CN113509369B - Profiling manipulator - Google Patents
Profiling manipulator Download PDFInfo
- Publication number
- CN113509369B CN113509369B CN202110398794.1A CN202110398794A CN113509369B CN 113509369 B CN113509369 B CN 113509369B CN 202110398794 A CN202110398794 A CN 202110398794A CN 113509369 B CN113509369 B CN 113509369B
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- Prior art keywords
- shaft
- knocking
- swing arm
- massage
- crankshaft
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- 230000033001 locomotion Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000010009 beating Methods 0.000 description 3
- 238000004898 kneading Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2015/0028—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis disc-like, i.e. diameter substantially greater than width
Abstract
The invention relates to a profiling manipulator which comprises a machine base, a massage assembly and a knocking transmission assembly, wherein the massage assembly comprises a left swing arm and a right swing arm, the left swing arm is provided with a left massage part, the right swing arm is provided with a right massage part, the knocking transmission assembly comprises a knocking shaft, a crankshaft is rotatably arranged on the machine base, the left swing arm and the right swing arm are respectively and spherically hinged on the crankshaft, the profiling manipulator further comprises a driving device for driving the left swing arm and the right swing arm to realize biconcave swing, the driving device comprises a left swing shaft, a right swing shaft, a left spiral sleeve, a right spiral sleeve, a left pull rod and a right pull rod, and the driving device further comprises a driving structure for driving the left spiral sleeve and the right spiral sleeve to move oppositely or reversely. By adopting the scheme, the left swing arm and the right swing arm can realize double concave swing, and the left massage piece and the right massage piece can move along the contour of the back of the human body more comfortably aiming at the structure with a little convex at the two sides of the back of the human body.
Description
Technical Field
The invention relates to the field of massage manipulators, in particular to a profiling manipulator.
Background
The existing massage armchair comprises a massage armchair framework and a massage manipulator, wherein a guide rail is arranged on the massage armchair framework, the massage manipulator comprises a mounting seat, the mounting seat can slide up and down along the guide rail, a massage component for massaging a human body, a kneading component for driving the massage component to knead and a knocking component for driving the massage component to knock are arranged on the mounting seat, and a walking component for driving the mounting seat to move along the guide rail is arranged between the mounting seat and the guide rail.
The massage assembly comprises a left swing arm and a right swing arm, the left swing arm is provided with a left massage part, the left swing arm is provided with a right massage part, the left swing arm and the right swing arm are driven by the kneading assembly or the knocking assembly to conduct kneading and knocking actions, and as the swing arc of the left swing arm and the right swing arm is in a biconvex arc shape, when the left swing arm and the right swing arm are in soft scraping against the back of a human body, the phenomenon that the upper and lower parts of the human body are fluctuated excessively and the center of the two cheeks of the back are stressed excessively inevitably occurs, and the massage type is the massage type, so that the massage type is not practical or the comfort of use is poor for old people or users lying down and massaging upside down, and potential hazard risks exist.
Disclosure of Invention
The invention overcomes the defects of the prior art, and provides the profiling manipulator, wherein the left swing arm and the right swing arm on the profiling manipulator can realize double concave swing, and the profiling manipulator can realize the movement of the left massage piece and the right massage piece along the contour of the back of a human body more comfortably aiming at the structure with a slight convex shape on the two sides of the back of the human body.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a profiling manipulator, includes frame, massage subassembly and strikes drive assembly, and massage subassembly includes left swing arm and right swing arm, is provided with left massage piece on the left swing arm, is provided with right massage piece on the right swing arm, strikes drive assembly including striking the axle, strikes the axle rotation and sets up on the frame, strikes the axle and can drive left massage piece and right massage piece and strike the action, it is provided with the bent axle to rotate on the frame, and the bent axle is parallel to each other with beating the axle, and left swing arm and right swing arm are spherical hinge on the bent axle respectively, still including driving left swing arm and right swing arm realization biconcave wobbling drive arrangement, drive arrangement includes left swing axle, right swing axle, left spiral shell, right spiral shell, left pull rod and right pull rod, left spiral shell and right spiral shell follow the axial direction slip setting of beating the axle on the frame, and left swing axle and right swing axle follow the axial swing setting that is perpendicular to strikes the axle are on the frame, and left swing axle's tip and left swing arm keep away from the tip of left massage piece hinge, and left swing axle's one end and left swing axle hinge, left swing axle's the other end and left spiral shell hinge, right spiral shell's end and right swing arm drive spiral shell and right spiral shell, the spiral shell drive opposite to drive the spiral shell and the drive arrangement that the end is kept away from the spiral shell to the right swing.
By adopting the scheme, the massage part can be in a structure of a massage head or a massage wheel, the knocking shaft can be matched with an external motor to rotate, so that the left massage part and the right massage part are driven to do knocking actions, and when the left spiral sleeve and the right spiral sleeve are driven by the driving component to move in opposite directions, one end of the left swing shaft, which is connected with the left swing arm, and one end of the right swing shaft, which is connected with the right swing arm, are driven to move in opposite directions, so that the left massage part and the right massage part are driven to move in opposite directions; when the left spiral sleeve and the right spiral sleeve are driven by the driving assembly to move back to back, one end of the left swing shaft connected with the left swing arm and one end of the right swing shaft connected with the right swing arm can be driven to move back to back, so that the left swing arm and the right swing arm are driven to move back to back, and are respectively hinged to the crankshaft in a ball mode, the left spiral sleeve and the right spiral sleeve can be driven to reciprocate back to back or move back to back, the left swing arm and the right swing arm can be driven to swing in a biconcave mode, the left swing arm and the right swing arm can slightly outwards-protruding structures are arranged on two sides of the back of a human body, the left swing arm and the right swing arm can be driven to move along the contour of the back of the human body, the left swing arm and the right swing arm are more comfortable, and when the back only needs fixed-point massage, the left spiral sleeve and the right spiral sleeve are stopped to move, and the back fixed-point knocking action can be realized only by driving the knocking shaft.
The invention is further provided with the following steps: the driving structure comprises a screw rod, the screw rod is rotatably arranged on the machine base, the screw rod is parallel to the knocking shaft, the crankshaft is positioned between the screw rod and the knocking shaft, two sections of threaded sections with opposite screwing directions are arranged on the screw rod, the left screw sleeve and the right screw sleeve are respectively sleeved on the screw rod in a sleeved mode, the left screw sleeve and the right screw sleeve are respectively in threaded fit with the threaded sections corresponding to the left screw sleeve and the right screw sleeve, and the left screw sleeve and the right screw sleeve can be driven to move oppositely or back to each other by rotating the screw rod.
Through adopting above-mentioned scheme, be provided with the guide bar on the frame, the axial setting of guide bar along beating the axle, left side spiral shell and right spiral shell respectively with the guide bar direction cooperation of sliding, left side spiral shell and right spiral shell respectively with two screw thread sections cooperation of lead screw, outside driving motor can drive the lead screw and rotate, the lead screw can drive left side spiral shell and right spiral shell and move in opposite directions or dorsad, because screw thread cooperation, the lead screw can keep current position always for the case of not rotating, the drive is beaten the axle and can be realized the fixed point and is beaten the action this moment, and steam generator is simple in structure, reasonable in design.
The invention is further provided with the following steps: the knocking shaft comprises a left knocking shaft and a right knocking shaft, the left knocking shaft and the right knocking shaft are coaxially arranged, the left knocking shaft drives the left massage member to do knocking action, the right knocking shaft drives the right massage member to do knocking action, the left knocking shaft and the right knocking shaft are connected through a clutch, and synchronous knocking or asynchronous knocking of the left massage member and the right massage member can be achieved through the clutch.
By adopting the scheme, the clutch can realize synchronous knocking of the left massage piece and the right massage piece or staggered knocking action of 90-120 degrees.
The invention is further provided with the following steps: the device comprises a crankshaft, a base, a crankshaft, a mounting frame and a swinging rod, wherein the two ends of the crankshaft respectively penetrate through the base and are rotatably arranged on the mounting frame, one end of the swinging rod is hinged to the crankshaft, the swinging rod is connected with the base in a linkage manner, the base can rotate around the crankshaft along with the swinging rod, and a control structure for driving the swinging rod to rotate around the crankshaft is arranged on the mounting frame.
Through adopting above-mentioned scheme, the guide bar runs through the pendulum rod setting, consequently the pendulum rod rotates and can drive the frame and rotate along the bent axle together, and control structure is including setting up rack and the rotation of setting on the pendulum rod establish the drive gear on the mounting bracket, and drive gear and rack interlock mutually, drive gear rotation by outside driving motor, can drive pendulum rod and frame and rotate along the bent axle, realize that left massage piece and right massage piece outwards overturn or inwards overturn, laminating human massage more.
The invention is further provided with the following steps: the left massage part is installed on the left swing arm through the left wheel frame, the left wheel frame rotates to be set up on the left swing arm, the left massage part sets up the tip at the left wheel frame, the left wheel frame of left side is driven to rotate by the left striking axle, is provided with left elasticity buffer between left wheel frame and the left swing arm, the right massage part is installed on the right swing arm through the right wheel frame, the right wheel frame rotates to be set up on the right swing arm, the right massage part sets up the tip at the right wheel frame, the right striking axle drives the right wheel frame and rotates, be provided with right elasticity buffer between right wheel frame and the right swing arm.
Through adopting above-mentioned scheme, left elastic buffer spare is first wind spring, and right elastic buffer spare is the second wind spring, because human back non-standard "biconcave" circular arc profile, left wheel carrier and right wheel carrier can swing when massaging, can avoid the hard impact to the human body, and is more comfortable.
The invention is further provided with the following steps: the middle position of the crankshaft is also sleeved with a supporting wheel frame, the end part of the supporting wheel frame is rotatably provided with a vertebra supporting wheel, the middle position of the crankshaft is also provided with a positioning sleeve, the supporting wheel frame is rotatably arranged on the positioning sleeve, and a supporting wheel elastic buffer piece is arranged between the supporting wheel frame and the positioning sleeve.
Through adopting above-mentioned scheme, because the massage piece of two swing arms of manipulator is because of must keeping 20mm safe interval, the vertebra riding wheel can just in time compensate blank massage region, this vertebra riding wheel oppression vertebra both sides just in time arrange 'sufficient sun bladder meridian' to comb 'governor vessel', so this cooking makes very people feel comfortable, agreeable, and elastic buffer piece is the structure of third coil spring, and the holding power of vertebra riding wheel just has adjustability yet, can not lead to powerful application and lead to the injury to the human body, and the vertebra riding wheel can provide 'the judgement condition basis that the human body leaned into' for the manipulator shoulder detection, thereby provide reliable precondition for the shoulder detection.
The invention is further provided with the following steps: the end parts of the left knocking shaft and the right knocking shaft are respectively provided with a left eccentric part and a right eccentric part, the left eccentric part and the right eccentric part do eccentric motion along with the main bodies of the left knocking shaft and the right knocking shaft respectively, a left knocking bearing seat is sleeved outside the left eccentric part of the left knocking shaft, a left knocking rod is hinged on the left knocking bearing seat, the end part of the left knocking rod is hinged with a left wheel frame, which is far away from the end part of the left massaging member, a right knocking bearing seat is sleeved outside the right eccentric part of the right knocking shaft, a right knocking rod is hinged on the right knocking bearing seat, and the end part of the right knocking rod is hinged with the end part of the right wheel frame, which is far away from the right massaging member.
Through adopting above-mentioned scheme, left side is beaten the pole and is included first pole portion and set up the first ball head in first pole portion one end, and first pole portion of left side is beaten the pole and is articulated to be set up on left side and beat the bearing frame, is provided with the first ball cavity that supplies the first ball head of left side to beat the pole to insert on the left wheel carrier, right side is beaten the pole and is included second pole portion and set up the second ball head in second pole portion one end, and the second pole portion of right side is articulated to be set up on right side and beat the bearing frame, is provided with the second ball cavity that supplies the second ball head of right side to beat the pole to insert on the right wheel carrier, and left side is beaten the pole and the right structural design who beats the pole is reasonable, can avoid appearing the condition that the lock is dead.
The invention is further provided with the following steps: the crankshaft is fixedly provided with a first ball part at a position corresponding to the left swing arm, the left swing arm is provided with a first ball socket groove matched with the first ball part, the first ball part is arranged at the first ball socket groove, the crankshaft is fixedly provided with a second ball part at a position corresponding to the right swing arm, the right swing arm is provided with a second ball socket groove matched with the second ball part, and the second ball part is arranged at the second ball socket groove.
Through adopting above-mentioned scheme, first ball portion and first ball socket groove cooperation and second ball portion and second ball socket groove cooperation can not influence the lead screw and drive left swing arm and right swing arm and swing, simple structure, reasonable in design.
The invention is further provided with the following steps: the clutch is a pneumatic clutch, the pneumatic clutch comprises a shell, a rotating rail shaft, an angular rotating moving shaft and an air bag, the rotating rail shaft is rotationally arranged in the shell, the angular rotating moving shaft circumferentially rotates and axially slides in the shell, a first rotating rail is arranged on the rotating rail shaft, the angular rotating moving shaft is sleeved on the rotating rail shaft, a first pressure torsion spring is arranged between the rotating rail shaft and the angular rotating moving shaft, the air bag is inflated and deflated, the angular rotating moving shaft can be driven to move along the first rotating rail of the rotating rail shaft and rotate for a certain angle, the rotating rail shaft is in linkage connection with a left knocking shaft or a right knocking shaft, and the corresponding angular rotating moving shaft is in linkage connection with a right knocking shaft or a left knocking shaft.
By adopting the scheme, the synchronous knocking or 90-120-degree staggered knocking action of the left massage piece and the right massage piece can be realized by controlling the inflation or deflation of the air bags, and the device has a simple structure and is convenient to control.
The invention is further provided with the following steps: the clutch is electromagnetic clutch, electromagnetic clutch includes dustcoat, solenoid, electromagnet, driving shaft and driven shaft, dustcoat and driving shaft fixed connection, and electromagnetic coil location is installed in the dustcoat, and electromagnet and driven shaft fixed connection, driven shaft overcoat are in the driving shaft, are provided with the second rail of revolving on the driving shaft, are provided with the second pressure torsional spring between driving shaft and the driven shaft, and electromagnetic coil break the power, can drive the driven shaft and follow the second rail of revolving of driving shaft and remove and rotate certain angle, and the driving shaft is connected with left knocking axle or right knocking axle linkage, and the driven shaft and right knocking axle or left knocking axle linkage that correspond with it are connected.
By adopting the scheme, synchronous knocking or 90-120-degree staggered knocking actions of the left massage piece and the right massage piece can be realized by controlling the electrifying or the de-electrifying of the electromagnetic coil, and the device has a simple structure and is convenient to control.
The invention is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;
FIG. 2 is a schematic view of the mounting structure of the components on the housing;
FIG. 3 is a schematic diagram of a driving apparatus;
FIG. 4 is a schematic diagram of the mating structure of the knock drive assembly, left wheel carriage and right wheel carriage;
FIG. 5 is a schematic view of the structure of the left and right swing arms;
FIG. 6 is a schematic view of a crankshaft;
FIG. 7 is a schematic cross-sectional view of a pneumatic clutch;
FIG. 8 is a schematic exploded view of a pneumatic clutch;
FIG. 9 is a schematic cross-sectional view of an electromagnetic clutch;
FIG. 10 is a schematic diagram of the mating structure of the driving and driven shafts;
FIG. 11 is a schematic diagram of a circle center preposition method of double concave swing;
FIG. 12 is a schematic diagram of another swing arm linkage forming method of double concave swing;
fig. 13 is a schematic view of another structure of the screw.
Detailed Description
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
As shown in fig. 1-13, the profiling manipulator comprises a machine base 1, a massage assembly and a knocking transmission assembly, wherein the massage assembly comprises a left swing arm 21 and a right swing arm 31, the left swing arm 21 is provided with a left massage member 22, the right swing arm 31 is provided with a right massage member 32, the left massage member 22 and the right massage member 32 are in a structure of massage wheels, the left massage member 22 and the right massage member 32 are respectively and rotatably arranged at the end parts of the left swing arm 21 and the right swing arm 31, and can be in a structure of a massage head, the knocking transmission assembly comprises a knocking shaft which is rotatably arranged on the machine base 1, the knocking shaft can drive the left massage member 22 and the right massage member 32 to do knocking action, the machine base 1 is rotatably provided with a crankshaft 5, the crankshaft 5 and the knocking shaft are mutually parallel, the left swing arm 21 and the right swing arm 31 are respectively and rotatably hinged on the crankshaft 5, the driving device drives the left swing arm 21 and the right swing arm 31 to realize double concave swing, the driving device comprises a left swing shaft 61, a right swing shaft 62, a left spiral sleeve 63, a right spiral sleeve 64, a left pull rod 65 and a right pull rod 66, the left spiral sleeve 63 and the right spiral sleeve 64 are arranged on the machine base 1 in a sliding manner along the axial direction of the knocking shaft, the left swing shaft 61 and the right swing shaft 62 are arranged on the machine base 1 in a swinging manner along the axial direction perpendicular to the knocking shaft, the end part of the left swing shaft 61 is hinged with the end part of the left swing arm 21 far away from the left massage piece 22, one end part of the left pull rod 65 is hinged with the left swing shaft 61, the other end part of the left pull rod 65 is hinged with the left spiral sleeve 63, the end part of the right swing shaft 62 is hinged with the end part of the right swing arm 31 far away from the right massage piece 32, one end part of the right pull rod 66 is hinged with the right swing shaft 62, the other end part of the right pull rod 66 is hinged with the right spiral sleeve 64, the driving device also comprises a driving structure for driving the left screw sleeve 63 and the right screw sleeve 64 to move towards or away from each other.
In this embodiment, a guide rod 11 is disposed on the stand 1, the guide rod 11 is disposed along an axial direction of the knocking shaft, the left screw sleeve 63 and the right screw sleeve 64 are respectively in guiding sliding fit with the guide rod 11, the driving structure includes a screw rod 67, the screw rod 67 is rotatably disposed on the stand 1, the screw rod 67 is parallel to the knocking shaft, the crankshaft 5 is disposed between the screw rod 67 and the knocking shaft, two threaded sections 671 with opposite rotation directions are disposed on the screw rod 67, the left screw sleeve 63 and the right screw sleeve 64 are respectively sleeved on the screw rod 67, the left screw sleeve 63 and the right screw sleeve 64 are respectively in threaded fit with the respective corresponding threaded sections 671, and the screw rod 67 can be rotated to drive the left screw sleeve 63 and the right screw sleeve 64 to move in opposite directions or opposite directions. As shown in fig. 13, the screw rod can of course also adopt a closed bidirectional return thread structure, so that the driving motor only needs to drive the screw rod to rotate in one direction, and the impact of the driving motor caused by forward and reverse rotation switching is avoided.
In this embodiment, the knocking shaft includes a left knocking shaft 41 and a right knocking shaft 42, where the left knocking shaft 41 and the right knocking shaft 42 are coaxially disposed, the left knocking shaft 41 drives the left massaging member 22 to perform a knocking action, the right knocking shaft 42 drives the right massaging member 32 to perform a knocking action, the left knocking shaft 41 and the right knocking shaft 42 are connected through the clutch 7, and the clutch 7 can implement synchronous knocking or asynchronous knocking of the left massaging member 22 and the right massaging member 32.
In this embodiment, the device further comprises a mounting frame 8 and a swinging rod 91, two ends of the crankshaft 5 respectively penetrate through the machine base 1 and are rotatably arranged on the mounting frame 8, one end of the swinging rod 91 is hinged to the middle of the crankshaft 5, the guide rod 11 penetrates through the swinging rod 91, the swinging rod 91 rotates to drive the machine base 1 to rotate along the crankshaft 5, the mounting frame 8 is provided with a control structure for driving the swinging rod 91 to rotate around the crankshaft 5, the control structure comprises a rack 911 arranged on the swinging rod 91 and a driving gear 92 rotatably arranged on the mounting frame 8, the driving gear 92 is meshed with the rack 911, an external driving motor drives the driving gear 92 to rotate, and the swinging rod 91 and the machine base 1 can be driven to rotate along the crankshaft 5, so that the left massage piece 22 and the right massage piece 32 can be turned outwards or turned inwards, and the device is more fit with human body massage.
In this embodiment, the left massage member 22 is mounted on the left swing arm 21 through the left wheel frame 23, the left wheel frame 23 is rotatably disposed on the left swing arm 21, the left massage member 22 is disposed at the end of the left wheel frame 23, the left striking shaft 41 drives the left wheel frame 23 to rotate, a left elastic buffer member is disposed between the left wheel frame 23 and the left swing arm 21, the left elastic buffer member is a first coil spring 24, the right massage member 32 is mounted on the right swing arm 31 through the right wheel frame 33, the right wheel frame 33 is rotatably disposed on the right swing arm 31, the right massage member 32 is disposed at the end of the right wheel frame 33, the right striking shaft 42 drives the right wheel frame 33 to rotate, a right elastic buffer member is disposed between the right wheel frame 33 and the right swing arm 31, and the right elastic buffer member is a second coil spring 34.
In this embodiment, a supporting roller frame 101 is further sleeved at the middle position of the crankshaft 5, a spine supporting roller 102 is rotatably provided at the end of the supporting roller frame 101, a positioning sleeve 103 is further provided at the middle position of the crankshaft 5, the supporting roller frame 101 is rotatably provided on the positioning sleeve 103, a supporting roller elastic buffer member is provided between the supporting roller frame 101 and the positioning sleeve 103, and the supporting roller elastic buffer member is a third coil spring 104.
In this embodiment, the left eccentric portion and the right eccentric portion are respectively disposed at the end portions of the left knocking shaft 41 and the right knocking shaft 42, the left eccentric portion and the right eccentric portion perform eccentric motions along with the main bodies of the left knocking shaft 41 and the right knocking shaft 42, the left eccentric portion of the left knocking shaft 41 is sleeved with a left knocking bearing seat 43, the left knocking bearing seat 43 is hinged with a left knocking rod 44, the end portion of the left knocking rod 44 is hinged with the end portion of the left wheel frame 23, which is far away from the left massaging member 22, the right eccentric portion of the right knocking shaft 42 is sleeved with a right knocking bearing seat 45, the right knocking bearing seat 45 is hinged with a right knocking rod 46, and the end portion of the right knocking rod 46 is hinged with the end portion of the right wheel frame 33, which is far away from the right massaging member 32.
In this embodiment, the crankshaft 5 is fixedly provided with a first ball portion 51 corresponding to the left swing arm 21, the left swing arm 21 is provided with a first ball socket groove 211 matched with the first ball portion 51, the first ball portion 51 is disposed at the first ball socket groove 211, the crankshaft 5 is fixedly provided with a second ball portion 52 corresponding to the right swing arm 31, the right swing arm 31 is provided with a second ball socket groove 311 matched with the second ball portion 52, and the second ball portion 52 is disposed at the second ball socket groove 311.
In this embodiment, the clutch 7 is a pneumatic clutch, and the pneumatic clutch includes a housing 71, a rotating rail shaft 72, an angular rotating moving shaft 73 and an air bag 74, where the rotating rail shaft 72 is rotatably disposed in the housing 71, the angular rotating moving shaft 73 is circumferentially rotated and axially slidingly disposed in the housing 71, a first rotating rail is disposed on the rotating rail shaft 72, the angular rotating moving shaft 73 is sleeved on the rotating rail shaft 72, a first pressure torsion spring 75 is disposed between the rotating rail shaft 72 and the angular rotating moving shaft 73, the air bag 74 is inflated and deflated, and can drive the angular rotating moving shaft 73 to move along the first rotating rail of the rotating rail shaft 72 and rotate by a certain angle, and the rotating rail shaft 72 is in linkage connection with the left knocking shaft 41 or the right knocking shaft 42, and the angular rotating moving shaft 73 corresponding to the rotating rail shaft is in linkage connection with the right knocking shaft 42 or the left knocking shaft 41.
Another arrangement of the clutch: the clutch is an electromagnetic clutch, the electromagnetic clutch comprises an outer cover 71', an electromagnetic coil 72', an electromagnetic chuck 73', a driving shaft 74' and a driven shaft 75', the outer cover 71' is fixedly connected with the driving shaft 74', the electromagnetic coil 72' is positioned and installed in the outer cover 71', the electromagnetic chuck 73' is fixedly connected with the driven shaft 75', the driven shaft 75' is sleeved on the driving shaft 74', a second rotary rail is arranged on the driving shaft 74', a second pressure torsion spring 76 'is arranged between the driving shaft 74' and the driven shaft 75', the electromagnetic coil 72' is powered on and off, the driven shaft 75 'can be driven to move along the second rotary rail of the driving shaft 74' and rotate for a certain angle, the driving shaft 74 'is in linkage connection with the left knocking shaft 41 or the right knocking shaft 42, and the corresponding driven shaft 75' is in linkage connection with the right knocking shaft 42 or the left knocking shaft 41.
In the embodiment, the crab-shaped structure of the manipulator can reduce the width of the movement under the condition that the massage width is the same as that of the existing manipulator; or the crab-shaped structure of the manipulator, when the movement is taken as wide as the current manipulator, the massage width is enlarged, the completion of the back pulling action is facilitated, and the back pulling action is unique.
As shown in fig. 11: the double concave swing adopts a circle center prepositive deflection method, and the degree of freedom of the mechanism is calculated:
since A, B is a ball-and-socket hinge, the mechanism is a spatial motion mechanism. B, A constrains 3 degrees of freedom of horizontal movement, so P 3 2, c is a compound hinge constraining 3 horizontal movements and 2 rotational directions, so P 5 Because of 2 motion bars, the degree of freedom of the spatial mechanism is FCalculation of ［2］ And expands it into: f=6n-5P 5 -4 P 4 -3P 3 -2 P 2 - P 1 Due to P 4 = P 2 = P 1 =0, so it is possible to:
F = 6*2-5*1-3*2=1
it can be determined that the only motion profile exists for the mechanism of fig. 11, namely: input terminaliWhen there is a swing motion, the output endOWith a unique motion profile output. AnalyzediThe movement can only swing in convex arcOAnd outputting in a concave arc swinging mode, so that the requirements are met.
The above embodiments are only preferred embodiments of the present invention, and common variations and substitutions by those skilled in the art within the scope of the technical solution of the present invention are included in the scope of the present invention.
Claims (8)
1. The utility model provides a profile modeling manipulator, includes frame, massage subassembly and strikes drive assembly, and massage subassembly includes left swing arm and right swing arm, is provided with left massage piece on the left swing arm, is provided with right massage piece on the right swing arm, strikes drive assembly including striking the axle, strikes the axle rotation setting on the frame, strikes the axle and can drive left massage piece and right massage piece and strike action, its characterized in that: the device comprises a machine base, a left swing arm, a right swing arm, a left spiral sleeve, a right spiral sleeve, a left pull rod and a right pull rod, wherein the machine base is rotatably provided with a crankshaft, the crankshaft is mutually parallel to a knocking shaft, the left swing arm and the right swing arm are respectively hinged to the crankshaft in a spherical mode, the device further comprises a driving device for driving the left swing arm and the right swing arm to realize double-concave swing, the driving device comprises a left swing shaft, a right swing shaft, a left spiral sleeve, a right spiral sleeve, a left pull rod and a right pull rod, the left spiral sleeve and the right spiral sleeve are arranged on the machine base in a sliding manner along the axial direction of the knocking shaft, the left swing shaft and the right swing shaft are arranged on the machine base in a swinging manner along the axial direction perpendicular to the knocking shaft, the end part of the left swing shaft is hinged to the end part of the left swing arm, one end of the left pull rod is hinged to the left spiral sleeve, the end of the right swing shaft is hinged to the end part of the right swing arm, the end of the right swing arm is hinged to the right swing shaft, the other end of the right pull rod is hinged to the right swing shaft, the end of the right pull rod is hinged to the right spiral sleeve, and the driving structure for driving the left spiral sleeve and the right spiral sleeve to move oppositely or reversely; the driving structure comprises a screw rod, the screw rod is rotatably arranged on the machine base, the screw rod is parallel to the knocking shaft, the crankshaft is positioned between the screw rod and the knocking shaft, two sections of thread sections with opposite rotation directions are arranged on the screw rod, the left screw sleeve and the right screw sleeve are respectively sleeved on the screw rod, the left screw sleeve and the right screw sleeve are respectively in threaded fit with the thread sections corresponding to the left screw sleeve and the right screw sleeve, and the left screw sleeve and the right screw sleeve can be driven to move oppositely or back to back by rotating the screw rod; the knocking shaft comprises a left knocking shaft and a right knocking shaft, the left knocking shaft and the right knocking shaft are coaxially arranged, the left knocking shaft drives the left massage member to do knocking action, the right knocking shaft drives the right massage member to do knocking action, the left knocking shaft and the right knocking shaft are connected through a clutch, and synchronous knocking or asynchronous knocking of the left massage member and the right massage member can be achieved through the clutch.
2. The profiling manipulator of claim 1, wherein: the device comprises a crankshaft, a base, a crankshaft, a mounting frame and a swinging rod, wherein the two ends of the crankshaft respectively penetrate through the base and are rotatably arranged on the mounting frame, one end of the swinging rod is hinged to the crankshaft, the swinging rod is connected with the base in a linkage manner, the base can rotate around the crankshaft along with the swinging rod, and a control structure for driving the swinging rod to rotate around the crankshaft is arranged on the mounting frame.
3. The profiling manipulator of claim 1, wherein: the left massage part is installed on the left swing arm through the left wheel frame, the left wheel frame rotates to be set up on the left swing arm, the left massage part sets up the tip at the left wheel frame, the left wheel frame of left side is driven to rotate by the left striking axle, is provided with left elasticity buffer between left wheel frame and the left swing arm, the right massage part is installed on the right swing arm through the right wheel frame, the right wheel frame rotates to be set up on the right swing arm, the right massage part sets up the tip at the right wheel frame, the right striking axle drives the right wheel frame and rotates, be provided with right elasticity buffer between right wheel frame and the right swing arm.
4. The profiling manipulator of claim 1, wherein: the middle position of the crankshaft is also sleeved with a supporting wheel frame, the end part of the supporting wheel frame is rotatably provided with a vertebra supporting wheel, the middle position of the crankshaft is also provided with a positioning sleeve, the supporting wheel frame is rotatably arranged on the positioning sleeve, and a supporting wheel elastic buffer piece is arranged between the supporting wheel frame and the positioning sleeve.
5. A profiling manipulator according to claim 3, wherein: the end parts of the left knocking shaft and the right knocking shaft are respectively provided with a left eccentric part and a right eccentric part, the left eccentric part and the right eccentric part do eccentric motion along with the main bodies of the left knocking shaft and the right knocking shaft respectively, a left knocking bearing seat is sleeved outside the left eccentric part of the left knocking shaft, a left knocking rod is hinged on the left knocking bearing seat, the end part of the left knocking rod is hinged with a left wheel frame, which is far away from the end part of the left massaging member, a right knocking bearing seat is sleeved outside the right eccentric part of the right knocking shaft, a right knocking rod is hinged on the right knocking bearing seat, and the end part of the right knocking rod is hinged with the end part of the right wheel frame, which is far away from the right massaging member.
6. The profiling manipulator of claim 1, wherein: the crankshaft is fixedly provided with a first ball part at a position corresponding to the left swing arm, the left swing arm is provided with a first ball socket groove matched with the first ball part, the first ball part is arranged at the first ball socket groove, the crankshaft is fixedly provided with a second ball part at a position corresponding to the right swing arm, the right swing arm is provided with a second ball socket groove matched with the second ball part, and the second ball part is arranged at the second ball socket groove.
7. The profiling manipulator of claim 1, wherein: the clutch is a pneumatic clutch, the pneumatic clutch comprises a shell, a rotating rail shaft, an angular rotating moving shaft and an air bag, the rotating rail shaft is rotationally arranged in the shell, the angular rotating moving shaft circumferentially rotates and axially slides in the shell, a first rotating rail is arranged on the rotating rail shaft, the angular rotating moving shaft is sleeved on the rotating rail shaft, a first pressure torsion spring is arranged between the rotating rail shaft and the angular rotating moving shaft, the air bag is inflated and deflated, the angular rotating moving shaft can be driven to move along the first rotating rail of the rotating rail shaft and rotate for a certain angle, the rotating rail shaft is in linkage connection with a left knocking shaft or a right knocking shaft, and the corresponding angular rotating moving shaft is in linkage connection with a right knocking shaft or a left knocking shaft.
8. The profiling manipulator of claim 1, wherein: the clutch is electromagnetic clutch, electromagnetic clutch includes dustcoat, solenoid, electromagnet, driving shaft and driven shaft, dustcoat and driving shaft fixed connection, and electromagnetic coil location is installed in the dustcoat, and electromagnet and driven shaft fixed connection, driven shaft overcoat are in the driving shaft, are provided with the second rail of revolving on the driving shaft, are provided with the second pressure torsional spring between driving shaft and the driven shaft, and electromagnetic coil break the power, can drive the driven shaft and follow the second rail of revolving of driving shaft and remove and rotate certain angle, and the driving shaft is connected with left knocking axle or right knocking axle linkage, and the driven shaft and right knocking axle or left knocking axle linkage that correspond with it are connected.
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| CN202110398794.1A CN113509369B (en) | 2021-04-14 | 2021-04-14 | Profiling manipulator |
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| CN202110398794.1A CN113509369B (en) | 2021-04-14 | 2021-04-14 | Profiling manipulator |
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| WO2023039549A1 (en) * | 2021-09-10 | 2023-03-16 | Therabody, Inc. | Chair with percussive therapy system |
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Effective date of registration: 20220921 Address after: No.18 Xinglong Road, furniture garden, Wanquan light industry base, Pingyang County, Wenzhou City, Zhejiang Province 325000 Applicant after: ZHEJIANG HAOZHONGHAO HEALTH PRODUCT Co.,Ltd. Address before: 315100 1st floor, podium building, science and Technology Bureau, 298 bachelor Road, Yinzhou District, Ningbo City, Zhejiang Province Applicant before: Yin Gang |
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