CN208436041U - Sliding sleeve slide rail type 2D manipulator - Google Patents

Abstract

The utility model discloses a kind of sliding sleeve slide rail type 2D manipulators, including plate of walking, there are two symmetrical openings for setting on walking plate, corresponding two aperture positions in rear end of walking plate are respectively set that there are two swing arms, the cantilever arm across opening to stretching in front of walking plate is connected in two swing arms, massage ball is provided on cantilever arm, the rear end for plate of walking, which is provided with, drives swing arm motion with the percussion component and walking component of the kneading component, drive swing arm motion realization percussion massage motion of realizing kneading massage movement.Sliding sleeve slide rail type 2D manipulator provided by the utility model, compared with the prior art, structure is simple, cost is lower, transmission efficiency is higher, it is easy to produce static electricity not allow, has better stability, and rationally distributed, compact-sized.

Description

Sliding sleeve slide rail type 2D manipulator

Technical field

The utility model relates to a kind of sliding sleeve slide rail type 2D manipulators.

Background technique

Sliding sleeve slide rail type 2D manipulator is a kind of massager core of driving walking with sliding sleeve and sliding rail, in the prior art Sliding sleeve slide rail type 2D manipulator, it is general using the multi-rib-belt and belt worked in coordination due to the limitation of structure and layout It takes turns to realize the transmission on 2D manipulator between motor and axis, but due to bringing many defects using this kind of drive, Such as:

1, it due to relying on frictional force to be driven between multi-rib-belt and belt pulley, often has skidded, reduces transmission effect Rate；2, friction is easy to produce electrostatic between multi-rib-belt and belt pulley, to interfere control route；3, since user can not be adjusted Multi-rib-belt tightness is used for a long time and be easy to cause multi-rib-belt relaxation, affects the stability that massage armchair uses, and use the longevity It orders limited.

Utility model content

In view of the deficiencies of the prior art, the utility model provides a kind of sliding sleeve slide rail type 2D manipulator, compared with the prior art For, structure is simple, cost is lower, transmission efficiency is higher, it is easy to produce static electricity not allow, has better stability, and is laid out and closes It manages, is compact-sized.

To achieve the above object, the utility model provides a kind of sliding sleeve slide rail type 2D manipulator, including walking plate, walking There are two symmetrical opening, corresponding two aperture positions in the rear end for plate of walking are respectively set there are two swing arm for setting on plate, It is connected with the cantilever arm across opening to stretching in front of walking plate in two swing arms, is provided with massage ball on cantilever arm, walks The rear end of plate be provided with drive swing arm motion with realize kneading massage movement kneading component, drive swing arm motion realize tap by Rub the percussion component and walking component of movement, and the middle position of corresponding two openings in walking plate rear end is provided with shaft installation Seat, shaft mounting base include two support plates, and interval is formed with accommodation groove between two support plates, and the kneading component includes rubbing Motor, kneading eccentric shaft and two kneading transmission mechanisms are pinched, it is the next that kneading eccentric shaft is horizontally set at leaning on for shaft mounting base It sets, kneading motor is longitudinally disposed in accommodation groove, and the first worm screw, kneading eccentric shaft are fixed on kneading motor output shaft directed downwardly On be fixed with the first helical gear with the first worm screw engaged transmission, the first helical gear is located in accommodation groove, two kneadings biographies Motivation structure is respectively arranged on kneading eccentric shaft corresponding two openings, two kneading transmission mechanisms also respectively with two openings Swing arm be correspondingly connected with；The percussion component includes tapping motor, tapping eccentric shaft and two percussion transmission mechanisms, is tapped inclined Mandrel is horizontally set at the upper position of shaft mounting base, taps motor and is horizontally set at walking plate rear end and is located at percussion bias The top of axis taps motor towards small helical gear is fixed on left output shaft, it is solid on the left of shaft mounting base to tap eccentric shaft Surely there is the king bolt gear with small helical gear engaged transmission, two percussion transmission mechanisms are respectively arranged at the left side for tapping eccentric shaft Right both ends, swing arm of two percussion transmission mechanisms also respectively with two openings are correspondingly connected with；The walking component includes difference The traveling sliding sleeve group and guide sleeve group being set at left and right sides of walking plate rear end.

By adopting the above technical scheme the advantages of is: due to being provided with the first worm screw on the output shaft of kneading motor, kneading is inclined It is provided with the first helical gear with the first worm screw engaged transmission 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 be realized the transmission 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 be realized 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 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 It is easy to produce electrostatic, keeps its work more stable.In addition, the setting of shaft mounting base can be inclined for kneading eccentric shaft and percussion Mandrel insertion rotation, it is thus possible to certain supporting role is played, it, can be by kneading electricity since shaft mounting base includes accommodation groove Machine is installed in accommodation groove, and certain protective effect is played to kneading motor.Due to kneading motor, tap motor, walking electricity Machine taps the components such as eccentric shaft and kneading eccentric shaft using above-mentioned layout type, so that the space benefit of the utility model With more reasonable, keep overall structure more compact, and gravity balance, further improve stability.

The kneading transmission mechanism includes kneading excentric sleeve, two kneadings as a further improvement of the utility model, The kneading excentric sleeve of transmission mechanism is individually fixed in corresponding two openings of kneading eccentric shaft, and two kneading transmission mechanisms are rubbed Excentric sleeve to be pinched to be connected with two swing arms respectively, kneading excentric sleeve and swing arm junction are provided with the first ball bearing, 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 have respectively included Two reversed eccentric gearratio of cycloid axle formation, 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 with two swing arm balls respectively, connects 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.

By adopting the above technical scheme the advantages of is: kneading eccentric shaft is able to drive the rotation of kneading excentric sleeve in rotation, It due to the wobbler action of kneading excentric sleeve, is able to drive swing arm and is swung, and then drive and put with the cantilever arm of swing arm pin joint Dynamic, two cantilever arms, which cooperate, to be moved, to complete kneading massage movement；It include gearratio of cycloid axle formation due to tapping eccentric shaft, Tap eccentric shaft makes gearratio of cycloid axle formation do eccentric rotary in rotation, and then does the ball head connecting rod seat being connected with gearratio of cycloid axle formation partially Heartbeat is dynamic, 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 cooperative movement, to complete to tap massaging action.

The traveling sliding sleeve group is set to walking plate rear end leftward position as a further improvement of the utility model, leads Walking plate rear end right positions are set to sliding sleeve group, traveling sliding sleeve group includes that there are two traveling sliding sleeve, two traveling sliding sleeves point It is not set to the walking plate rear end upper left corner and lower-left Angle Position, is provided with screw thread, guide sleeve group on the inner hole wall of traveling sliding sleeve Including there are two guide sleeve, two guide sleeves are respectively arranged at the walking plate rear end upper right corner and lower right position.

By adopting the above technical scheme the advantages of is: the setting of traveling sliding sleeve group and guide sleeve group can be respectively used to and massage Traveling sliding rail is connected with directive slide track in equipment, and traveling sliding rail has external screw thread, can be with traveling sliding sleeve screw thread in rotation Cooperation, and be mutually socketed between directive slide track and guide sleeve, anti-rotation and guiding role can be played, the two cooperates together can The steady traveling for realizing 2D manipulator makes the utility model since traveling sliding sleeve group and guide sleeve group use above-mentioned layout Layout more compact and reasonable, rationally utilize space, make advance it is more stable.

The first helical gear protective cover is provided in the accommodation groove as a further improvement of the utility model, it is described First helical gear is located in the first helical gear protective cover, is provided with reinforcement between the first helical gear protective cover and support plate Muscle, the shaft mounting base include the back plate covered to accommodation groove, and back plate is fixed in two support plates.

By adopting the above technical scheme the advantages of, is: due to the setting of the first helical gear protective cover, to kneading motor with rub Pinching junction between eccentric shaft has certain protective effect, can prevent foreign matter from entering, improve stability；Due to reinforcing rib Setting plays the role of the first helical gear protective cover to reinforce support；The setting of back plate has certain guarantor to motor is tapped Shield effect.

Detailed description of the invention

Fig. 1 is the structure chart of the utility model embodiment.

Specific embodiment

A kind of embodiment of sliding sleeve slide rail type 2D manipulator of the utility model includes walking plate 1, walking as shown in Figure 1: Setting is there are two symmetrical opening 12 on plate 1, there are two corresponding two 12 positions of opening in rear end of walking plate 1 are respectively set Swing arm 21 is connected in two swing arms 21 across opening to the cantilever arm 22 stretched out in front of walking plate 1, is arranged on cantilever arm 22 There is massage ball 23, the rear end of walking plate 1, which is provided with, drives the movement of swing arm 21 to realize the kneading component of kneading massage movement, drive The percussion component for tapping massage motion and walking component are realized in the movement of swing arm 21, corresponding two openings 12 in walking 1 rear end of plate Middle position is provided with shaft mounting base, and shaft mounting base includes two support plates 11, is spaced and is formed between two support plates 11 There is accommodation groove 13, the kneading component includes kneading motor (not shown), kneading eccentric shaft 31 and two kneading transmissions Mechanism 32, kneading eccentric shaft 31 are horizontally set at the upper position of shaft mounting base, kneading eccentric shaft 31 and two support plates 11 It is rotatably connected and two support plates 11 constitutes axial limiting to kneading eccentric shaft 31, kneading motor is longitudinally disposed at accommodation groove 13 In, it is fixed with the first worm screw 33 on kneading motor output shaft directed downwardly, is fixed on kneading eccentric shaft 31 and is nibbled with the first worm screw 33 The first helical gear 34 of transmission is closed, the first helical gear 34 is located in accommodation groove 13, and two kneading transmission mechanisms 32 are set respectively Be placed on kneading eccentric shaft 31 at corresponding two openings 12, two kneading transmission mechanisms 32 also respectively with the pendulum at two openings 12 Arm 21 is correspondingly connected with；The percussion component includes tapping motor 41, tapping eccentric shaft 42 and two percussion transmission mechanisms 43, is struck The upper position that eccentric shaft 42 is horizontally set at shaft mounting base 3 is hit, eccentric shaft 42 is tapped and rotatably connects with two support plates 11 It connects and two support plates, 11 pairs of percussion eccentric shafts 42 constitutes axial limiting, tap motor 41 and be horizontally set at walking 1 rear end of plate simultaneously Positioned at the top for tapping eccentric shaft 42, motor 41 is tapped towards small helical gear 44 is fixed on left output shaft, taps eccentric shaft 42 are fixed with the king bolt gear 45 with 44 engaged transmission of small helical gear, two percussion transmission mechanisms on the left of shaft mounting base 43 be respectively arranged at tap eccentric shaft 42 left and right ends, two percussion transmission mechanisms 43 also respectively with two opening 12 at pendulum Arm 21 is correspondingly connected with；The walking component includes the traveling sliding sleeve group and guiding being respectively arranged at left and right sides of walking 1 rear end of plate Sliding sleeve group.The kneading transmission mechanism 32 includes kneading excentric sleeve, the kneading excentric sleeve point of two kneading transmission mechanisms 32 Be not fixed at corresponding two openings 12 of kneading eccentric shaft, the kneading excentric sleeve of two kneading transmission mechanisms 32 respectively with two Swing arm 21 is connected, and kneading excentric sleeve and 21 junction of swing arm are provided with the first ball bearing, the inner ring of the first ball bearing It is mutually fixed with kneading excentric sleeve, outer ring and 21 phase of swing arm of the first ball bearing are fixed；The percussion transmission mechanism 43 includes The ball head connecting rod seat 43a and ball head connecting rod 43b of mutual pin joint, there are two the left and right ends for tapping eccentric shaft 42 respectively include Reversed eccentric gearratio of cycloid axle formation, the ball head connecting rod seat 43a of two percussion transmission mechanisms 43 are socketed on two eccentric shafts respectively each other Duan Shang, the ball head connecting rod 43b of two percussion transmission mechanisms 43 connect with two 21 balls of swing arm respectively, gearratio of cycloid axle formation and ball head connecting rod seat Junction is provided with the second ball bearing between 43a, and the inner ring of the second ball bearing is mutually fixed with gearratio of cycloid axle formation, the second ball axis The outer ring held is fixed with ball head connecting rod seat 43a phase.The traveling sliding sleeve group is set to walking 1 rear end leftward position of plate, and guiding is slided Set group is set to walking 1 rear end right positions of plate, and traveling sliding sleeve group includes there are two traveling sliding sleeve 51, and two traveling sliding sleeves 51 divide It is not set to the walking 1 rear end upper left corner of plate and lower-left Angle Position, guide sleeve group includes that there are two guide sleeve 52, two guiding Sliding sleeve 52 is respectively arranged at the walking 1 rear end upper right corner of plate and lower right position.The first helical tooth is provided in the accommodation groove 13 Protective cover 35 is taken turns, first helical gear 34 is located in the first helical gear protective cover 35, the first helical gear protective cover 35 It is provided with reinforcing rib 36 between support plate 11, the shaft mounting base includes the back plate that is covered to accommodation groove 13 (in figure It is not shown), back plate (not shown) is fixed in two support plates 11.

Above example, only one kind of the utility model preferably specific example, those skilled in the art are practical new at this The usual variations and alternatives carried out in type technical proposal scope are included in the protection scope of the utility model.

Claims (4)

1. a kind of sliding sleeve slide rail type 2D manipulator, including walking plate, there are two symmetrical opening, walkings for setting on plate of walking Corresponding two aperture positions in the rear end of plate are respectively set there are two swing arm, are connected in two swing arms across 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 rub to realize It pinches the kneading component of massaging action, swing arm motion is driven to realize the percussion component for tapping massage motion and walking component, it is special Sign is: the middle position of corresponding two openings in walking plate rear end is provided with shaft mounting base, and shaft mounting base includes two branch Fagging, interval is formed with accommodation groove between two support plates, and the kneading component includes kneading motor, kneading eccentric shaft and two A kneading transmission mechanism, kneading eccentric shaft are horizontally set at the upper position of shaft mounting base, and kneading motor is longitudinally disposed at appearance It sets in slot, the first worm screw is fixed on kneading motor output shaft directed downwardly, is fixed on kneading eccentric shaft and is engaged with the first worm screw First helical gear of transmission, the first helical gear are located in accommodation groove, and it is inclined that two kneading transmission mechanisms are respectively arranged at kneading Corresponding two openings, swing arm of two kneading transmission mechanisms also respectively with two openings are correspondingly connected in mandrel；It is described to strike Hitting component includes tapping motor, tapping eccentric shaft and two percussion transmission mechanisms, taps eccentric shaft and is horizontally set at shaft peace The upper position of seat is filled, motor is tapped and is horizontally set at walking plate rear end and is located at the top for tapping eccentric shaft, tap motor court Small helical gear is fixed on left output shaft, percussion eccentric shaft is fixed on the left of shaft mounting base and engages with small helical gear The king bolt gear of transmission, two percussion transmission mechanisms are respectively arranged at the left and right ends for tapping eccentric shaft, two percussion transmissions Swing arm of the mechanism also respectively with two openings is correspondingly connected with；The walking component includes being respectively arranged at walking plate rear end or so The traveling sliding sleeve group and guide sleeve group of two sides.

2. sliding sleeve slide rail type 2D manipulator according to 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 corresponding two openings of kneading eccentric shaft Place, the kneading excentric sleeve of two kneading transmission mechanisms are connected with two swing arms respectively, and kneading excentric sleeve is connect 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；Described to tap the ball head connecting rod seat and ball head connecting rod that transmission mechanism includes mutual pin joint, the percussion is inclined The left and right ends of mandrel respectively include that there are two gearratio of cycloid axle formation reversed eccentric 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 with two swing arm balls respectively, 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 claim 1 or sliding sleeve slide rail type 2D manipulator described in 2, it is characterised in that: the traveling sliding sleeve group is set It is placed in walking plate rear end leftward position, guide sleeve group is set to walking plate rear end right positions, and traveling sliding sleeve group includes two A traveling sliding sleeve, two traveling sliding sleeves are respectively arranged at the walking plate rear end upper left corner and lower-left Angle Position, guide sleeve group include There are two guide sleeve, two guide sleeves are respectively arranged at the walking plate rear end upper right corner and lower right position.

4. sliding sleeve slide rail type 2D manipulator according to claim 3, it is characterised in that: be provided in the accommodation groove One helical gear protective cover, first helical gear are located in the first helical gear protective cover, the first helical gear protective cover Reinforcing rib is provided between support plate, the shaft mounting base includes the back plate covered to accommodation groove, and back plate is fixed on In two support plates.