CN111728835A - Manipulator with grabbing and kneading functions and shoulder position detection function with buffer device - Google Patents

Manipulator with grabbing and kneading functions and shoulder position detection function with buffer device Download PDF

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Publication number
CN111728835A
CN111728835A CN202010494363.0A CN202010494363A CN111728835A CN 111728835 A CN111728835 A CN 111728835A CN 202010494363 A CN202010494363 A CN 202010494363A CN 111728835 A CN111728835 A CN 111728835A
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CN
China
Prior art keywords
manipulator
arm seat
massage
kneading
function
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Granted
Application number
CN202010494363.0A
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Chinese (zh)
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CN111728835B (en
Inventor
周志靖
黄益和
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Haozhonghao Health Technology Co ltd
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Haozhonghao Health Technology Co ltd
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Priority to CN202010494363.0A priority Critical patent/CN111728835B/en
Publication of CN111728835A publication Critical patent/CN111728835A/en
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Publication of CN111728835B publication Critical patent/CN111728835B/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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006—Percussion or tapping massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • 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
    • A61H7/007—Kneading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0042—Balls or spheres
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Dermatology (AREA)
  • Percussion Or Vibration Massage (AREA)

Abstract

The invention provides a manipulator with grabbing and kneading functions and a shoulder position detection function of a buffer device, which comprises a bottom plate, a walking component and a massage component, wherein the massage component comprises a crank arm, the crank arm comprises an arm seat and two connecting parts, one end of each connecting part is provided with a massage part, the distance between the two connecting parts is gradually increased towards one end, the other ends of the two connecting parts are hinged at one end of the arm seat, a swinging component is arranged between the arm seat and the connecting part of the arm seat and used for enabling one connecting part to swing on the arm seat in a reciprocating mode, a resetting component is arranged between the arm seat and the other connecting part and used for enabling the other connecting part to reset after swinging. Aiming at the defects of the prior art, the invention provides the manipulator which has the functions of grabbing and kneading and shoulder position detection of the buffer device, has more massage actions and can better adapt to the curves of people with different body types and different parts of a human body.

Description

Manipulator with grabbing and kneading functions and shoulder position detection function with buffer device
Technical Field
The invention relates to a manipulator which is used for a massage chair and has the functions of grabbing and kneading and shoulder position detection of a buffer device.
Background
The mechanical arm with the functions of grabbing and kneading and detecting the shoulder position of the buffer device on the market is generally respectively a 2D mechanical arm and a 3D mechanical arm, the 3D mechanical arm is characterized in that on the basis that the 2D mechanical arm can only slide up and down, the elastic component of the 3D massage mechanical arm and the body curve and the weight of a user are utilized to form interaction, so that the massage mechanical arm can automatically adjust forwards and backwards when sliding up and down along with the curve of the body, compared with the curve of the human body, the 3D mechanical arm can better adapt to the curve of the human body, the 3D mechanical arm in the prior art generally comprises a bottom plate, a massage assembly and a walking assembly are arranged on the bottom plate, the massage assembly and the walking assembly are both arranged at one end of the bottom plate, the walking assembly comprises two rotating shafts and four rollers respectively arranged on the two rotating shafts, the two rotating shafts are respectively arranged at the upper side and the lower, the massage assembly comprises a kneading motor, a knocking motor, a swing arm and a crank arm, wherein the kneading motor, the knocking motor, the swing arm and the crank arm are in hinged fit with the swing arm, the crank arm extends to form two connecting parts for mounting massage balls, the two connecting parts are arranged in a V shape gradually enlarging towards the positions of the massage balls, the two connecting parts penetrate through the other end of the bottom plate, the kneading motor drives the swing arm to do eccentric motion through an eccentric wheel sleeved between the kneading motor and the swing arm, so that the crank arm swings left and right, the massage action that the massage balls knead the left and right sides of a human body is realized, and the knocking module can drive the crank arm to do up-and-down motion, the massage ball can perform the massage action of knocking the human body.
However, with the increasing audience range of massage chairs and the gradual expansion of the massage range of human body from the original back to the neck to the legs, the manipulator with the functions of grabbing and kneading and shoulder position detection of the buffer device in the prior art can only swing and knock in a fixed mode, so that the massage mode is single on one hand, and on the other hand, the manipulator cannot well cope with the body curves of people with different body types and different parts of human body.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the manipulator which has the functions of grabbing and kneading and shoulder position detection of the buffer device, has more massage actions and can better adapt to the curves of people with different body types and different parts of a human body.
In order to achieve the purpose, the invention provides a manipulator with grabbing and kneading functions and a shoulder position detection function of a buffer device, which comprises a bottom plate, a walking component and a massage component, wherein the massage component comprises a crank arm, the crank arm comprises an arm seat and two connecting parts, the end parts of the two connecting parts are respectively provided with a massage part, the distance between the two connecting parts is gradually increased towards one end, the other ends of the two connecting parts are respectively hinged at one end of the arm seat, a swinging component is arranged between the arm seat and one connecting part of the arm seat and used for driving one connecting part to swing on the arm seat in a reciprocating mode, a resetting component is arranged between the arm seat and the other connecting part and used for driving the other connecting part to reset after swinging.
The technical scheme has the advantages that: compared with the prior art, because of the reasons of the increase of the audience range of the massage chair, the gradual expansion of the massage range of the human body and the like, the massage mode is single, and the problems that various body curves cannot be well dealt with exist, in the technical scheme, two connecting parts are hinged on an arm seat, the distance between the two connecting parts is gradually increased towards one end direction of the massage part, when the two connecting parts bear the weight of the human body, the other connecting part swings towards the direction far away from one connecting part under the influence of the gravity of the human body, and when a bottom plate slides between a neck and legs under the driving of a walking motor, the body curve and the other connecting part which are changed along with a user under the resetting action of a resetting component, when the other connecting part is suspended, the other connecting part swings towards one connecting part to reset, so that in the sliding process of the walking component, the continuous swing angle that changes, and its connecting portion are owing to constantly reciprocal swing under the driving of swing subassembly, make constantly separation or be close to between two connecting portions, conduct the massage portion to two connecting portion one end departments, then form or syntropy to the human body, or reverse, or successive "grab and rub" action, cooperation prior art, in the in-process of "kneading" and "knocking" action, reciprocal "grabbing and rubbing" that carries on, the massage action of very big abundant manipulator, promote user experience, and another connecting portion are the atress formation swing, and reset by the drive of reset subassembly, consequently at crowd and the human different positions in the face of different sizes, another connecting portion swing when keeping the pressurized all the time, and the process that resets after unsettled, fine response is to the curve of different health.
The invention may further be arranged to: the swing component comprises a driving rod, one end of the driving rod is provided with a hinged part at the position close to the other side of the connecting part of the driving rod, and the driving rod can drive the hinged part to move towards the direction close to or far away from the massage part.
By further arrangement, as the driving rod and the arm seat are respectively hinged at one side of the connecting part, when the driving rod drives the hinged part to move close to or far away from the massage part, the connecting part can swing on the arm seat.
The invention may further be arranged to: the massage subassembly including supply arm seat horizontal hunting's eccentric wheel, the eccentric wheel including first cup jointing portion and second cup jointing portion, first cup jointing portion and second cup jointing portion between eccentric settings, the other end of arm seat and actuating lever cup joint respectively in first cup jointing portion and second cup jointing portion department.
Through further setting up, be provided with two first cup jointing portion and the second cup jointing portion of mutual off-centre at the eccentric wheel that supplies arm seat horizontal hunting, and arm seat and actuating lever overlap respectively and establish on first cup jointing portion and the second cup jointing portion, when making arm seat and actuating lever carry out cyclic motion, cycle period is unanimous, and first cup jointing portion and the eccentric setting of second cup jointing portion, when making to use the arm seat as the reference thing, the actuating lever does not stop promote or drag one of them connecting portion articulated with the arm seat, form the wobbling action of one of them connecting portion on the arm seat.
The invention may further be arranged to: reset assembly including extension spring and two spliced poles, two spliced poles set up respectively on arm seat and another connecting portion, and two spliced poles can be close to each other or keep away from when being close to or keeping away from one of them connecting portion direction swing along with another connecting portion orientation, the both ends of extension spring cup joint respectively on two spliced poles.
Through further setting up, set up the extension spring on arm seat and another connecting portion to by two spliced poles that can be close to each other or keep away from when another connecting portion orientation is close to or keeps away from its connecting portion direction swing with its both ends location respectively on arm seat and another connecting portion, form the extension spring and impel another connecting portion swing back and reset.
The invention may further be arranged to: the other connecting part is provided with a convex column, the arm seat is provided with two abutting parts, and the two abutting parts are arranged on the motion trail of the convex column.
Through further setting up, set up projection and two butt portions respectively on another connecting portion and arm seat, and two butt portions all set up on the movement track of projection, the projection at another connecting portion wobbling in-process, can respectively with two butt portions between form the butt cooperation to the swing range formation of another connecting portion is injectd.
The invention may further be arranged to: the walking assembly comprises a crankshaft and a buffer spring assembly, the crankshaft is used for being connected with two driven wheels in a rotating mode, a bending section is arranged between the two driven wheels and the crankshaft, the bending section is formed by the crankshaft in a manner that the crankshaft extends towards the radial direction in an inclined mode, and the buffer spring assembly can be used for the crankshaft to reset after rotating.
Through further setting up, the walking subassembly is including bent axle and buffer spring subassembly, because the bent axle is including extending the bending segment that the shape is towards its radial slope, and the buffer spring subassembly can supply the bent axle to rotate the back and reset, when the human body compresses tightly on the massage ball, the bottom plate atress drives the bent axle and rotates, make the bottom plate slope, and because the buffer spring subassembly can provide the elastic force that the bent axle rotated the back and resets, make the bottom plate drive the massage ball and compress tightly on the human body all the time, guarantee when the crowd in the face of different sizes and the curve at human different positions, can both provide fine massage effect.
The invention may further be arranged to: the buffer spring assembly comprises a transmission piece and an elastic expansion piece, one end of the transmission piece is fixed on the crankshaft, the other end of the transmission piece is hinged with the elastic expansion piece, and the elastic expansion piece is arranged in an expansion mode.
Through further setting, because the one end of drive strap is fixed on the bent axle for the elastic expansion piece can drive the drive strap around the circumferential direction of bent axle at flexible in-process, and then drives the bent axle and rotate.
The invention may further be arranged to: the buffer spring assembly further comprises a guide rod and a spring, one end of the guide rod is hinged to the bottom plate, a limiting block is arranged at the position, close to the other end, of the guide rod, the elastic expansion piece is sleeved on the guide rod in a sliding mode, and the two ends of the spring are respectively abutted to the elastic expansion piece and the limiting block.
Through further setting up, when the crank arm bears user's health weight, elastic expansion piece slides along the guide bar and slides towards the bent axle direction, form elastic expansion piece's extension, leave the back at the user, spring deformation resets, form elastic expansion piece's the returning of contracting, and can provide the elastic deformation power that makes both reset through the spring of butt between elastic expansion piece and stopper, provide the elastic force that makes the bent axle rotate the back and reset for the buffer spring subassembly, make the bottom plate drive the massage ball and compress tightly on the human body all the time.
The invention may further be arranged to: the body position detection device is characterized by further comprising a body position detection assembly, the walking assembly comprises a walking motor, the body position detection assembly comprises an optical coupler and a detection disc, and the detection disc is in transmission connection with an output shaft of the walking motor.
Through further setting, the position detection subassembly obtains the rotational speed of walking motor through its detection dish of being connected with walking motor transmission, can judge whether the massage armchair is in the state that the pressurized needs opened through the rotational speed on the one hand, and on the other hand, because the crank arm can form the unsettled not pressurized condition of part when moving to the shoulder, can judge user's position state through walking motor rotational speed this moment to make the walking motor switch operation such as direction of rotation.
The invention may further be arranged to: the optical coupler comprises a detection notch, a fan-shaped convex part is arranged on the detection disc, and the detection notch is arranged on the motion track of the fan-shaped convex part.
By further setting, the rotation speed of the traveling motor is calculated by the time taken for the fan-shaped convex portion to cover and roll out of the detection concave portion.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention 1;
FIG. 2 is a perspective view of an embodiment of the present invention 2;
FIG. 3 is a top view of an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a crank arm 1 according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a crank arm according to an embodiment of the present invention, FIG. 2;
FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5 in accordance with an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an eccentric wheel according to an embodiment of the present invention;
FIG. 8 is a schematic view of a crankshaft and a damper spring assembly according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a damper spring assembly according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a detection assembly in an embodiment of the invention.
Wherein: a base plate 1; a walking component 2; a traveling motor 21; a drive shaft 22; a crankshaft 23; a bending section 231; a buffer spring assembly 24; a drive strap 241; an elastic expansion member 242; a guide rod 243; a stopper 2431; a spring 244; a traveling roller 25; a driven wheel 26; a massage component 3; a crank arm 31; an arm base 311; an abutting portion 3111; two connecting portions 312; a connecting portion 312 a; another connecting portion 312 b; the projection 312b 1; a massage section 313; a kneading motor 32; a tapping motor 33; a link 331; an eccentric wheel 34; the first nesting portion 341; a second spigot portion 342; a swing assembly 4; a drive lever 41; a hinge portion 42; a reset assembly 5; a tension spring 51; two connecting posts 52; a body position detection assembly 6; an optical coupler 61; a detection notch 611; a test tray 62; a fan-shaped convex portion 621; and a bearing 7.
Detailed Description
An embodiment of a robot hand having a gripping and kneading function and a shoulder position detecting function of a cushion device according to the present invention is shown in fig. 1 to 10: including bottom plate 1, walking subassembly 2 and massage subassembly 3, massage subassembly 3 including bent arm 31, knead motor 32, strike motor 33, in this embodiment, bent arm 31 is two, sets up respectively in the left and right sides of bottom plate 1, strike motor 33 on be provided with the connecting rod 331 of being connected with bent arm 31 transmission, connecting rod 331 one end with strike motor 33's output swing and be connected, the other end of connecting rod 331 and bent arm 31 between be connected everywhere, bent arm 31 including arm seat 311 and two connecting portion 312, one end department of two connecting portions all be provided with massage portion 313, massage portion 313 be the gyro wheel form, the interval between two connecting portion 312 sets up towards one end direction is gradually big, the other end of two connecting portion 312 all articulate the one end department at arm seat 311, arm seat 311 and its connecting portion 312a between be provided with swing subassembly 4, the swing component 4 is used for promoting the connecting part 312a to swing back and forth on the arm seat 311, the reset component 5 is arranged between the arm seat 311 and the other connecting part 312b, and the reset component 5 is used for promoting the other connecting part 312b to reset after swinging. The connecting portion 312a is hinged to the arm base 311, the swing assembly 4 includes a driving rod 41, a hinge 42 is formed at one end of the driving rod 41 and the connecting portion 312a, and the driving rod 41 can drive the hinge 42 to move toward or away from the massage portion 313. In the embodiment, the two driving levers 41 are provided, and the two driving levers 41 are respectively disposed at both sides of the arm base, and the hinge portion 42 is formed by a bolt penetrating through the two driving levers 41 and a connecting portion 312a thereof. The massage assembly 3 including supply the eccentric wheel 34 of arm seat 311 horizontal hunting, eccentric wheel 34 cup joint on the output shaft of kneading motor 32, eccentric wheel 34 including first cup jointing portion 341 and second cup jointing portion 342, first cup jointing portion 341 and second cup jointing portion 342 between eccentric settings, second cup jointing portion 342 be two, and set up respectively in the both sides department of first cup jointing portion 341, the other end of arm seat 311 and actuating lever 41 cup joint respectively on first cup jointing portion 341 and second cup jointing portion 342, and all overlap and be equipped with bearing 7 between arm seat 311 and first cup jointing portion 341 and actuating lever 41 and the second cup jointing portion 342. Reset assembly 5 including extension spring 51 and two spliced poles 52, two spliced poles 52 set up respectively on arm seat 311 and another connecting portion 312b, and two spliced poles 52 can be close to each other or keep away from when another connecting portion 312b orientation is close to or keeps away from one of them connecting portion 312a direction swing along with another connecting portion 312b, extension spring 51's both ends cup joint respectively on two spliced poles 52. The other connecting portion 312b is provided with a convex pillar 312b1, the arm seat 311 is provided with two abutting portions 3111, and the two abutting portions 3111 are both arranged on the motion trail of the convex pillar 312b 1. The walking assembly 2 comprises a walking motor 21, a driving shaft 22, a crankshaft 23, a buffer spring assembly 24, two walking rollers 25 and two driven rollers 26, wherein the driving shaft 22 is used for driving the two walking rollers 25 to roll under the driving of the walking motor 21, the crankshaft 23 is used for being rotationally connected with the two driven rollers 26, a bending section 231 is arranged between the two driven rollers 26 and the crankshaft 23, the bending section 231 is formed by the crankshaft 23 in a manner of radially inclining and extending, and the buffer spring assembly 24 can be used for resetting after the crankshaft 23 rotates. The driving shaft 22 is driven by the walking motor 21 to rotate, and drives the walking rollers 25 to rotate, so as to form a bottom plate to walk on the massage chair frame body. The buffer spring assembly 24 comprises a driving strap 241 and an elastic expansion piece 242, one end of the driving strap 241 is fixed on the crankshaft 23, the other end of the driving strap 241 is hinged to the elastic expansion piece 242, and the elastic expansion piece 242 is arranged in an expansion mode. The buffer spring assembly 24 further comprises a guide rod 243 and a spring 244, one end of the guide rod 243 is hinged to the bottom plate 1, a limit block 2431 is arranged at the position, close to the other end, of the guide rod 243, the elastic expansion piece 242 is slidably sleeved on the guide rod 243, and two ends of the spring 244 abut against the elastic expansion piece 242 and the limit block 2431 respectively. A body position detection assembly 6 is arranged on the walking motor 21, the body position detection assembly 6 comprises a light coupler 61 and a detection disc 62, and the detection disc 62 is in transmission connection with an output shaft of the walking motor 21. The optical coupler 61 includes a detection notch 611, the detection disc 62 is provided with a fan-shaped protrusion 621, and the detection notch 611 is disposed on a movement track of the fan-shaped protrusion 621.
The above example is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a manipulator with grab and rub and have buffer shoulder position and detect function, including bottom plate, walking subassembly and massage subassembly, the massage subassembly including bent arm, its characterized in that: crank arm including arm seat and two connecting portion, one end department of two connecting portions all be provided with massage portion, interval between two connecting portions sets up towards one end direction gradually greatly, the other end of two connecting portions all articulate the one end department at the arm seat, arm seat and its connecting portion between be provided with the swing subassembly, the swing subassembly be used for making its one connecting portion reciprocal swing on the arm seat, arm seat and another connecting portion between be provided with the subassembly that resets, the subassembly that resets be used for making and reset after another connecting portion swings.
2. The manipulator having the grasping and kneading function and the cushion shoulder position detecting function according to claim 1, characterized in that: the swing component comprises a driving rod, one end of the driving rod is provided with a hinged part at the position close to the other side of the connecting part of the driving rod, and the driving rod can drive the hinged part to move towards the direction close to or far away from the massage part.
3. The manipulator having the grasping and kneading function and the cushion shoulder position detecting function according to claim 2, characterized in that: the massage subassembly including supply arm seat horizontal hunting's eccentric wheel, the eccentric wheel including first cup jointing portion and second cup jointing portion, first cup jointing portion and second cup jointing portion between eccentric settings, the other end of arm seat and actuating lever cup joint respectively in first cup jointing portion and second cup jointing portion department.
4. The manipulator with grabbing and kneading function and with a buffering device shoulder position detection function as claimed in claim 1, 2 or 3, wherein: reset assembly including extension spring and two spliced poles, two spliced poles set up respectively on arm seat and another connecting portion, and two spliced poles can be close to each other or keep away from when being close to or keeping away from one of them connecting portion direction swing along with another connecting portion orientation, the both ends of extension spring cup joint respectively on two spliced poles.
5. The manipulator having the grasping and kneading function and the cushion shoulder position detecting function according to claim 4, characterized in that: the other connecting part is provided with a convex column, the arm seat is provided with two abutting parts, and the two abutting parts are arranged on the motion trail of the convex column.
6. The manipulator having a function of grasping and kneading with a cushion shoulder position detection according to claim 1, 2, 3 or 5, characterized in that: the walking assembly comprises a crankshaft and a buffer spring assembly, the crankshaft is used for being connected with two driven wheels in a rotating mode, a bending section is arranged between the two driven wheels and the crankshaft, the bending section is formed by the crankshaft in a manner that the crankshaft extends towards the radial direction in an inclined mode, and the buffer spring assembly can be used for the crankshaft to reset after rotating.
7. The manipulator having the grasping and kneading function and the cushion shoulder position detecting function according to claim 6, characterized in that: the buffer spring assembly comprises a transmission piece and an elastic expansion piece, one end of the transmission piece is fixed on the crankshaft, the other end of the transmission piece is hinged with the elastic expansion piece, and the elastic expansion piece is arranged in an expansion mode.
8. The manipulator having the grasping and kneading function and the cushion shoulder position detecting function according to claim 7, wherein: the buffer spring assembly further comprises a guide rod and a spring, one end of the guide rod is hinged to the bottom plate, a limiting block is arranged at the position, close to the other end, of the guide rod, the elastic expansion piece is sleeved on the guide rod in a sliding mode, and the two ends of the spring are respectively abutted to the elastic expansion piece and the limiting block.
9. The manipulator having the grasping and kneading function with the shoulder position detecting function of the cushion device according to claim 1, 2, 3, 5, 7 or 8, characterized in that: the body position detection device is characterized by further comprising a body position detection assembly, the walking assembly comprises a walking motor, the body position detection assembly comprises an optical coupler and a detection disc, and the detection disc is in transmission connection with an output shaft of the walking motor.
10. The manipulator having a function of grasping and kneading and a function of detecting a shoulder position of a cushion device according to claim 9, wherein: the optical coupler comprises a detection notch, a fan-shaped convex part is arranged on the detection disc, and the detection notch is arranged on the motion track of the fan-shaped convex part.
CN202010494363.0A 2020-06-03 2020-06-03 Manipulator with grabbing and rubbing functions and shoulder position detection function of buffer device Active CN111728835B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113509369A (en) * 2021-04-14 2021-10-19 尹钢 Profiling manipulator

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CN102488611A (en) * 2011-12-01 2012-06-13 安徽久工科技实业有限责任公司 Flexible three-dimensional massage machine core for massage armchair and control method thereof
CN109259995A (en) * 2017-11-21 2019-01-25 厦门蒙发利电子有限公司 A kind of massager core and massager with folder shoulder massage functions
CN212395347U (en) * 2020-06-03 2021-01-26 豪中豪健康科技有限公司 Manipulator with grabbing and kneading functions and shoulder position detection function with buffer device

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Publication number Priority date Publication date Assignee Title
CN102488611A (en) * 2011-12-01 2012-06-13 安徽久工科技实业有限责任公司 Flexible three-dimensional massage machine core for massage armchair and control method thereof
CN109259995A (en) * 2017-11-21 2019-01-25 厦门蒙发利电子有限公司 A kind of massager core and massager with folder shoulder massage functions
CN212395347U (en) * 2020-06-03 2021-01-26 豪中豪健康科技有限公司 Manipulator with grabbing and kneading functions and shoulder position detection function with buffer device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113509369A (en) * 2021-04-14 2021-10-19 尹钢 Profiling manipulator
CN113509369B (en) * 2021-04-14 2023-12-01 浙江豪中豪健康产品有限公司 Profiling manipulator

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