CN207768708U - A kind of massage robot - Google Patents
A kind of massage robot Download PDFInfo
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- CN207768708U CN207768708U CN201720704718.8U CN201720704718U CN207768708U CN 207768708 U CN207768708 U CN 207768708U CN 201720704718 U CN201720704718 U CN 201720704718U CN 207768708 U CN207768708 U CN 207768708U
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Abstract
The utility model proposes a kind of massage robots, including massaging bed, side stand component, the first screw slide module, transmission shaft, the second screw slide module, push rod electric cylinders, revolution electric cylinders, Dextrous Hand etc.；A kind of massaging bed bed board of massage robot of the utility model can pull out, and patient is allow very easily to lie down, and reduce the constriction of patient；Secondly, a kind of massage robot of the utility model is equipped with Dextrous Hand, can complete hand position, the posture changing of fingering, cooperation massage mechanical arm can be referred to complete independently rub, slap rub, tremble manipulation with finger, tremble manipulation with palm, bat method, by the common gimmick such as method.
Description
Technical field
The utility model is related to a kind of massage robots, and common traditional Chinese massage hand is imitated using automated machine structure
Method belongs to the modernization of traditional medical gimmick, intelligentized research field.
Background technology
Traditional Chinese massage is an organic component of China's traditional medicine, be Chinese traditional treatment disease effective means it
One, have thousands of years up and down history, it is wide-spread, significant in efficacy, play indelible tribute for the healthy cause of the mankind
It offers.Traditional Chinese massage is still played an important role in various aspects such as treatment, rehabilitation, health cares at present.However, due to traditional Chinese massage technology
Fail to be combined with modern science and technology, even to this day, traditional Chinese massage manipulation is worked based on still manually massaging with massage doctor
Intensity is big, and massage doctor's fatiguability, efficiency is low, and Different therapeutical effect is big.In addition traditional Chinese massage is always for thousands of years and instructs in words and by deeds
The imparting and inheriting model, gimmick lack codes and standards, and curative effect of massage leads to many old docter of TCM's massage manipulations without quantitative appraisement system
It is lost, irreversible consequence is produced to the development of massage technology, the key factor of massage manipulation is to depend on the apprentice mostly
Comprehension and practice are held, and cause the eutherapeutic massage technology to be difficult to summarize, inherit, develop and promote and apply, it is serious hinder and
The development of traditional Chinese massage industry, the especially information-intensive society in new technology fast development are fettered, traditional Chinese massage cannot more and more expire
Foot society is to massage treatment, rehabilitation and the needs of health care.Advanced massage robot technology is studied, old expert can be reproduced
Massage experience and gimmick data, for traditional Chinese massage industry move towards scale, standardization, it is scientific, modernization and internationalization
Development will play huge impetus.In addition, the industrialization of the utility model product is smoothly implemented, to China's service-delivery machine
People's technology develops and industrialized development will also be played the role of positive pushing away rush.
Utility model content
The utility model devises a kind of massage robot being configured with massage Dextrous Hand, massage teacher can be replaced to complete,
Finger rub, slap rub, tremble manipulation with finger, tremble manipulation with palm, bat method, by the common gimmick such as method.
The technical solution that the utility model is taken：
A kind of massage robot, including massaging bed, side stand component, the first screw slide module, transmission shaft, the second leading screw are slided
Platform module, push rod electric cylinders, revolution electric cylinders, Dextrous Hand, the first connecting plate, the second connecting plate, third connecting plate, the 4th connecting plate.
A side stand component is respectively set in the massaging bed both sides, and a first screw slide mould is respectively provided on the side stand component
Group, described two first screw slide modules are synchronized using same motor and are driven by propeller shaft couplings.Described two first
A second screw slide module, the first screw slide module and second slide unit are transversely provided on screw slide module
Module is connected by the first connecting plate.The push rod electric cylinders by the second connecting plate vertically with the second screw slide module
Connection.The revolution electric cylinders are connected to push rod electric cylinders bottom by third connecting plate.The Dextrous Hand passes through the 4th connection
Plate is arranged on the turntable of the revolution electric cylinders.
The Dextrous Hand includes palm body, volar plate, palm cover board, the first bent axle, the second bent axle, flange bearing, thrust bearing, bullet
Property baffle ring, vibrating motor, decelerating motor, finger and flexible facies palmaris.On the palm body, there are four through-holes, one of them is used for
The decelerating motor is set, and the reducing motor output shaft is rigidly connected with the first bent axle.Distinguish one end of second bent axle
It is connect with its excess-three through-hole on palm body, the other end of first bent axle and the second bent axle is connect with volar plate.Described
Two bent axles are respectively equipped with flange bearing on the periphery of palm body cooperation, for reducing the frictional force in rotation process, described
Second bent axle and the shaft shoulder face of palm body cooperation are respectively equipped with a thrust bearing, and vertical direction in method operating process is rubbed for bearing
On pressure.A flange bearing also is provided with respectively on the periphery of first bent axle and the second bent axle with volar plate cooperation to use
In reducing the frictional force in rotation process, it is respectively equipped on the shaft shoulder face that first bent axle and the second bent axle coordinate with volar plate
One thrust bearing is for bearing to rub the pressure in method operating process on vertical direction.It is equipped in first bent axle and the second bent axle
The end of thrust bearing is all equipped with a circlip, for realizing the axially position of thrust bearing.The finger and volar plate are rigid
Property connection, and across the palm body intermediate throughholes.It is respectively provided with a micro-burst motor, institute inside four blind holes in the volar plate
It states flexible facies palmaris to be covered in the volar plate, be fixed by glue.
It is described massaging bed including bedstead, guide rail, sliding block, bed board and cushion composition.The bedstead is welded by rectangle steel,
Two guide rails are equipped on the bedstead, the guide rail is equipped with several sliding blocks.The bed board is rigidly connected with the sliding block,
On the bed board, it is equipped with cushion, for improving comfort.
The side stand component includes bottom plate, both side plate and U-steel composition.The both side plate is arch-shaped, is pushed away for improving
By the aesthetics of robot.Two pieces of bottom plates are equipped in the both side plate central bottom, are used for and massaging bed connection.In the both sides
Plate middle upper part is equipped with channel-section steel, for being connected with the first screw slide module.
The utility model has the advantage of：The massaging bed bed board of this massage robot can pull out, and keep patient very square
Lying down just, reduces the constriction of patient.Secondly, this massage robot is equipped with Dextrous Hand, can complete the palm and rub, refer to the appearance rubbed
State converts, cooperation massage mechanical arm can be slapped with complete independently rub, refer to rub, method of shaking, bat method, by the common gimmick such as method.
Description of the drawings
Fig. 1 is massage robot general structure schematic diagram；
Fig. 2 is massaging bed structural schematic diagram；
Fig. 3 is side stand component structural schematic diagram；
Fig. 4 is Dextrous Hand general structure schematic diagram；
Fig. 5 is the clever hands schematic diagram after removing flexible facies palmaris；
Fig. 6 is Dextrous Hand internal structure sectional view；
In figure, 1 is massaging bed；1-1 is bedstead；1-2 is guide rail；1-3 is sliding block；1-4 is bed board；1-5 is cushion；2 are
Side stand component；2-1 is bottom plate；2-2 is side plate；2-3 is flute profile guiding principle；3 be revolution electric cylinders；4 be the first screw slide module；5 are
First connecting plate；6 be transmission shaft；7 be the second screw slide module；8 be push rod electric cylinders；9 be the second connecting plate；10 connect for third
Fishplate bar；11 be the 4th connecting plate；12 be Dextrous Hand；12-1 is volar plate；12-2 is palm body；12-3 is palm cover board；12-4 is flexibility
Facies palmaris；12-5 is finger；12-6 is decelerating motor；12-7 is vibrating motor；12-8 is the first bent axle；12-9 is circlip；
12-10 is flange bearing；12-11 is thrust bearing；12-12 is the second bent axle.
Specific implementation mode
The utility model is described in further details below in conjunction with the accompanying drawings.
A kind of massage robot, including massaging bed 1, side stand component 2, revolution electric cylinders 3, the first screw slide module 4, first
Connecting plate 5, transmission shaft 6, the second screw slide module 7, push rod electric cylinders 8, the second connecting plate 9, third connecting plate the 10, the 4th connect
Plate 11, Dextrous Hand 12.A side stand component 2 is respectively set in massaging bed 1 both sides, is respectively provided on the side stand component 2
One the first screw slide module 4, described two first screw slide modules 4 are coupled by transmission shaft 6, same using same motor
Step driving.It is transversely provided with a second screw slide module 7 on described two first screw slide modules 4, described first
Thick stick slide unit module 4 connects 5 with the second screw slide module 7 by the first connecting plate.The push rod electric cylinders 8 pass through second
Connecting plate 9 is vertically connect with the second screw slide module 7.The revolution electric cylinders 3 are connected to by third connecting plate 10
8 bottom of push rod electric cylinders.The Dextrous Hand 12 is arranged by the 4th connecting plate 11 on the turntable of the revolution electric cylinders 3.
The Dextrous Hand 12 includes volar plate 12-1, palm body 12-2, palm cover board 12-3, flexible facies palmaris 12-4, finger 12-5, subtracts
Speed motor 12-6, vibrating motor 12-7, the first bent axle 12-8, circlip 12-9, flange bearing 12-10, thrust bearing 12-11
With the second bent axle 12-12.On the palm body 12-2, there are four through-holes, one of them is used to that the decelerating motor 12-6 to be arranged,
The decelerating motor 12-6 output shafts and the first bent axle 12-8 are rigidly connected.One end of the second bent axle 12-12 respectively with the palm
The other end and volar plate 12-1 of its excess-three through-hole connection on body 12-2, the first bent axle 12-8 and the second bent axle 12-12
Connection.It is respectively equipped with flange bearing 12-10 on peripheries of the second bent axle 12-12 with the 12-2 cooperations of palm body, for subtracting
Frictional force in few rotation process is respectively equipped with one in the shaft shoulder face of the second bent axle 12-12 and palm body 12-2 cooperations and pushes away
Power bearing 12-11 rubs the pressure in method operating process on vertical direction for bearing.It is bent in the first bent axle 12-8 and second
Axis 12-12 is also respectively equipped with a flange bearing 12-10 for reducing in rotation process on the periphery of volar plate 12-1 cooperations
Frictional force, be respectively equipped with one on the shaft shoulder face of the first bent axle 12-8 and the second bent axle 12-12 and volar plate 12-1 cooperations
Thrust bearing 12-11 is for bearing to rub the pressure in method operating process on vertical direction.In the first bent axle 12-8 and second
Ends of the bent axle 12-12 equipped with thrust bearing 12-11 is equipped with a circlip 12-9, for realizing the axis of thrust bearing 12-11
To positioning.The finger 12-5 is rigidly connected with volar plate 12-1, and across palm body 12-2 intermediate throughholes.In the volar plate 12-1
On four blind holes inside be respectively provided with micro-burst motor a 12-7, the flexibility facies palmaris 12-4 and be covered in the volar plate 12-1
On, it is fixed by glue.
Described massaging bed 1 includes bedstead 1-1, guide rail 1-2, sliding block 1-3, bed board 1-4 and cushion 1-5 compositions.The bedstead
1-1 is welded by rectangle steel, and 1 two guide rails 1-2, the guide rail 1-2 are equipped on the bedstead 1-1 and are equipped with several sliding blocks
1-3.The bed board 1-4 and sliding block 1-3 is rigidly connected, and on the bed board 1-4, is equipped with cushion 1-5, comfortable for improving
Property.
The side stand component 2 includes bottom plate 2-1, both side plate 2-2 and U-steel 2-3 compositions.The both side plate 2-2 is arch bridge
Shape, the aesthetics for improving massage robot.Two pieces of bottom plate 2-1 are equipped in the both side plate 2-2 central bottoms, is used for and pushes away
It is connected by bed 1.It is equipped with channel-section steel 2-3 in the both side plate 2-2 middle upper parts, for connecting with the first screw slide module 4
It connects.
The utility model proposes a kind of the advantages of massage robot to be that massaging bed bed board can pull out, and makes patient can be with
It very easily lies down, reduces the constriction of patient.Secondly, this massage robot is equipped with Dextrous Hand, can complete the palm and rub, refer to and rub
Posture changing, cooperation massage mechanical arm can be slapped with complete independently rub, refer to rub, method of shaking, bat method, by the common gimmick such as method.
The realization process of four kinds of main massage manipulations：
The realization process for method of shaking：Bed board 12-4 is pulled out first, after being lain prone on bed board 12-4 by massage people, by bed board 12-4
It resets, completes the preparation operation before massaging.Then by rotating electric cylinders 3 so that 12 flexibility facies palmaris 12-4 courts flexible of Dextrous Hand
Under, make flexible facies palmaris 12-4 with after human contact by push rod electric cylinders 8, Vibration on Start-up motor 12-7 carries out method operation of shaking.
The palm rubs the realization process of method：After completing preparation operation identical with the method for shaking, so that manipulator is soft by rotating electric cylinders
Property facies palmaris 12-4 downward, make flexible facies palmaris 12-4 by push rod electric cylinders 8 and after human contact, start decelerating motor 12-6 and slapped
Rub method operation.
Refer to the realization process for method of rubbing：After completing preparation operation identical with the method for shaking, make Dextrous Hand 12 by rotating electric cylinders 3
Finger 12-5 finger tips downward, then make the finger 12-5 finger tips of Dextrous Hand 12 with after human contact, startup subtracts by push rod electric cylinders 8
Speed motor 12-6, which refer to, rubs method operation.
The realization process of bat method：After completing preparation operation identical with the method for shaking, make the soft of Dextrous Hand 12 by rotating electric cylinders
Property facies palmaris 12-4 downward, rapid decrease after being promoted Dextrous Hand 12 by push rod electric cylinders 8 carries out the operation of bat method.
Dextrous Hand 12 the acupuncture point at people back walk by the first screw slide module 4 and the second screw slide module 7 come
It realizes, Dextrous Hand 1 is bonded to human body back and is realized by push rod electric cylinders 8.
Claims (4)
1. a kind of massage robot, it is characterised in that：Including massaging bed (1), side stand component (2), revolution electric cylinders (3), first
Thick stick slide unit module (4), the first connecting plate (5), transmission shaft (6), the second screw slide module (7), push rod electric cylinders (8), second connect
Fishplate bar (9), third connecting plate (10), the 4th connecting plate (11), Dextrous Hand (12)；Massaging bed (1) both sides are respectively set one
A side stand component (2), one the first screw slide module (4) of each installation on the side stand component (2), described two first
Screw slide module (4) is coupled by transmission shaft (6), is synchronized and is driven using same motor；In described two first screw slides
It is transversely mounted a second screw slide module (7) on module (4), the first screw slide module (4) and second described
Thick stick slide unit module (7) is connected by the first connecting plate (5)；The push rod electric cylinders (8) by the second connecting plate (9) vertically
It is connect with the second screw slide module (7)；The revolution electric cylinders (3) are connected to the push rod electric cylinders by third connecting plate (10)
(8) bottom；The Dextrous Hand (12) is arranged by the 4th connecting plate (11) on the turntable of the revolution electric cylinders (3).
2. a kind of massage robot according to claim 1, it is characterised in that：The Dextrous Hand (12) includes volar plate (12-
1), palm body (12-2), palm cover board (12-3), flexible facies palmaris (12-4), finger (12-5), decelerating motor (12-6), vibrating motor
(12-7), the first bent axle (12-8), circlip (12-9), flange bearing (12-10), thrust bearing (12-11) and second are bent
Axis (12-12)；On the palm body (12-2), there are four through-holes, one of them is for being arranged the decelerating motor (12-6), institute
It states decelerating motor (12-6) output shaft and the first bent axle (12-8) is rigidly connected；Distinguish one end of second bent axle (12-12)
It is connect with its excess-three through-hole on palm body (12-2), the other end of first bent axle (12-8) and the second bent axle (12-12)
It is connect with volar plate (12-1)；It is respectively equipped with flange on the periphery that second bent axle (12-12) coordinates with palm body (12-2)
Bearing (12-10) coordinates for reducing the frictional force in rotation process in second bent axle (12-12) and palm body (12-2)
Shaft shoulder face be respectively equipped with a thrust bearing (12-11), rub the pressure in method operating process on vertical direction for bearing；
First bent axle (12-8) and the second bent axle (12-12) are also respectively equipped with a method on the periphery of volar plate (12-1) cooperation
Blue bearing (12-10) is used to reduce the frictional force in rotation process, in first bent axle (12-8) and the second bent axle (12-12)
It is vertical in method operating process for bearing to rub with a thrust bearing (12-11) is respectively equipped on the shaft shoulder face of volar plate (12-1) cooperation
Side upwards pressure；It is equipped with the end of thrust bearing (12-11) all in first bent axle (12-8) and the second bent axle (12-12)
Be mounted with circlip (12-9), circlip (12-9) for realizing thrust bearing (12-11) axially position；The finger
(12-5) is rigidly connected with volar plate (12-1), and across the intermediate throughholes of palm body (12-2) and palm cover board (12-3)；In the palm
A micro-burst motor (12-7) is respectively provided with inside four blind holes on plate (12-1), the flexibility facies palmaris (12-4) is covered in
On the volar plate (12-1), fixed by glue.
3. a kind of massage robot according to claim 1, it is characterised in that：Massaging bed (1) includes bedstead (1-
1), guide rail (1-2), sliding block (1-3), bed board (1-4) and cushion (1-5) composition；The bedstead (1-1) by rectangle steel weld and
At equipped with two guide rails (1-2) on the bedstead (1-1), the guide rail (1-2) is equipped with several sliding blocks (1-3)；The bed
Plate (1-4) is rigidly connected with the sliding block (1-3), on the bed board (1-4), is equipped with cushion (1-5), comfortable for improving
Property.
4. a kind of massage robot according to claim 1, it is characterised in that：The side stand component (2) includes bottom plate (2-
1), both side plate (2-2) and U-steel (2-3) composition；The both side plate (2-2) is arch-shaped, for improving massage robot
Aesthetics；Two pieces of bottom plates (2-1) are equipped in the both side plate (2-2) central bottom, for being connected with massaging bed (1)；Described
Both side plate (2-2) middle upper part is equipped with channel-section steel (2-3), for being connected with the first screw slide module (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720704718.8U CN207768708U (en) | 2017-06-16 | 2017-06-16 | A kind of massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720704718.8U CN207768708U (en) | 2017-06-16 | 2017-06-16 | A kind of massage robot |
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| Publication Number | Publication Date |
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| CN207768708U true CN207768708U (en) | 2018-08-28 |
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ID=63218892
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| CN201720704718.8U Active CN207768708U (en) | 2017-06-16 | 2017-06-16 | A kind of massage robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107095771A (en) * | 2017-06-16 | 2017-08-29 | 张家港科康智能科技有限公司 | A kind of massage robot |
| CN109528466A (en) * | 2018-10-22 | 2019-03-29 | 河南科技大学第附属医院 | A kind of thoracic surgery rehabilitation nursing equipment |
| CN109568112A (en) * | 2019-01-24 | 2019-04-05 | 金伟 | A kind of abdominal distension flexibility massage adjuvant therapy device |
| CN109646264A (en) * | 2019-02-15 | 2019-04-19 | 西安雁塔天佑儿童医院有限公司 | A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning |
| CN110916999A (en) * | 2019-12-20 | 2020-03-27 | 长江航运总医院 | Acupuncture and moxibustion rehabilitation massage device |
-
2017
- 2017-06-16 CN CN201720704718.8U patent/CN207768708U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107095771A (en) * | 2017-06-16 | 2017-08-29 | 张家港科康智能科技有限公司 | A kind of massage robot |
| CN109528466A (en) * | 2018-10-22 | 2019-03-29 | 河南科技大学第附属医院 | A kind of thoracic surgery rehabilitation nursing equipment |
| CN109528466B (en) * | 2018-10-22 | 2021-01-19 | 河南科技大学第一附属医院 | Rehabilitation and nursing equipment for thoracic surgery |
| CN109568112A (en) * | 2019-01-24 | 2019-04-05 | 金伟 | A kind of abdominal distension flexibility massage adjuvant therapy device |
| CN109646264A (en) * | 2019-02-15 | 2019-04-19 | 西安雁塔天佑儿童医院有限公司 | A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning |
| CN110916999A (en) * | 2019-12-20 | 2020-03-27 | 长江航运总医院 | Acupuncture and moxibustion rehabilitation massage device |
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