CN207415340U - Rolling wheel guide rails formula 2D manipulators - Google Patents
Rolling wheel guide rails formula 2D manipulators Download PDFInfo
- Publication number
- CN207415340U CN207415340U CN201721435637.9U CN201721435637U CN207415340U CN 207415340 U CN207415340 U CN 207415340U CN 201721435637 U CN201721435637 U CN 201721435637U CN 207415340 U CN207415340 U CN 207415340U
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- kneading
- walking
- shaft
- rear end
- motor
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Abstract
The utility model discloses a kind of rolling wheel guide rails formula 2D manipulators, including plate of walking, symmetrical opening there are two being set on walking plate, the rear end of walking plate corresponds to two aperture positions and is respectively arranged with two swing arms, the cantilever arm stretched out in front of through opening to walking plate is connected in two swing arms, massage ball is provided on cantilever arm, the rear end for plate of walking is provided with the walking component for tapping component and driving walking plate edge massage seat rail walking for driving swing arm motion to realize the kneading component of kneading massage action, swing arm motion realization is driven to tap massage motion.Rolling wheel guide rails formula 2D manipulators provided by the utility model, for the prior art, it is simple in structure, cost is lower, transmission efficiency higher, do not allow it is easy to produce static electricity, there is better stability, it is and rationally distributed, compact-sized.
Description
Technical field
The utility model is related to a kind of rolling wheel guide rails formula 2D manipulators.
Background technology
Rolling wheel guide rails formula 2D manipulators be it is a kind of with idler wheel and guide rail walk massager core, rolling of the prior art
Take turns guide tracked 2D manipulators, due to the limitation of structure and layout, it is general using the multi-rib-belt and belt pulley worked in coordination come
It realizes the transmission between motor and axis on 2D manipulators, but as a result of this kind of drive, brings many defects, example
Such as：1st, due between multi-rib-belt and belt pulley frictional force being relied on to be driven, often have skidded, reduce transmission efficiency；2、
Friction is held easy to produce static electricity between multi-rib-belt and belt pulley, so as to disturb control circuit；3rd, since user can not adjust more wedges
Tension on belt, permanent use be easy to cause multi-rib-belt relaxation, affect the stability that massage armchair uses, and service life has
Limit.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of rolling wheel guide rails formula 2D manipulators, compared with the prior art
For, it is simple in structure, cost is lower, transmission efficiency higher, do not allow it is easy to produce static electricity, have better stability and layout close
It manages, is compact-sized.
To achieve the above object, the utility model provides a kind of rolling wheel guide rails formula 2D manipulators, including plate of walking, walking
It being set on plate there are two symmetrical opening, the rear end for plate of walking corresponds to two aperture positions and is respectively arranged with two swing arms,
The cantilever arm stretched out in front of through opening to walking plate is connected in two swing arms, massage ball is provided on cantilever arm, walks
The rear end of plate be provided with drive swing arm motion with realize kneading massage action kneading component, drive swing arm motion realize tap by
Rub the walking component that the percussion component of movement and driving walking plate are walked along massage seat rail, and walking plate rear end corresponds to two and opens
The centre position of mouth is provided with shaft mounting base, and the kneading component includes kneading motor, kneading eccentric shaft and two kneadings
Transmission mechanism, kneading eccentric shaft is horizontally set at the upper position of shaft mounting base, after kneading motor is longitudinally disposed at walking plate
End keeps left position, is fixed with the first worm screw on the output shaft of kneading motor upward, and kneading eccentric shaft is towards being fixed on left one end
With the first helical gear of the first worm engaging transmission, two kneading transmission mechanisms are respectively arranged at kneading eccentric shaft and correspond to two
Opening, swing arm of two kneading transmission mechanisms also respectively with two openings are correspondingly connected with；The percussion component includes tapping
Motor taps eccentric shaft and two percussion transmission mechanisms, taps the upper position that eccentric shaft is horizontally set at shaft mounting base,
It taps motor and is horizontally set at walking plate rear end and positioned at the lower position for tapping eccentric shaft, tap motor towards on left output shaft
Small helical gear is fixed with, eccentric shaft is tapped and is fixed with the king bolt with small helical gear engaged transmission in shaft mounting base left side
Gear, two percussion transmission mechanisms be respectively arranged at tap eccentric shaft left and right ends, two percussion transmission mechanisms also respectively with
The swing arm of two openings is correspondingly connected with；The walking component includes driving shaft, driven shaft and movable motor, and driven shaft is horizontal
It is arranged at walking plate rear end and corresponds to shaft mounting base top position, the both ends of driven shaft are rotatably provided with driven roller, main
Moving axis is horizontally set at walking plate rear end and positioned at position between motor and walking plate is tapped, and the both ends of driving shaft are coaxially fixed
Traveling gear is connected with, is rotated coaxially on the traveling gear of both ends of main drive shaft and is connected with driving roller, movable motor is longitudinally disposed
It keeps right position in walking plate rear end, the second worm screw is fixed on movable motor output shaft directed downwardly, be fixed on driving shaft and the
Second helical gear of two worm engagings transmission.
It is using the advantages of above-mentioned technical proposal：Due to being provided with the first worm screw on the output shaft of kneading motor, kneading is inclined
The first helical gear with the first worm engaging transmission is provided in mandrel, and is provided on the output shaft due to tapping motor small
Helical gear taps the king bolt gear being provided on eccentric shaft with small helical gear engaged transmission, passes through the first worm screw and the
The intermeshing of one helical gear can realize the drive connection between the output shaft of kneading motor and kneading eccentric shaft, pass through small spiral shell
Rotation gear and king bolt gear and between intermeshing can realize tap motor output shaft and tap eccentric shaft between biography
Dynamic connection between the output shaft of kneading motor and kneading eccentric shaft and taps the output of motor in the prior art so as to solve
The drawbacks of being sequentially connected between axis and percussion eccentric shaft by multi-rib-belt and belt wheel mode, improves transmission efficiency, and not
Hold it is easy to produce static electricity, make its work more stablize.Further, since kneading motor, percussion motor, movable motor, percussion eccentric shaft
And the components such as kneading eccentric shaft employ above-mentioned layout so that the space utilization of the utility model is more reasonable, makes entirety
Structure is more compact, and gravity balance, further improves stability；The setting of shaft mounting base can be for kneading eccentric shaft
It is rotated with eccentric shaft insertion is tapped, it is thus possible to play certain supporting role.
As further improvement of the utility model, the kneading transmission mechanism includes kneading excentric sleeve, two kneadings
The kneading excentric sleeve of transmission mechanism is individually fixed in kneading eccentric shaft and corresponds to two openings, and two kneading transmission mechanisms are rubbed
Excentric sleeve to be pinched respectively with two swing arms to be connected, kneading excentric sleeve is provided with the first ball bearing with swing arm junction, the
The inner ring of one ball bearing is mutually fixed with kneading excentric sleeve, and the outer ring of the first ball bearing is mutually fixed with swing arm；The percussion
Transmission mechanism includes the ball head connecting rod seat and ball head connecting rod of mutual pin joint, and the left and right ends for tapping eccentric shaft include respectively
Two reversely the gearratio of cycloid axle formation of bias, the ball head connecting rod seat of two percussion transmission mechanisms are socketed on two gearratio of cycloid axle formation respectively each other
On, the ball head connecting rod of two percussion transmission mechanisms connects respectively with two swing arm balls, is connected between gearratio of cycloid axle formation and ball head connecting rod seat
Place is provided with the second ball bearing, and the inner ring of the second ball bearing is mutually fixed with gearratio of cycloid axle formation, the outer ring of the second ball bearing with
Ball head connecting rod seat is mutually fixed.
It is using the advantages of above-mentioned technical proposal：Kneading eccentric shaft can drive kneading excentric sleeve to rotate when rotating,
Due to the wobbler action of kneading excentric sleeve, swing arm can be driven to be swung, and then drive and put with the cantilever arm of swing arm pin joint
Dynamic, two cantilever arms, which cooperate, to be moved, so as to complete kneading massage action；Include gearratio of cycloid axle formation due to tapping eccentric shaft,
Tap eccentric shaft makes gearratio of cycloid axle formation do eccentric rotary when rotating, and then the ball head connecting rod being connected with gearratio of cycloid axle formation seat is made to do partially
Heartbeat is moved, and ball head connecting rod seat drives swing arm to carry out eccentricity runout by ball head connecting rod, and then drives the cantilever arm with swing arm pin joint
Eccentricity runout, two cantilever arms replace routing motion, so as to complete to tap massaging action.
As further improvement of the utility model, first baffle is provided at the left side edge of the walking plate rear end, the
One baffle is set on the left of kneading motor, and walking plate rear end is provided with the first helical gear protective cover, first helical tooth
Wheel is located in the first helical gear protective cover, and reinforcing rib is connected between the first helical gear protective cover and first baffle；Walking
Second baffle is provided at the right side edge of plate rear end, second baffle is set on the right side of movable motor, is fixed on second baffle
Third baffle, third baffle are set on rear side of movable motor.
It is using the advantages of above-mentioned technical proposal：Due to being provided with first baffle at the left side edge of walking plate rear end, first
The setting of baffle has certain protective effect to kneading motor, can prevent the outer bound pair side from pressing and kneading motor is caused to move
Position or damage.Due to the setting of the first helical gear protective cover, have to junction between kneading motor and kneading eccentric shaft
Certain protective effect can prevent foreign matter from entering, and improve stability；Due to the setting of reinforcing rib, the first helical gear is protected
Shield and first baffle play certain reinforcing supporting role.
As further improvement of the utility model, first worm screw is identical with the shape size of the second worm screw, described
The shape size of first helical gear and the second helical gear is identical.
It is using the advantages of above-mentioned technical proposal：It enhances between the first worm screw and the second worm screw and the first helical tooth
Interchangeability between wheel and the second helical gear can better adapt to mold production, reduce cost, while more square
Just user for a long time without use is safeguarded, provide convenience by the upgrading to popularize massage armchair and body-care utensil.
Description of the drawings
Fig. 1 is the structure chart of the utility model embodiment.
Specific embodiment
A kind of embodiment of rolling wheel guide rails formula 2D manipulators of the utility model is as shown in Figure 1：Including plate 1 of walking, walking
It is set on plate 1 there are two symmetrical opening 11, the rear end of walking plate 1 corresponds to two 11 positions of opening and is respectively arranged with two
Swing arm 21 is connected with the cantilever arm 22 stretched out through opening 11 to 1 front of walking plate in two swing arms 21, is set on cantilever arm 22
Massage ball 23 is equipped with, the rear end of walking plate 1, which is provided with, drives swing arm 21 to move to realize kneading component, the band of kneading massage action
The walking group of the percussion component for tapping massage motion and driving walking plate 1 along massage seat rail walking is realized in the movement of movable pendulum arm 21
Part, the centre position that 1 rear end of walking plate corresponds to two openings 11 are provided with shaft mounting base 3, and the kneading component includes kneading
Motor 41, kneading eccentric shaft 42 and two kneading transmission mechanisms 43, kneading eccentric shaft 42 are horizontally set at shaft mounting base 3
Upper position, kneading eccentric shaft 42 is rotatably connected with shaft mounting base 3 and shaft mounting base 3 has axis to kneading eccentric shaft 42
To position-limiting action, kneading motor 41 is longitudinally disposed at walking plate 1 rear end and keeps left position, solid on the output shaft of kneading motor 41 upward
Surely there is the first worm screw 44, kneading eccentric shaft 42 is towards the first helical tooth being fixed on left one end with 44 engaged transmission of the first worm screw
Wheel 45, two kneading transmission mechanisms 43 are respectively arranged at kneading eccentric shaft 42 and correspond at two openings 11, two kneading drivers
Structure 43 is also correspondingly connected with the swing arm 21 at two openings 11 respectively；The percussion component includes tapping motor 51, taps bias
Axis 52 and two percussion transmission mechanisms 53 tap the upper position that eccentric shaft 52 is horizontally set at shaft mounting base 3, tap inclined
Mandrel 52 is rotatably connected with shaft mounting base 3 and shaft mounting base 3 has axial limiting effect to tapping eccentric shaft 52, taps
Motor 51 is horizontally set at walking 1 rear end of plate and positioned at the lower position for tapping eccentric shaft 52, taps motor 51 towards left output
Small helical gear 54 is fixed on axis, percussion eccentric shaft 52 is fixed in 3 left side of shaft mounting base and is engaged with small helical gear 54
The king bolt gear 55 of transmission, two percussion transmission mechanisms 53 are respectively arranged at the left and right ends for tapping eccentric shaft 52, and two are struck
Transmission mechanism 53 is hit also to be correspondingly connected with the swing arm 21 at two openings 11 respectively；It is described walking component include driving shaft 62, from
Moving axis 61 and movable motor 63, driven shaft 61 are horizontally set at 1 rear end of walking plate and correspond to 3 top position of shaft mounting base, from
The both ends of moving axis 61 are rotatably provided with driven roller 64, and driving shaft 62 is horizontally set at walking 1 rear end of plate and positioned at percussion
Position between motor 51 and walking plate 1, the both ends of driving shaft 62 have been fixedly and coaxially connected traveling gear 65,62 both ends of driving shaft
Traveling gear 65 on rotate coaxially and be connected with driving roller 66, movable motor 63 is longitudinally disposed at 1 rear end of walking plate and keeps right position
It puts, the second worm screw 67 is fixed on 63 output shaft directed downwardly of movable motor, is fixed on driving shaft 62 and is engaged with the second worm screw 67
Second helical gear 68 of transmission, can be with the tooth that is set on massage armchair when traveling gear 65 is rotated by by movable motor 63
The traveling that 2D machineries are walked is realized in item or the cooperation of tooth band.The kneading transmission mechanism includes kneading excentric sleeve, two kneading transmissions
The kneading excentric sleeve of mechanism 43 is individually fixed in kneading eccentric shaft 42 and corresponds to two openings 11, two kneading transmission mechanisms 43
Kneading excentric sleeve be connected respectively with two swing arms 21, kneading excentric sleeve and 21 junction of swing arm are provided with the first ball
Bearing, inner ring and the kneading excentric sleeve of the first ball bearing are mutually fixed, and outer ring and 21 phase of swing arm of the first ball bearing are fixed；
The transmission mechanism 53 that taps includes the ball head connecting rod seat and ball head connecting rod of mutual pin joint, the left and right two for tapping eccentric shaft 52
End is included respectively there are two the gearratio of cycloid axle formation of reversed bias each other, and the ball head connecting rod seat of two percussion transmission mechanisms 53 to be socketed respectively
In in two gearratio of cycloid axle formation, the ball head connecting rod of two percussion transmission mechanisms 53 connects respectively with two 21 balls of swing arm, gearratio of cycloid axle formation with
Junction is provided with the second ball bearing between ball head connecting rod seat, and the inner ring of the second ball bearing is mutually fixed with gearratio of cycloid axle formation, the
The outer ring of two ball bearings is mutually fixed with ball head connecting rod seat.First baffle 71 is provided at the walking 1 rear end left side edge of plate,
First baffle 71 is set close to the left side of kneading motor 41, and 1 rear end of walking plate is provided with the first helical gear protective cover 72, and described the
One helical gear 45 is located in the first helical gear protective cover 72, connects between the first helical gear protective cover 72 and first baffle 71
It is connected to reinforcing rib 73；Second baffle 74 is provided at walking 1 rear end right side edge of plate, second baffle 74 is right close to movable motor 63
Side is set, and third baffle 75 is fixed on second baffle 74, and third baffle 75 is set close to 63 rear side of movable motor.Described first
Worm screw 44 is identical with the shape size of the second worm screw 67, the shape size of 45 and second helical gear 68 of the first helical gear
It is identical and may be used interchangeably.
One kind of above example, simply the utility model preferably specific example, those skilled in the art are new in this practicality
The usual variations and alternatives carried out in the range of type technical solution are included in the scope of protection of the utility model.
Claims (4)
1. a kind of rolling wheel guide rails formula 2D manipulators including plate of walking, set there are two symmetrical opening on plate of walking, walk
The rear end of plate corresponds to two aperture positions and is respectively arranged with two swing arms, is connected in two swing arms through opening to walking plate
The cantilever arm that front is stretched out is provided with massage ball on cantilever arm, and the rear end for plate of walking, which is provided with, drives swing arm motion to be rubbed to realize
Pinch massaging action kneading component, drive swing arm motion realize tap massage motion percussion component and driving walking plate along by
The walking component of the seat rail that rubs walking, it is characterised in that：The centre position that walking plate rear end corresponds to two openings is provided with shaft
Mounting base, the kneading component include kneading motor, kneading eccentric shaft and two kneading transmission mechanisms, and kneading eccentric shaft is horizontal
It is arranged at the upper position of shaft mounting base, kneading motor is longitudinally disposed at walking plate rear end and keeps left position, and kneading motor is upward
Output shaft on be fixed with the first worm screw, kneading eccentric shaft towards be fixed on left one end with the first worm engaging transmission first
Helical gear, two kneading transmission mechanisms are respectively arranged at kneading eccentric shaft and correspond to two openings, two kneading transmission mechanisms
Swing arm also respectively with two openings is correspondingly connected with；The percussion component includes tapping motor, taps eccentric shaft and two
Transmission mechanism is tapped, taps the upper position that eccentric shaft is horizontally set at shaft mounting base, motor is tapped and is horizontally set at walking
Plate rear end is simultaneously located at the lower position for tapping eccentric shaft, taps motor towards small helical gear is fixed on left output shaft, taps
Eccentric shaft is fixed with the king bolt gear with small helical gear engaged transmission, two percussion transmission mechanisms on the left of shaft mounting base
The left and right ends for tapping eccentric shaft are respectively arranged at, two percussion transmission mechanisms are also corresponding with the swing arm of two openings respectively to be connected
It connects；The walking component includes driving shaft, driven shaft and movable motor, and driven shaft, which is horizontally set at walking plate rear end and corresponds to, to be turned
Axis mounting base top position, the both ends of driven shaft are rotatably provided with driven roller, after driving shaft is horizontally set at walking plate
It holds and is located at and tap position between motor and walking plate, the both ends of driving shaft have been fixedly and coaxially connected traveling gear, driving shaft
It being rotated coaxially on the traveling gear at both ends and is connected with driving roller, movable motor is longitudinally disposed at walking plate rear end and keeps right position,
The second worm screw is fixed on movable motor output shaft directed downwardly, the second spiral shell with the second worm engaging transmission is fixed on driving shaft
Revolve gear.
2. according to the rolling wheel guide rails formula 2D manipulators described in claim 1, it is characterised in that：The kneading transmission mechanism includes
Kneading excentric sleeve, the kneading excentric sleeve of two kneading transmission mechanisms are individually fixed in kneading eccentric shaft and correspond to two openings
Place, the kneading excentric sleeve of two kneading transmission mechanisms are connected respectively with two swing arms, and kneading excentric sleeve is connected with swing arm
Place is provided with the first ball bearing, and inner ring and the kneading excentric sleeve of the first ball bearing are mutually fixed, outside the first ball bearing
Circle is mutually fixed with swing arm；The transmission mechanism that taps includes the ball head connecting rod seat and ball head connecting rod of mutual pin joint, described to tap partially
The left and right ends of mandrel are respectively including there are two reversed eccentric gearratio of cycloid axle formation each other, the ball head connecting rods of two percussion transmission mechanisms
Seat is socketed on respectively in two gearratio of cycloid axle formation, and the ball head connecting rod of two percussion transmission mechanisms connects respectively with two swing arm balls, eccentric
Junction is provided with the second ball bearing between shaft part and ball head connecting rod seat, and the inner ring and gearratio of cycloid axle formation of the second ball bearing are mutually solid
Fixed, outer ring and the ball head connecting rod seat of the second ball bearing are mutually fixed.
3. according to the rolling wheel guide rails formula 2D manipulators described in claim 1 or 2, it is characterised in that：The walking plate rear end is left
First baffle is provided at lateral edges, first baffle is set on the left of kneading motor, and walking plate rear end is provided with the first spiral
Gear protective cover, first helical gear are located in the first helical gear protective cover, the first helical gear protective cover and first
Reinforcing rib is connected between baffle；Second baffle is provided at the right side edge of walking plate rear end, second baffle is close to movable motor
Right side is set, and third baffle is fixed on second baffle, and third baffle is set on rear side of movable motor.
4. according to the rolling wheel guide rails formula 2D manipulators described in claim 3, it is characterised in that：First worm screw and the second snail
The shape size of bar is identical, and the shape size of first helical gear and the second helical gear is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721435637.9U CN207415340U (en) | 2017-11-01 | 2017-11-01 | Rolling wheel guide rails formula 2D manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721435637.9U CN207415340U (en) | 2017-11-01 | 2017-11-01 | Rolling wheel guide rails formula 2D manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415340U true CN207415340U (en) | 2018-05-29 |
Family
ID=62310471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721435637.9U Active CN207415340U (en) | 2017-11-01 | 2017-11-01 | Rolling wheel guide rails formula 2D manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207415340U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814922A (en) * | 2018-06-27 | 2018-11-16 | 浙江豪中豪健康产品有限公司 | A kind of massage armchair |
| CN114310929A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Running gear of robot is patrolled and examined to track |
-
2017
- 2017-11-01 CN CN201721435637.9U patent/CN207415340U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814922A (en) * | 2018-06-27 | 2018-11-16 | 浙江豪中豪健康产品有限公司 | A kind of massage armchair |
| CN108814922B (en) * | 2018-06-27 | 2024-01-12 | 浙江豪中豪健康产品有限公司 | Massage chair |
| CN114310929A (en) * | 2021-11-30 | 2022-04-12 | 杭州申昊科技股份有限公司 | Running gear of robot is patrolled and examined to track |
| CN114310929B (en) * | 2021-11-30 | 2023-10-24 | 杭州申昊科技股份有限公司 | Running gear of robot is patrolled and examined to track |
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