CN207736301U - Manipulator for massaging, hammering - Google Patents

Abstract

The utility model is related to massage machine apparatus fields, more particularly to a kind of manipulator for massaging, hammering, including column, the adjusting screw rod being installed on inside column and can be along the gear wheel of adjusting screw rod vertical and straight movement, gear wheel lower end is movably installed with canine tooth wheel seat, canine tooth wheel seat is fixedly connected with large arm, the pinion gear that horizontal motor is provided in large arm and is connect with horizontal motor；Be provided in large arm can along large arm horizontal shifting the small arm component of massage and hammer small arm component, massage small arm component include massage arm, the massage rod that is installed on massage arm end, massage rod is separately installed with gravity wheel from top to bottom and massage is beaten；It includes the electromagnetism push-pull rod for hammering arm, being installed on hammering arm end to hammer small arm component, electromagnetism push-pull rod is separately installed with push and pull springs, sliding electromagnet block and hammering hand from top to bottom, the apparatus structure is compact, configuration is reasonable, it can carry out all-directional massage, action accurately, respective motor or electromagnet are used after each movement decomposition, electronic circuit easy to use combines to control and operate and massages and beat two kinds of massaging ways, comfort level is high.

Description

Manipulator for massaging, hammering

Technical field

The utility model is related to a kind of massage machine apparatus field more particularly to a kind of manipulators for massaging, hammering.

Background technology

Certain pressure is applied by human hand to be massaged, since the endurance of arm is limited, it is difficult to which persistently, and I am not It is easy to operate.Current massage machine is mostly the mode by mechanical shock, since its action mechanization is single when massage, action It is not sensitive enough, the massage of some positions is had less than making massage comprehensive can not carry out, allow people to feel inadaptable, and press Dynamics of rubbing and mode are single, and often experience sense and comfort be not strong by people in practical operation.

Utility model content

The purpose of the utility model is to overcome above-mentioned deficiencies, and provide a kind of manipulator for massaging, hammering, The apparatus structure is compact, configuration is reasonable, can easily carry out electronic control, can be moved by top to bottom, left and right, front and rear, energy It enough imitates human hand and carries out all-directional massage, action accurately, and combine massage and beat two kinds of massaging ways, comfort level is high.

The utility model is realized in this way：A kind of manipulator for massaging, hammering, including column, it is installed on column Internal adjusting screw rod and it can be movably installed with canine tooth wheel seat along the gear wheel of adjusting screw rod vertical and straight movement, gear wheel lower end, greatly Pinion stand can rotate with respect to gear wheel, and canine tooth wheel seat side is fixedly connected with large arm, and horizontal electricity is provided in the large arm Machine and the pinion gear being connect with horizontal motor, pinion gear drive canine tooth wheel seat, large arm to swing by being engaged with gear wheel；Institute State be provided in large arm can along large arm horizontal shifting the small arm component of massage and hammer small arm component, the massage forearm group Part includes massage arm, is installed on the massage rod of massage arm end, and massage rod is separately installed with gravity wheel from top to bottom and massage is beaten, Built-in vibrating motor is beaten in massage；The small arm component of hammering includes the electromagnetism push-pull rod for hammering arm, being installed on hammering arm end, electricity Magnetic push-pull rod is separately installed with push and pull springs, sliding electromagnet block and hammering hand from top to bottom.

Preferably, the column is hollow structure, and column side wall is provided with vertical slot hole, and adjusting screw rod is set in column Portion, adjusting screw rod upper end are connect with column motor, and tapped sliding block is set on adjusting screw rod, and the bolt on sliding block passes through Vertical slot hole is fixedly connected with gear wheel.

Preferably, for the gear wheel horizontal set in outside column, canine tooth wheel seat is installed on gear wheel lower end.

Preferably, arcuate socket, the arcuate socket close on the gear wheel, by the provided circumferentially about of the center of circle of column axle center It is centrosymmetric in column axle center, a pair of of locating shaft is vertically arranged in arcuate socket, locating shaft upper end is equipped with catch, gear wheel Seat is installed on locating shaft lower end.

Preferably, longitudinal motor is installed, longitudinal screw and the longitudinal direction being set on longitudinal screw are sliding in the large arm Block has screw thread inside the longitudinal sliding block, supporting rack is equipped on the longitudinal sliding block, support shaft, institute are equipped on supporting rack It states massage arm and hammering arm is set in support shaft both ends.

Preferably, the massage arm end is equipped with supporting block, and massage rod is arranged across supporting block, the gravity wheel suit In on the massage rod of supporting block upper end.

Preferably, the hammering hand is in hemispherical.

Preferably, the column lower end is provided with pedestal, and column is movably installed on pedestal.

Preferably, protective cover is installed outside the large arm.

Preferably, hood is installed outside the column motor.

The utility model has the following advantages that：The manipulator for massaging, hammering of the utility model, compact-sized, Configuration is reasonable, by special structure design can realize up and down, left and right and move forward and backward, can carry out comprehensive massage and Hammering, while two kinds of massaging ways of massage and hammering being attached on a machine, experience sense is stronger, and to difference in structure Action using different motors in order to circuit control, the reselection procedure of matching of different weight can be carried out according to customer, comfort level is high.

Description of the drawings

Fig. 1 is the front view of the utility model；

Fig. 2 is the vertical view of the utility model；

Fig. 3 is the right view for massaging small arm component；

Fig. 4 is the right view for beating small arm component；

Fig. 5 is the front view of column, gear wheel, canine tooth wheel seat；

Fig. 6 is the left view of column, gear wheel, canine tooth wheel seat；

Fig. 7 is the front view of column, gear wheel, canine tooth wheel seat, large arm；

Fig. 8 is the vertical view of column, gear wheel, canine tooth wheel seat, large arm；

In figure：1- columns, 2- adjusting screw rods, 3- gear wheels, 4- canine tooth wheel seats, 5- large arm, 6- horizontal motors, the small teeth of 7- Wheel, 8- massage arms, 9- massage rods, 10- gravity wheels, 11- massages are beaten, 12- vibrating motors, 13- hammering arms, 14- electromagnetism push-pull rods, 15- push and pull springs, 16- sliding electromagnet blocks, 17- hammer hand, the vertical slot holes of 18-, 19- sliding blocks, 20- arcuate sockets, 21- positioning Axis, 22- catch, 23- longitudinal motors, 24- longitudinal screws, 25- longitudinal sliding blocks, 26- supporting racks, 27- support shafts, 28- supporting blocks, 29- pedestals, 30- protective covers, 31- hoods, 32- column motors.

Specific implementation mode

With reference to specific embodiment, the utility model will be further described.

Embodiment 1：A kind of manipulator for massaging, hammering as shown in figures 1-8, including column 1, is installed in column Adjusting screw rod 2 and can the gear wheel 3 of adjusting screw rod vertical and straight movement, column lower end be provided with pedestal 29, column passes through pedestal It is fixed, and column can carry out the rotation of certain angle in the base；The column is hollow structure, and adjusting screw rod 2 is arranged Inside column, adjusting screw rod upper end is connect with column motor 32, and sliding block is set on adjusting screw rod, is driven in column motor 32 Under, sliding block 19 moves up and down along adjusting screw rod 2, and the side wall of column is provided with vertical slot hole 18, bolt is provided in hole, bolt passes through Sliding block is fixedly connected by vertical slot hole 18 with gear wheel 3, to realize that sliding block 19 drives gear wheel to move up and down；The gear wheel 3 horizontal sets are in outside column 1, being equipped with locating shaft 21 in the arcuate socket 20 of gear wheel, locating shaft lower end and 4 bolt of canine tooth wheel seat Connection, locating shaft upper end is fixed on by catch 22 in arcuate socket；The side of canine tooth wheel seat 4 is fixedly connected with large arm 5, large arm 5 Pass through screw bolt reinforcing；Horizontal motor 6 and the pinion gear being connect with horizontal motor 7, horizontal motor output are provided in the large arm Axis is connect with pinion gear, and horizontal motor is servo motor, and horizontal motor 6 is that pinion gear 7 provides and rotates in the forward direction and reversely rotate Power, pinion gear 7 is under the drive of horizontal motor, and realization is forward and reverse to be alternately rotated, since gear wheel 3 is fixedly installed in sliding block It will not be rotated on 19, and pinion gear is intermeshed with gear wheel, so the gear teeth of the pinion gear 7 around gear wheel 3 are eventually converted into, Alternating is rotated forward and rotates backward, since pinion gear 7 is fixedly connected with large arm 5, large arm 5 is fixedly connected with canine tooth wheel seat 4, greatly Pinion stand 4 can relatively rotate with gear wheel, so being also achieved that swinging for large arm 5；Preferably, fixed gear Above, arcuate socket 20, the arcuate socket are centrosymmetric about standard shaft axle center by the provided circumferentially about of the center of circle of standard shaft axle center, arc It is vertically arranged respectively in shape hole there are one locating shaft 21, locating shaft upper end is installed on by catch on gear wheel, locating shaft lower end It is threadably secured and connect with canine tooth wheel seat so that canine tooth wheel seat 4 is relatively rotated with respect to gear wheel 3（Left and right swing）Mistake Limit is played the role of in the both ends of Cheng Zhong, arcuate socket 20 to locating shaft 21, and then limits the angle of large arm 5 to swing； Longitudinal screw 24 and the longitudinal sliding block being set on longitudinal screw 25, longitudinal screw and longitudinal electricity are installed in the large arm 5 Machine 23 connects, and is equipped with supporting rack 26 on the longitudinal sliding block 25, support shaft 27, the massage arm are horizontally installed on supporting rack 8 are set with hammering arm 13 in the both ends of support shaft 27, drive supporting rack 26 to horizontally vertically move by longitudinal motor；Support Setting massages small arm component and hammers small arm component on frame, and the small arm component of massage includes massage arm 8, and massage arm level is set It sets, massage arm can do lower arcuate movement around support shaft 27, since the pressure of gravity wheel 10 and the fluctuating of human body can make massage Arm 8 moves up and down, and to drive massage arm 8 to move up and down, massage arm end is installed with supporting block 28, massage rod 9 It is arranged across supporting block, the gravity wheel 10 is set on the massage rod 9 of supporting block upper end, and gravity wheel 10 provides counterweight, simulation The pressure of massage, massage beat 11 and are installed on 9 lower end of massage rod, and vibrating motor built in 11 is beaten in massage, and massage is beaten to be contacted with body；Weight Wheels 10 pushes, and vibrating motor itself is since the effect of eccentric wheel will produce high-frequency vibration, and vibrating motor drives massage to beat 11 Up-down vibration reaches the moderate massage comfort of power under the action of gravity wheel 10；The small arm component of hammering includes hammering Arm 13, hammering arm equally can do lower arcuate movement around support shaft 27, to drive hammering arm 13 to move up and down, hammering arm end End is equipped with electromagnetism push-pull rod 14, is separately installed with push and pull springs 15, sliding electromagnet block 15 on electromagnetism push-pull rod from top to bottom With hemispherical hammering hand 17, for 15 movable set of sliding electromagnet block on electromagnetism push-pull rod 14, sliding electromagnet block 15 can edge Electromagnetism push-pull rod slides up and down, and sliding electromagnet block relies on the effect of electromagnet, send an immediate current, sliding electromagnet block 15 It can pop up and fall again suddenly, complete a hammering action, in cycles, hammering hand 17 does up-down vibration and reaches hammering acupuncture point Effect；Protective cover 30 is installed outside large arm 5, hood 31 is installed outside column motor 32, while playing anti-falling stop dust, peace Quan Meiguan.

Claims (10)

1. a kind of manipulator for massaging, hammering, it is characterised in that：Including column, the adjusting screw rod being installed on inside column With can be movably installed with canine tooth wheel seat along the gear wheel of adjusting screw rod vertical and straight movement, gear wheel lower end, canine tooth wheel seat can be relatively large Gear rotates, and canine tooth wheel seat side is fixedly connected with large arm, and horizontal motor and and horizontal motor are provided in the large arm The pinion gear of connection, pinion gear drive canine tooth wheel seat, large arm to swing by being engaged with gear wheel；It is provided in the large arm Can along large arm horizontal shifting the small arm component of massage and hammer small arm component, the small arm component of massage include massage arm, It is installed on the massage rod of massage arm end, massage rod is separately installed with gravity wheel from top to bottom and massage is beaten, and built-in shake is beaten in massage Dynamic motor；The small arm component of the hammering includes the electromagnetism push-pull rod for hammering arm, being installed on hammering arm end, and electromagnetism push-pull rod is from upper Push and pull springs, sliding electromagnet block and hammering hand are separately installed under and.

2. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：The column is hollow structure, Column side wall is provided with vertical slot hole, and adjusting screw rod is set to inside column, and adjusting screw rod upper end is connect with column motor, adjusts spiral shell Tapped sliding block is set on bar, the bolt on sliding block is fixedly connected across vertical slot hole with gear wheel.

3. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：The gear wheel horizontal set In outside column, canine tooth wheel seat is installed on gear wheel lower end.

4. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：On the gear wheel, with column Axle center, which is the provided circumferentially about of the center of circle, has arcuate socket, the arcuate socket to be centrosymmetric about column axle center, vertical in arcuate socket It is provided with a pair of of locating shaft, locating shaft upper end is equipped with catch, and canine tooth wheel seat is installed on locating shaft lower end.

5. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：It is equipped in the large arm vertical To motor, longitudinal screw and the longitudinal sliding block being set on longitudinal screw have screw thread, the longitudinal direction inside the longitudinal sliding block Supporting rack is installed on sliding block, support shaft is installed on supporting rack, the massage arm and hammering arm are set in support shaft two End.

6. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：The massage arm end installation There are supporting block, massage rod to be arranged across supporting block, the gravity wheel is set on the massage rod of supporting block upper end.

7. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：The hammering hand is in hemispherical.

8. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：The column lower end is provided with Pedestal, column are movably installed on pedestal.

9. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：Guarantor is installed outside the large arm Shield.

10. the manipulator according to claim 1 for massaging, hammering, it is characterised in that：It is installed outside the column motor There is hood.