CN116172847B - Multi-degree-of-freedom massage robot with massage function - Google Patents
Multi-degree-of-freedom massage robot with massage function Download PDFInfo
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- CN116172847B CN116172847B CN202310459918.1A CN202310459918A CN116172847B CN 116172847 B CN116172847 B CN 116172847B CN 202310459918 A CN202310459918 A CN 202310459918A CN 116172847 B CN116172847 B CN 116172847B
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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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing 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
- 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
- A61H23/04—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with hydraulic or pneumatic 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
- A61H7/008—Suction kneading
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
-
- 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
- A61H2209/00—Devices for avoiding blood stagnation, e.g. Deep Vein Thrombosis [DVT] devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a multi-degree-of-freedom massage robot with a massage function, and relates to the technical field of medical instruments. The surface cover of rotating the big arm is established on the surface of basement, the rotation joint rotates and installs on rotating the big arm, rotate the forearm fixed connection on the surface of rotation joint, rotate the wrist and rotate and install on rotating the forearm, connecting arm fixed connection is on the surface of rotating the wrist, rotate the thumb rotation and install on connecting arm, massaging device's top fixed connection is in the bottom of rotating the thumb. The multi-degree-of-freedom massage robot with the massage function achieves the effect of periodically pressing the back of a human body, thereby generating the effects of activating blood circulation to dissipate blood stasis and relieving muscle fatigue, and playing the role of performing hammering massage on the back of the human body through the contraction and expansion of the massage air bag.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom massage robot with a massage function.
Background
Massage is one of the traditional and old treatment methods with the characteristics of traditional Chinese medicine, and has the advantages of simple operation, obvious effect and definite curative effect. Along with the transition of medical modes, the pursuit of natural therapies has been remarkably increased, and medical devices such as massage chairs and massage beds have been rapidly developed.
In the prior art, although a plurality of massage heads are installed on the massage robot, the massage heads massage the back of a human body through a fixed moving route.
Meanwhile, the massage modes of the traditional massage robot are relatively single, and a good physiotherapy effect cannot be formed on the back of a human body.
Disclosure of Invention
In order to achieve the above purpose, the invention is realized by the following technical scheme: a multi-degree-of-freedom massage robot with a massage function comprises a substrate, a rotating large arm, a rotating joint, a rotating small arm, a rotating thumb, a connecting arm, a rotating wrist and a massage device.
The surface of the rotating large arm is sleeved on the surface of the substrate, the rotating joint is rotatably mounted on the rotating large arm, the rotating small arm is fixedly connected to the surface of the rotating joint, the rotating wrist is rotatably mounted on the rotating small arm, the connecting arm is fixedly connected to the surface of the rotating wrist, the rotating thumb is rotatably mounted on the connecting arm, and the top of the massaging device is fixedly connected to the bottom of the rotating thumb;
the massage device comprises an expansion joint, the top of the expansion joint is fixedly connected with the bottom of a rotating thumb, one end of the expansion joint, which is far away from the rotating thumb, is fixedly connected with a connecting disc, the surface of the connecting disc is fixedly connected with a conveying device, the surface of the conveying device is fixedly connected with a massage claw, the surface of the massage claw is fixedly connected with an electric device, the top of the electric device is fixedly connected with a massager on the surface of the conveying device, and the top of the massager is fixedly connected with the surface of the conveying device.
Preferably, the conveying device comprises a belt, one end of the belt is fixedly connected to the surface of the massager, and one end of the belt, which is far away from the massager, is fixedly connected to the surface of the massage claw.
Preferably, the surface of belt rotates and is connected with the band pulley, the inner wall fixedly connected with pivot of band pulley, the both ends of pivot rotate and are connected with the protection shield, the surface fixed connection of protection shield is on power device's surface.
Preferably, the massage claw comprises a connecting block, the surface fixed connection of connecting block is on power device's surface, the surface rotation of connecting block is connected with the massage big arm, the one side fixedly connected with massage bag of the big arm near power device, wherein the effect of massage bag is when the massage bag pastes at human back, and the muscle on the back can be adsorbed to the massage bag, lets the massage bag keep away from human back afterwards, will produce a kind and drag the sense to the muscle, can relax back muscle like this, alleviate muscle fatigue.
Preferably, the inner wall fixedly connected with connecting rod of massage arm, the surface rotation of connecting rod is connected with the massage forearm, utilizes the periodic rotation of massage forearm for the blood circulation piece carries out periodic pressure to human back, thereby plays the effect of promoting blood circulation by removing blood stasis, the one end fixed connection of massage forearm upside is on the surface of belt, the one side fixedly connected with blood circulation piece of massage forearm near power device.
Preferably, the massager comprises an extension bar, the top of the extension bar is fixedly connected to the surface of the belt, an expansion device is movably connected to the surface of the extension bar, an extrusion device is fixedly connected to the surface of the expansion device, an elastic shell is fixedly connected to the surface of the expansion device, a massage air bag is fixedly connected to the bottom of the elastic shell, and the massage air bag performs a function similar to hammering massage on the back of a human body through contraction and expansion.
Preferably, the expansion device comprises a rotator, the inner wall of the rotator is movably connected to the surface of the extension rod, the bottom of the extension rod is fixedly connected with a short rod, the short rod has the function of central extrusion on the massage air bag attached to the back of the human body, so that the back of the human body is highly pressed, and the surface of the short rod is fixedly connected to the surface of the extrusion device.
Preferably, the surface fixedly connected with connecting strip of rotor, the one end fixedly connected with expansion ring of rotor is kept away from to the connecting strip, and expansion ring's effect is expansion and shrink, expansion ring's surface fixedly connected with movable rod, movable rod's surface fixedly connected with movable plate, movable rod's surface sliding connection has the aperture frame, the surface fixedly connected with of aperture frame is on the inner wall of elastic shell.
Preferably, the extrusion device comprises a fixed ring, the inner wall of the fixed ring is fixedly connected to the surface of the short rod, the surface of the fixed ring is fixedly connected with an extrusion rod, the extrusion rod is used for extruding peripheral small blocks of the massage air bag attached to the back of a human body, so that the back of the human body is slightly pressed, the surface of the extrusion rod is sleeved with a rotating rod, and the surface of the rotating rod is fixedly connected with a rod sleeve.
The invention provides a multi-degree-of-freedom massage robot with a massage function. The beneficial effects are as follows:
1. according to the multi-degree-of-freedom massage robot with the massage function, the belt fixed at the top of the extension rod can reciprocate on the belt wheel through the periodical ascending and descending of the extension rod in the massager, and the other end of the belt is fixedly connected with the massage forearm, so that the massage forearm can reciprocate by taking the connecting rod as a fulcrum, in addition, the surface of the massage forearm is fixedly connected with the blood activating block, and the blood activating block is used for periodically pressing the back of a human body through the periodical rotation of the massage forearm, so that the blood activating block has the effects of activating blood and dissolving stasis.
2. This multi freedom massage robot with massage function, through power output of electric device for the massage big arm takes place to rotate in the connecting block, and the inboard fixedly connected with massage bag of massage big arm, wherein the effect of massage bag is when the massage bag pastes at human back, and the muscle on the back can be adsorbed to the massage bag, lets the massage bag keep away from human back afterwards, will produce a kind and drag the sense to the muscle, can relax back muscle like this, alleviate muscle fatigue.
3. This multi freedom massage robot with massage function is through the rotation of rotor for will have pivoted trend through fixed connection at the expansion ring of connecting strip surface, however the fixed surface of expansion ring is connected with the carriage release lever, and the carriage release lever moves in the inslot of aperture frame surface offered, consequently, the expansion ring takes place to expand through the rotation force of connecting strip, and the carriage release lever receives the expansion force of expansion ring and makes oneself outwards remove in the inslot, the bottom fixedly connected with movable plate of carriage release lever consequently moves outward, at this moment the movable plate will extrude the elastic shell, make the elastic shell expand and pull the massage gasbag of fixing in its bottom, consequently the massage gasbag will shrink, and when the rotor counter-rotating, finally the massage gasbag will expand, so that the effect similar to hammering massage is carried out to human back through shrink and inflation to the massage gasbag.
4. This multi freedom massage robot with massage function, upward movement through the extension bar for the quarter butt of fixing in the extension bar bottom takes place upward movement, and the extrusion pole is connected with the quarter butt through fixed mounting retainer plate on the quarter butt surface, consequently the extrusion pole will take place anticlockwise rotation as the fulcrum with the bull stick, the massage gasbag will be kept away from to the extrusion pole simultaneously, and when the extension bar moves down, finally extrusion pole and quarter butt will extrude the massage gasbag, the effect of extrusion pole is to carrying out peripheral fritter extrusion to the massage gasbag of applying at human back, thereby slightly press human back, the effect of quarter butt is the effect of carrying out central extrusion to the massage gasbag of applying at human back, thereby highly press human back.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the massage device of the present invention;
FIG. 3 is a schematic view showing the internal structure of the massage device of the present invention;
FIG. 4 is a schematic diagram of a conveyor apparatus according to the present invention;
FIG. 5 is a schematic view of the structure of the massage claw of the present invention;
FIG. 6 is a schematic view of a massager according to the present invention;
FIG. 7 is a schematic cross-sectional view of the massager of the present invention;
FIG. 8 is a schematic view of a stent according to a first aspect of the present invention;
FIG. 9 is a schematic view of a second view of the stent of the present invention;
FIG. 10 is a schematic view of the structure of the extrusion device of the present invention.
In the figure: 1. a substrate; 2. rotating the large arm; 3. rotating the joint; 4. rotating the forearm; 5. rotating the thumb; 6. a connecting arm; 7. rotating the wrist; 8. a massage device; 81. an expansion joint; 82. a connecting disc; 83. a conveying device; 84. massage claws; 85. a massage device; 86. an electric power device; 831. a belt; 832. a belt wheel; 833. a protective plate; 834. a rotating shaft; 841. a connecting block; 842. massaging the forearm; 843. massage the big arm; 844. activating blood clots; 845. a massage bag; 846. a connecting rod; 851. an extension bar; 852. an expansion device; 853. an elastic shell; 854. a massage air bag; 855. an extrusion device; 8521. a rotator; 8522. a connecting strip; 8523. a moving rod; 8524. an expansion ring; 8525. a moving plate; 8526. a short bar; 8527. an aperture frame; 8551. a fixing ring; 8552. an extrusion rod; 8553. a rotating rod; 8554. a rod sleeve.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
As shown in fig. 1 to 10, the present invention provides a technical solution: a multi-degree-of-freedom massage robot with a massage function comprises a base 1, a rotating large arm 2, a rotating joint 3, a rotating small arm 4, a rotating thumb 5, a connecting arm 6, a rotating wrist 7 and a massage device 8.
The surface of the rotary large arm 2 is sleeved on the surface of the substrate 1, the rotary joint 3 is rotatably mounted on the rotary large arm 2, the rotary small arm 4 is fixedly connected to the surface of the rotary joint 3, the rotary wrist 7 is rotatably mounted on the rotary small arm 4, the connecting arm 6 is fixedly connected to the surface of the rotary wrist 7, the rotary thumb 5 is rotatably mounted on the connecting arm 6, and the top of the massage device 8 is fixedly connected to the bottom of the rotary thumb 5;
the massage device 8 comprises an expansion joint 81, the top of the expansion joint 81 is fixedly connected with the bottom of the rotating thumb 5, one end of the expansion joint 81, which is far away from the rotating thumb 5, is fixedly connected with a connecting disc 82, the surface of the connecting disc 82 is fixedly connected with a conveying device 83, the surface of the conveying device 83 is fixedly connected with a massage claw 84, the surface of the massage claw 84 is fixedly connected with an electric device 86, the top of the electric device 86 is fixedly connected with the surface of the conveying device 83, the bottom of the electric device 86 is fixedly connected with a massager 85, and the top of the massager 85 is fixedly connected with the surface of the conveying device 83.
The conveying device 83 comprises a belt 831, one end of the belt 831 is fixedly connected to the surface of the massager 85, one end of the belt 831, which is far away from the massager 85, is fixedly connected to the surface of the massage claw 84, the surface of the belt 831 is rotationally connected with a belt pulley 832, the inner wall of the belt pulley 832 is fixedly connected with a rotating shaft 834, both ends of the rotating shaft 834 are rotationally connected with a protection plate 833, and the surface of the protection plate 833 is fixedly connected to the surface of the electric device 86.
The massage claw 84 comprises a connecting block 841, the surface of the connecting block 841 is fixedly connected to the surface of the electric device 86, the surface of the connecting block 841 is rotationally connected with a massage big arm 843, the massage big arm 843 rotates in the connecting block 841 through the power output of the electric device 86, the inner side of the massage big arm 843 is fixedly connected with a massage bag 845, one side of the massage big arm 843 close to the electric device 86 is fixedly connected with a massage bag 845, the inner wall of the massage big arm 843 is fixedly connected with a connecting rod 846, the surface of the connecting rod 846 is rotationally connected with a massage small arm 842, one end of the upper side of the massage small arm 842 is fixedly connected to the surface of a belt 831, and one side of the massage small arm 842 close to the electric device 86 is fixedly connected with a blood circulation block 844. Through the periodical ascending and descending of the extension bar 851 inside the massager 85, the belt 831 fixed on the top of the extension bar 851 can reciprocate on the belt pulley 832, and the other end of the belt 831 is fixedly connected with the massage small arm 842, so that the massage small arm 842 can reciprocate by taking the connecting rod 846 as a fulcrum, in addition, the surface of the massage small arm 842 is fixedly connected with the blood activating block 844, and the blood activating block 844 is used for periodically pressing the back of a human body by utilizing the periodical rotation of the massage small arm 842
The massager 85 comprises an extension bar 851, the top of the extension bar 851 is fixedly connected to the surface of the belt 831, an expansion device 852 is movably connected to the surface of the extension bar 851, a squeezing device 855 is fixedly connected to the surface of the expansion device 852, an elastic shell 853 is fixedly connected to the surface of the expansion device 852, and a massage air bag 854 is fixedly connected to the bottom of the elastic shell 853.
The expansion device 852 comprises a rotator 8521, the inner wall of the rotator 8521 is movably connected to the surface of an extension rod 851, the bottom of the extension rod 851 is fixedly connected with a short rod 8526, the surface of the short rod 8526 is fixedly connected to the surface of the extrusion device 855, the surface of the rotator 8521 is fixedly connected with a connecting strip 8522, one end of the connecting strip 8522, far away from the rotator 8521, is fixedly connected with an expansion ring 8524, the surface of the expansion ring 8524 is fixedly connected with a movable rod 8523, the surface of the movable rod 8523 is fixedly connected with a movable plate 8525, the surface of the movable rod 8523 is slidably connected with an aperture frame 8527, and the surface of the aperture frame 8527 is fixedly connected to the inner wall of an elastic shell 853. By the rotation of the rotator 8521, there is a tendency that the expansion ring 8524 fixedly connected to the surface of the connection bar 8522 rotates, however, the surface of the expansion ring 8524 is fixedly connected with the moving rod 8523, and the moving rod 8523 moves in the groove formed on the surface of the diaphragm frame 8527, so that the expansion ring 8524 expands by the rotating force of the connection bar 8522, the moving rod 8523 is expanded by the expanding force of the expansion ring 8524 to move outwards in the groove, in addition, the bottom of the moving rod 8523 is fixedly connected with the moving plate 8525, so that the moving plate 8525 moves outwards, at the moment, the moving plate 8525 presses the elastic shell 853, so that the elastic shell 853 expands and pulls the massage air bag 854 fixed at the bottom of the elastic shell, the massage air bag 854 contracts, and when the rotator 8521 rotates reversely, the massage air bag 854 expands finally.
The pressing device 855 comprises a fixing ring 8551, the inner wall of the fixing ring 8551 is fixedly connected to the surface of the short rod 8526, the surface of the fixing ring 8551 is fixedly connected with a pressing rod 8552, the surface of the pressing rod 8552 is sleeved with a rotating rod 8553, and the surface of the rotating rod 8553 is fixedly connected with a rod sleeve 8554. By the upward movement of the extension bar 851, the short bar 8526 fixed to the bottom of the extension bar 851 moves upward, and the pressing bar 8552 is connected to the short bar 8526 through the fixing ring 8551 fixedly installed on the surface of the short bar 8526, so that the pressing bar 8552 rotates counterclockwise about the rotation bar 8553 as a fulcrum, and the pressing bar 8552 moves away from the massage air bag 854, and when the extension bar 851 moves downward, the pressing bar 8552 and the short bar 8526 press the massage air bag 854.
When in use, the massage arm 842 is periodically rotated, so that the blood circulation promoting block 844 periodically presses the back of the human body, thereby promoting blood circulation and removing blood stasis.
The massage bag 845 can absorb muscles on the back, and then the massage bag 845 is far away from the back of a human body, so that a pulling sense can be generated on the muscles, and the back muscles can be relaxed, so that the effect of relieving muscle fatigue is achieved.
The massage air bag 854 functions to perform a hammer massage-like action on the back of the human body by contracting and expanding itself.
The pressing rod 8552 presses the small peripheral parts of the massage air bag 854 applied to the back of the human body, so that the back of the human body is slightly pressed, and the short rod 8526 presses the center of the massage air bag 854 applied to the back of the human body, so that the back of the human body is highly pressed.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (1)
1. The utility model provides a multi freedom massage robot with massage function, includes basement (1), rotates big arm (2), rotates joint (3), rotates forearm (4), rotates thumb (5), linking arm (6), rotates wrist (7) and massage device (8), its characterized in that:
the surface of the rotary big arm (2) is sleeved on the surface of the substrate (1), the rotary joint (3) is rotatably mounted on the rotary big arm (2), the rotary small arm (4) is fixedly connected on the surface of the rotary joint (3), the rotary wrist (7) is rotatably mounted on the rotary small arm (4), the connecting arm (6) is fixedly connected on the surface of the rotary wrist (7), the rotary thumb (5) is rotatably mounted on the connecting arm (6), and the top of the massaging device (8) is fixedly connected at the bottom of the rotary thumb (5);
the massage device (8) comprises an expansion joint (81), the top of the expansion joint (81) is fixedly connected to the bottom of the rotating thumb (5), one end, away from the rotating thumb (5), of the expansion joint (81) is fixedly connected with a connecting disc (82), the surface of the connecting disc (82) is fixedly connected with a conveying device (83), the surface of the conveying device (83) is fixedly connected with a massage claw (84), the surface of the massage claw (84) is fixedly connected with an electric device (86), the top of the electric device (86) is fixedly connected to the surface of the conveying device (83), the bottom of the electric device (86) is fixedly connected with a massager (85), and the top of the massager (85) is fixedly connected to the surface of the conveying device (83);
the conveying device (83) comprises a belt (831), one end of the belt (831) is fixedly connected to the surface of the massager (85), and one end of the belt (831) away from the massager (85) is fixedly connected to the surface of the massaging claws (84);
the belt (831) is rotationally connected with a belt wheel (832), the inner wall of the belt wheel (832) is fixedly connected with a rotating shaft (834), two ends of the rotating shaft (834) are rotationally connected with a protection plate (833), and the surface of the protection plate (833) is fixedly connected with the surface of the electric device (86);
the massage claw (84) comprises a connecting block (841), the surface of the connecting block (841) is fixedly connected to the surface of the electric device (86), the surface of the connecting block (841) is rotatably connected with a massage big arm (843), and one side of the massage big arm (843) close to the electric device (86) is fixedly connected with a massage bag (845);
the inner wall of the massage big arm (843) is fixedly connected with a connecting rod (846), the surface of the connecting rod (846) is rotationally connected with a massage small arm (842), one end of the upper side of the massage small arm (842) is fixedly connected with the surface of a belt (831), and one side of the massage small arm (842) close to the electric device (86) is fixedly connected with a blood activating block (844);
the massager (85) comprises an extension rod (851), the top of the extension rod (851) is fixedly connected to the surface of the belt (831), an expansion device (852) is movably connected to the surface of the extension rod (851), an extrusion device (855) is fixedly connected to the surface of the expansion device (852), an elastic shell (853) is fixedly connected to the surface of the expansion device (852), and a massage air bag (854) is fixedly connected to the bottom of the elastic shell (853);
the expanding device (852) comprises a rotator (8521), wherein the inner wall of the rotator (8521) is movably connected to the surface of an extension rod (851), the bottom of the extension rod (851) is fixedly connected with a short rod (8526), and the surface of the short rod (8526) is fixedly connected to the surface of the extruding device (855);
the surface of the rotator (8521) is fixedly connected with a connecting strip (8522), one end of the connecting strip (8522) far away from the rotator (8521) is fixedly connected with an expansion ring (8524), the surface of the expansion ring (8524) is fixedly connected with a moving rod (8523), the surface of the moving rod (8523) is fixedly connected with a moving plate (8525), the surface of the moving rod (8523) is slidably connected with an aperture frame (8527), the surface of the aperture frame (8527) is fixedly connected on the inner wall of an elastic shell (853), the expansion ring (8524) fixedly connected on the surface of the connecting strip (8522) has a rotating trend through the rotation of the rotator (8521), the surface of the expansion ring (8524) is fixedly connected with the moving rod (8523), the moving rod (8523) moves in a groove formed in the surface of the aperture frame (8527), the moving rod (8524) is expanded through the rotating force of the connecting strip (8522), the moving rod (8523) is pulled towards the bottom of the elastic shell (853) by the expansion plate (25), the expansion plate (8523) is pushed towards the bottom of the elastic shell (25) by the expansion plate (25), the elastic shell (853) is pushed by the expansion plate (25), the massage air bag (854) is contracted, and when the rotator (8521) is reversely rotated, the massage air bag (854) is finally expanded;
the extrusion device (855) comprises a fixed ring (8551), the inner wall of the fixed ring (8551) is fixedly connected to the surface of the short rod (8526), an extrusion rod (8552) is fixedly connected to the surface of the fixed ring (8551), a rotating rod (8553) is sleeved on the surface of the extrusion rod (8552), and a rod sleeve (8554) is fixedly connected to the surface of the rotating rod (8553).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310459918.1A CN116172847B (en) | 2023-04-26 | 2023-04-26 | Multi-degree-of-freedom massage robot with massage function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310459918.1A CN116172847B (en) | 2023-04-26 | 2023-04-26 | Multi-degree-of-freedom massage robot with massage function |
Publications (2)
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