket,
The feed screw nut is connect by lead screw with the straight line lead screw stepper motor, and is connected with the driven gear by bolt
It connects；
The driving gear is fixed on the guiding axis, and with the ratcheting connection of the driven gear；
The side of the guiding axis is provided with mating groove, realizes guiding axis and overturning by the output shaft cooperation with the overturning motor
The connection of motor.
9. massage robot according to claim 1, which is characterized in that the massage robot further includes circuit control machine
Structure, the circuit control structure are packaged in the cavity that the cover board and the bracket are formed, comprising: arduino development board,
HC05 bluetooth module, 28byj stepper motor and ULN2003 motor drive module.
10. massage robot according to claim 9, which is characterized in that the massage robot passes through intelligent movable end
End control, the mobile intelligent terminal include following any: smart phone, laptop, palm PC and wearable device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910788031.0A CN110507524A (en) | 2019-08-23 | 2019-08-23 | A kind of portable massage machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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