CN111002319A - Human body recognition mechanical arm for massage device - Google Patents

Human body recognition mechanical arm for massage device Download PDF

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Publication number
CN111002319A
CN111002319A CN201911224823.1A CN201911224823A CN111002319A CN 111002319 A CN111002319 A CN 111002319A CN 201911224823 A CN201911224823 A CN 201911224823A CN 111002319 A CN111002319 A CN 111002319A
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CN
China
Prior art keywords
arm
fixed
box
motor
massage
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Granted
Application number
CN201911224823.1A
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Chinese (zh)
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CN111002319B (en
Inventor
潘晓海
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Wuhan Hi Life Medical Science And Technology Co ltd
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Wuhan Hi Life Medical Science And Technology Co ltd
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Priority to CN201911224823.1A priority Critical patent/CN111002319B/en
Publication of CN111002319A publication Critical patent/CN111002319A/en
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Publication of CN111002319B publication Critical patent/CN111002319B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Massaging Devices (AREA)

Abstract

The invention discloses a human body recognition mechanical arm for a massage device, which comprises a mainframe box, wherein a roller is movably arranged on the outer surface of the lower end of the mainframe box, a push rod is fixedly arranged above the front end of the mainframe box, a main arm is fixedly arranged on the outer surface of the upper end of the mainframe box, a joint seat is fixedly arranged on the upper end of the main arm, a first motor is fixedly arranged on the outer surface of the front end of the joint seat, a power arm is fixedly connected to the outer surface of one side of the joint seat, one end of the power arm is fixedly connected with a clamping arm, a fixed shaft is fixedly arranged in the clamping arm, a fixed box is movably arranged at the position, located at one end of the fixed shaft, in the clamping arm, a second motor is fixedly arranged on the outer surface of the upper end. The invention can improve the use effect of the mechanical arm, and can ensure that the mechanical arm is more convenient to use and has practicability.

Description

Human body recognition mechanical arm for massage device
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a human body recognition mechanical arm for a massage device.
Background
The massage device acts on the specific part of human body surface through the arm in order to adjust organism physiology, pathological condition, reaches the physiotherapy purpose, carries out human discernment through the camera on the massage device, compares the user who will shoot with the database to discernment user, arm are the arm of imitate massage staff promptly, massage the user.
The existing human body recognition mechanical arm for the massage device has certain defects when in use, the mechanical arm is not convenient enough, the mechanical arm cannot move in a large range in the use process, the massage ball cannot keep the best massage angle in the use process of the mechanical arm, the massage effect is not good, and therefore the human body recognition mechanical arm for the massage device is improved at present.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a human body recognition mechanical arm for a massage device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a human body recognition mechanical arm for a massage device comprises a mainframe box, wherein a roller is movably mounted on the outer surface of the lower end of the mainframe box, a push rod is fixedly mounted above the front end of the mainframe box, a main arm is fixedly mounted on the outer surface of the upper end of the mainframe box, a joint seat is fixedly mounted at the upper end of the main arm, a first motor is fixedly mounted on the outer surface of the front end of the joint seat, a power arm is fixedly connected to the outer surface of one side of the joint seat, one end of the power arm is fixedly connected with a clamping arm, a fixing shaft is fixedly mounted in the clamping arm, a fixed box is movably mounted at the position, located at one end of the fixing shaft, in the clamping arm, a second motor is fixedly mounted on the outer surface of the upper end of the fixed box, a pneumatic cylinder is movably connected between the power arm and the second, the inside lower extreme fixed mounting of fixed case has the bearing, the position fixed mounting that the lower extreme of derailleur is located the below of fixed case has the mounting panel, the outer fixed surface of the lower extreme of mounting panel installs the massage ball.
Preferably, the arm lock is U type structure, the surface and the fixed case swing joint of fixed case are run through to the one end of fixed axle, fixed case passes through fixed axle and arm lock swing joint.
Preferably, a transmission gear is fixedly installed at the position, located inside the joint seat, of the other end of the power arm, and one end of the first motor is in meshed connection with the transmission gear.
Preferably, the speed changer is a planetary gear speed changer, the number of the massage balls is a plurality of groups, and the diameters of the massage balls in the groups are different.
Preferably, both ends of the pneumatic cylinder are movably connected with clamping pieces which are of U-shaped structures, and both ends of the pneumatic cylinder are movably connected with the power arm and the second motor through the clamping pieces respectively.
Preferably, the front end surface of the mainframe box is located at the position below the push rod, and is provided with a box door, one end fixedly connected with hinge of the box door, front end one side fixed mounting of the box door has a lock catch, and the box door is movably connected with the mainframe box through the hinge.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the massage machine, the idler wheels, the push rods, the box door and the hinges are arranged, so that the idler wheels can conveniently move in a large range, the mechanical arm can move according to use requirements, the tool bin is arranged in the box door, personal articles or maintenance tools of a user can be prevented in the massage process, and the use of the mechanical arm is facilitated;
2. according to the invention, the fixed box is clamped in the middle by the clamping arms, the fixed shaft, the fixed box, the second motor and the pneumatic cylinder, the angle of the fixed box can be adjusted by the pneumatic cylinder, and when the power arm on the mechanical arm moves up and down, the position of the fixed box can be adjusted by the pneumatic cylinder, so that the massage ball below the fixed box is in the optimal massage position, and the use effect of the mechanical arm is improved;
in conclusion, the invention can improve the use effect of the mechanical arm, and the mechanical arm can be more convenient to use and has practicability.
Drawings
Fig. 1 is a schematic structural view of a first embodiment of a human recognition robot arm for a massage apparatus according to the present invention;
fig. 2 is a schematic structural view of a fixing box of a human recognition robot arm for a massage apparatus according to the present invention;
fig. 3 is a schematic structural view of a second embodiment of a human recognition robot arm for a massage apparatus according to the present invention.
In the figure: the device comprises a main case 1, rollers 2, a push rod 3, a main arm 4, a joint seat 5, a first motor 6, a power arm 7, a clamping arm 8, a fixed shaft 9, a fixed case 10, a second motor 11, a pneumatic cylinder 12, a speed changer 13, a bearing 14, a mounting plate 15, a massage ball 16, a box door 17 and a hinge 18.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The first embodiment is as follows:
referring to fig. 1-2, a human body recognition mechanical arm for a massage device, comprising a main case 1, a roller 2 movably mounted on the outer surface of the lower end of the main case 1, a push rod 3 fixedly mounted on the upper side of the front end of the main case 1, a main arm 4 fixedly mounted on the outer surface of the upper end of the main arm 1, a joint seat 5 fixedly mounted on the upper end of the main arm 4, a first motor 6 fixedly mounted on the outer surface of the front end of the joint seat 5, a power arm 7 fixedly connected to the outer surface of one side of the joint seat 5, a clamp arm 8 fixedly connected to one end of the power arm 7, a fixed shaft 9 fixedly mounted inside the clamp arm 8, a fixed case 10 movably mounted at the position of one end of the fixed shaft 9 inside the clamp arm 8, a second motor 11 fixedly mounted on the outer surface of the upper end of the fixed case 10, a pneumatic cylinder 12 movably connected between the power arm 7 and the second motor, a bearing 14 is fixedly arranged at the lower end of the inside of the fixed box 10, a mounting plate 15 is fixedly arranged at the position, below the fixed box 10, of the lower end of the transmission 13, and a massage ball 16 is fixedly arranged on the outer surface of the lower end of the mounting plate 15.
Wherein, arm lock 8 is U type structure, and the surface and the fixed case 10 swing joint of fixed case 10 are run through to the one end of fixed axle 9, and fixed case 10 passes through fixed axle 9 and arm lock 8 swing joint.
Wherein, the other end of the power arm 7 is fixedly provided with a transmission gear at the position inside the joint seat 5, and one end of the first motor 6 is meshed and connected with the transmission gear.
Wherein, derailleur 13 is the planetary gear derailleur, and the quantity of massage ball 16 is a plurality of groups, and the diameter of a plurality of groups of massage ball 16 is different.
Wherein, the both ends of pneumatic cylinder 12 all swing joint have the folder, and the folder is the U type structure, and the both ends of pneumatic cylinder 12 are respectively through folder and power arm 7 and second motor 11 swing joint.
Example two:
referring to fig. 2-3, a human body recognition mechanical arm for a massage device, comprising a main case 1, a roller 2 movably mounted on the outer surface of the lower end of the main case 1, a push rod 3 fixedly mounted on the upper side of the front end of the main case 1, a main arm 4 fixedly mounted on the outer surface of the upper end of the main arm 1, a joint seat 5 fixedly mounted on the upper end of the main arm 4, a first motor 6 fixedly mounted on the outer surface of the front end of the joint seat 5, a power arm 7 fixedly connected to the outer surface of one side of the joint seat 5, a clamp arm 8 fixedly connected to one end of the power arm 7, a fixed shaft 9 fixedly mounted inside the clamp arm 8, a fixed case 10 movably mounted at the position of one end of the fixed shaft 9 inside the clamp arm 8, a second motor 11 fixedly mounted on the outer surface of the upper end of the fixed case 10, a pneumatic cylinder 12 movably connected between the power arm 7 and the second motor, a bearing 14 is fixedly arranged at the lower end of the inside of the fixed box 10, a mounting plate 15 is fixedly arranged at the position, below the fixed box 10, of the lower end of the transmission 13, and a massage ball 16 is fixedly arranged on the outer surface of the lower end of the mounting plate 15.
Wherein, arm lock 8 is U type structure, and the surface and the fixed case 10 swing joint of fixed case 10 are run through to the one end of fixed axle 9, and fixed case 10 passes through fixed axle 9 and arm lock 8 swing joint.
Wherein, the other end of the power arm 7 is fixedly provided with a transmission gear at the position inside the joint seat 5, and one end of the first motor 6 is meshed and connected with the transmission gear.
Wherein, derailleur 13 is the planetary gear derailleur, and the quantity of massage ball 16 is a plurality of groups, and the diameter of a plurality of groups of massage ball 16 is different.
Wherein, the both ends of pneumatic cylinder 12 all swing joint have the folder, and the folder is the U type structure, and the both ends of pneumatic cylinder 12 are respectively through folder and power arm 7 and second motor 11 swing joint.
Wherein, the position that the front end surface of mainframe box 1 is located the below of push rod 3 has seted up chamber door 17, and the one end fixedly connected with hinge 18 of chamber door 17, and the front end one side fixed mounting of chamber door 17 has the hasp, and chamber door 17 passes through hinge 18 and mainframe box 1 swing joint.
The working principle is as follows: move the arm to the user's place of use through gyro wheel 2, the user lies on the massage bed, first motor 6 on the joint seat 5 drives power arm 7 and rotates, thereby adjust the height of fixed case 10, in this process, the flexible perpendicular angle that makes fixed case 10 of pneumatic cylinder 12 is adjusted, thereby make fixed case 10 be located the best massage angle, second motor 11 on fixed case 10 drives mounting panel 15 after passing through derailleur 13 speed change and rotates, then massage ball 16 on mounting panel 15 presses user's body surface, thereby massage the user, set up the tool compartment in the main frame case 1 of arm, can put user's personal article or use tool in the tool compartment after opening chamber door 17, thereby make things convenient for the use of arm.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (6)

1. The utility model provides a human body recognition arm for massage device, includes mainframe box (1), its characterized in that, the lower extreme surface movable mounting of mainframe box (1) has gyro wheel (2), and fixed mounting has push rod (3) above the front end of mainframe box (1), and the upper end surface fixed mounting of mainframe box (1) has main arm (4), the upper end fixed mounting of main arm (4) has joint seat (5), the front end surface fixed mounting of joint seat (5) has first motor (6), one side surface fixed connection of joint seat (5) has power arm (7), the one end fixed connection of power arm (7) has arm lock (8), the inside fixed mounting of arm lock (8) has fixed axle (9), the position movable mounting that the inside of arm lock (8) is located the one end of fixed axle (9) has fixed case (10), the utility model discloses a massage box, including fixed case (10), power arm (7), second motor (11), swing joint has pneumatic cylinder (12) between power arm (7) and second motor (11), the lower extreme of second motor (11) is located the inside fixed position of fixed case (10) and is connected with derailleur (13), the inside lower extreme fixed mounting of fixed case (10) has bearing (14), the fixed position that the lower extreme of derailleur (13) is located the below of fixed case (10) has mounting panel (15), the lower extreme external fixed surface of mounting panel (15) installs massage ball (16).
2. The human body recognition mechanical arm for the massage device according to claim 1, wherein the clamping arm (8) is of a U-shaped structure, one end of the fixed shaft (9) penetrates through the outer surface of the fixed box (10) to be movably connected with the fixed box (10), and the fixed box (10) is movably connected with the clamping arm (8) through the fixed shaft (9).
3. The human body recognition mechanical arm for the massage device as claimed in claim 1, wherein a transmission gear is fixedly installed at a position where the other end of the power arm (7) is located inside the joint seat (5), and one end of the first motor (6) is engaged with the transmission gear.
4. The human recognition robot arm for a massage device according to claim 1, wherein the transmission (13) is a planetary transmission, the number of the massage balls (16) is a plurality of groups, and the diameters of the plurality of groups of the massage balls (16) are different.
5. The human body recognition mechanical arm for the massage device as claimed in claim 1, wherein the pneumatic cylinder (12) is movably connected at both ends with a clamp member having a U-shaped structure, and the pneumatic cylinder (12) is movably connected at both ends with the power arm (7) and the second motor (11) through the clamp member, respectively.
6. The human body recognition mechanical arm for the massage device is characterized in that a box door (17) is arranged at a position, below the push rod (3), of the outer surface of the front end of the main case (1), a hinge (18) is fixedly connected to one end of the box door (17), a lock catch is fixedly installed on one side of the front end of the box door (17), and the box door (17) is movably connected with the main case (1) through the hinge (18).
CN201911224823.1A 2019-12-04 2019-12-04 Human body recognition mechanical arm for massage device Active CN111002319B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911224823.1A CN111002319B (en) 2019-12-04 2019-12-04 Human body recognition mechanical arm for massage device

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Application Number Priority Date Filing Date Title
CN201911224823.1A CN111002319B (en) 2019-12-04 2019-12-04 Human body recognition mechanical arm for massage device

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CN111002319A true CN111002319A (en) 2020-04-14
CN111002319B CN111002319B (en) 2021-03-02

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113499233A (en) * 2021-07-23 2021-10-15 河南中硕聚润健康科技有限公司 Moxibustion machine is fired slowly in full automatization health preserving

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08141961A (en) * 1994-09-19 1996-06-04 Yaskawa Electric Corp Arm driving device
CN204354129U (en) * 2014-12-24 2015-05-27 宁波沃特美逊机器人科技有限公司 Swing arm manipulator
CN105125387A (en) * 2015-09-17 2015-12-09 李木春 Robot massager
CN106425199A (en) * 2016-11-06 2017-02-22 合肥齐飞信息技术有限公司 Vehicle body welding manipulator for vehicle production
CN106945054A (en) * 2017-04-22 2017-07-14 广州市知君信息科技有限公司 Intelligent automatic bonesetting manipulator of massaging
CN206714684U (en) * 2017-01-16 2017-12-08 张春峰 A kind of intelligent scrubbing back and massaging machinery arm
CN206998099U (en) * 2017-06-28 2018-02-13 重庆众思创智能科技有限公司 A kind of Automation of Welding manipulator
CN207462317U (en) * 2017-04-18 2018-06-08 吴振涛 A kind of cycle rubbing massage robot
CN108145705A (en) * 2016-12-05 2018-06-12 张家港科康智能科技有限公司 A kind of five axis massage mechanical arms
CN108836806A (en) * 2018-07-04 2018-11-20 湖州光和天颐贸易有限公司 A kind of hand type beats massager
CN108938398A (en) * 2018-04-20 2018-12-07 奥佳华智能健康科技集团股份有限公司 A kind of complete horizontal massage bed
CN208758852U (en) * 2018-07-26 2019-04-19 深圳市创银鑫科技有限公司 A kind of Automation of Welding manipulator

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08141961A (en) * 1994-09-19 1996-06-04 Yaskawa Electric Corp Arm driving device
CN204354129U (en) * 2014-12-24 2015-05-27 宁波沃特美逊机器人科技有限公司 Swing arm manipulator
CN105125387A (en) * 2015-09-17 2015-12-09 李木春 Robot massager
CN106425199A (en) * 2016-11-06 2017-02-22 合肥齐飞信息技术有限公司 Vehicle body welding manipulator for vehicle production
CN108145705A (en) * 2016-12-05 2018-06-12 张家港科康智能科技有限公司 A kind of five axis massage mechanical arms
CN206714684U (en) * 2017-01-16 2017-12-08 张春峰 A kind of intelligent scrubbing back and massaging machinery arm
CN207462317U (en) * 2017-04-18 2018-06-08 吴振涛 A kind of cycle rubbing massage robot
CN106945054A (en) * 2017-04-22 2017-07-14 广州市知君信息科技有限公司 Intelligent automatic bonesetting manipulator of massaging
CN206998099U (en) * 2017-06-28 2018-02-13 重庆众思创智能科技有限公司 A kind of Automation of Welding manipulator
CN108938398A (en) * 2018-04-20 2018-12-07 奥佳华智能健康科技集团股份有限公司 A kind of complete horizontal massage bed
CN108836806A (en) * 2018-07-04 2018-11-20 湖州光和天颐贸易有限公司 A kind of hand type beats massager
CN208758852U (en) * 2018-07-26 2019-04-19 深圳市创银鑫科技有限公司 A kind of Automation of Welding manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113499233A (en) * 2021-07-23 2021-10-15 河南中硕聚润健康科技有限公司 Moxibustion machine is fired slowly in full automatization health preserving
CN113499233B (en) * 2021-07-23 2023-08-25 河南中硕聚润健康科技有限公司 Full-automatic health-preserving flame-retardant moxibustion machine

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Denomination of invention: A human body recognition robotic arm for massage devices

Granted publication date: 20210302

Pledgee: Wuhan Rural Commercial Bank Co.,Ltd. Dongxihu sub branch

Pledgor: WUHAN HI-LIFE MEDICAL SCIENCE AND TECHNOLOGY CO.,LTD.

Registration number: Y2024980020960

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