CN208926992U - A kind of robot device of massage armchair - Google Patents
A kind of robot device of massage armchair Download PDFInfo
- Publication number
- CN208926992U CN208926992U CN201821003545.8U CN201821003545U CN208926992U CN 208926992 U CN208926992 U CN 208926992U CN 201821003545 U CN201821003545 U CN 201821003545U CN 208926992 U CN208926992 U CN 208926992U
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- China
- Prior art keywords
- kneading
- walking axle
- active walking
- mounting rack
- taps
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Abstract
The utility model relates to a kind of robot devices of massage armchair, including mounting rack, mounting rack is equipped with massage assembly, massage assembly includes to crank arm and massage wheels, massage wheels are mounted on crank arm on, mounting rack is equipped with the kneading that driving is cranked arm and taps component, walking component is additionally provided on mounting rack, component of walking includes the first active walking axle and the second active walking axle being rotatably arranged on mounting rack, first active walking axle is parallel to each other with the second active walking axle, the both ends of first active walking axle are respectively equipped with the first idler wheel, the both ends of second active walking axle are respectively equipped with the second idler wheel, first active walking axle is being equipped with first gear at the first idler wheel, second active walking axle is being equipped with second gear at the second idler wheel, first gear and second gear offset one from another, mounting rack is equipped with the first active walking axle of driving and second The actuator of active walking axle rotation.Using the above scheme, structure is simple, stable transmission, has the function of kneading and beats.
Description
Technical field
The utility model relates to massage armchair technical field, especially a kind of robot device of massage armchair.
Background technique
Existing massage armchair includes massage armchair skeleton and massage mechanism, and massage armchair skeleton is equipped with guide rail, massage mechanism packet
Mounting rack is included, mounting rack can slide up and down along guide rail, be equipped on mounting rack and carry out the kneading component of kneading to human body and to people
The percussion component that body is tapped is equipped with the walking component that driving mounting rack is moved along guide rail, walking between mounting rack and guide rail
Component includes active walking axle, walking roller, walking gear and movable motor, and active walking axle is rotatably arranged on mounting rack,
Movable motor is fixed on mounting rack, and active walking axle is driven to rotate, and the end of active walking axle is arranged in walking roller
Portion position, and can be rolled along guide rail, one side of walking roller is arranged in walking gear, and guide rail is equipped with and walking gear phase
The rack gear of engagement, movable motor drive walking gear rotation, so as to drive mounting rack to slide up and down along guide rail.
The mounting rack of this kind of massage armchair thereon is driven by an active walking axle, is additionally provided with cooperation on mounting rack
The driven walking axle of active walking axle, however angle can be adjusted by working as backrest frames, the guide rail on backrest frames and seat bone
Guide rail on frame disconnects setting, and two guide rails are not that continuously, the rack gear on backrest frames and chair framework does not have continuity,
Only it is difficult that mounting rack is driven to move back and forth between backrest frames and chair framework by an active walking axle.
Summary of the invention
The utility model overcomes the deficiencies in the prior art, provides a kind of robot device of massage armchair, structure letter
Single, stable transmission has the function of kneading and beats.
To achieve the goals above, the technical solution adopted in the utility model is: a kind of robot device of massage armchair, packet
Include mounting rack, the mounting rack is equipped with massage assembly, and the massage assembly includes to crank arm and massage wheels, the massage wheels peace
On cranking arm, the mounting rack is equipped with driving and cranks arm and the kneading of massage wheels interoperation percussion component, the mounting rack
On be additionally provided with walking component, the walking component include the first active walking axle being rotatably arranged on mounting rack and second actively
Walking axle, the first active walking axle and the second active walking axle are parallel to each other and are spaced setting, the first active walking axle
Both ends are respectively equipped with the first idler wheel, and the both ends of the second active walking axle are respectively equipped with the second idler wheel, the first active walking axle
First gear is being equipped at the first idler wheel, the second active walking axle is being equipped with second gear at the second idler wheel,
First gear and second gear shift to install, and mounting rack is equipped with the first active walking axle of driving and the second active walking axle rotates
Actuator.
By using above scheme, massage wheels are rotatably arranged on crank arm on, kneading taps component and can drive and cranks arm to human body
It carries out kneading and human body is tapped, massage wheels and skin contact are massaged, and more comfortably, rotation is provided with first on mounting rack
Active walking axle and the second active walking axle, the first active walking axle and the second active walking axle are driven simultaneously by actuator, band
Dynamic mounting rack walking movement, provides two active walking axles, when the guide rail on the guide rail and chair framework on backrest frames is disconnected
Open up and set, and the rack gear on backrest frames and chair framework do not have continuity, can also drive mounting rack backrest frames with
It is moved back and forth between chair framework, first gear and second gear shift to install, and first gear setting is in second gear close to the
The side of one guide rail, when mounting rack is moved between backrest frames and chair framework, first gear and second gear can be distinguished
It is meshed with corresponding rack gear, drives mounting rack mobile by the first active walking axle and the second active walking axle, idler wheel can make to pacify
It is more smooth to shelve movement, the backrest frames of massage armchair can be met in adjustable situation by the way that two active walking axles are arranged
Under, mounting rack also can normal walking, structure is simple, stable transmission.
The utility model is further arranged so that the actuator includes movable motor, and movable motor is fixed at peace
It shelves, and between the first active walking axle and the second active walking axle, it is defeated that the movable motor has been disposed opposite to each other first
Shaft and the second output shaft, the first output shaft and the first active walking axle are perpendicular, the second output shaft and the second active walking axle
Perpendicular, the first output shaft is equipped with the first worm screw, and the first active walking axle is equipped with and first at corresponding first worm screw
The first worm gear that worm screw is meshed, the second output shaft are equipped with the second worm screw, and the second active walking axle is in corresponding second snail
The second worm gear being meshed with the second worm screw is equipped at bar.
By using above scheme, movable motor can drive the first output shaft and the second output shaft to rotate simultaneously, the first snail
Bar and the first output shaft synchronous rotate, and the first worm gear and the first active walking axle rotate synchronously, and the first worm screw drives the first worm gear
Rotation is, it can be achieved that the first output shaft drives the first active walking axle to rotate and can play certain decelerating effect；Second worm screw with
The rotation of second output shaft synchronous, the second worm gear and the second active walking axle rotate synchronously, and the second worm screw drives the rotation of the second worm gear,
The second output shaft can be achieved to drive the second active walking axle to rotate and certain decelerating effect can be played, and by a walking electricity
Machine drives the first active walking axle and the rotation of the second active walking axle simultaneously, compact-sized, occupies smaller space, reduces electricity
The use number of machine, reduces costs.
The utility model is further arranged so that described one end cranked arm is equipped with bearing of cranking arm, and the other end cranked arm is hinged
It is provided with wheel carrier, the massage wheels are rotatably arranged on wheel carrier, and the wheel carrier is equipped with pillar, described to crank arm at corresponding pillar
Equipped with limiting slot, limiting slot is arranged along the rotary motion trace of pillar, and pillar is inserted in limiting slot, and pillar can be with the end phase of limiting slot
It contradicts, wheel carrier and is equipped with the first back-moving spring that driving wheel carrier resets between cranking arm.
Effect is compressed, wheel carrier can be carried out along limiting slot when massage wheels and human body are inconsistent by using above scheme
It swings, until the end of pillar and limiting slot on wheel carrier is inconsistent, so that two massage wheels can fit with human body, is convenient for
The tilt angle of adjusting massage wheel, massage is more comfortable, and when removing conflict, wheel carrier carries out under the action of first back-moving spring
It resets, structure is simple.
The utility model is further arranged so that the kneading percussion component includes kneading structure, the kneading structure packet
It includes kneading and taps frame, kneading taps frame and is fixed on mounting rack, and kneading taps and is fixedly installed kneading motor, kneading on frame
The output shaft of motor is equipped with kneading driving wheel, and kneading, which taps also to rotate on frame, is provided with kneading worm screw and kneading shaft, described to rub
Pinch worm screw and the output shaft of kneading motor be parallel to each other, kneading worm screw be equipped with kneading driven wheel, kneading driving wheel and kneading from
It is driven between driving wheel by kneading belt, the kneading shaft is perpendicular to the output shaft of kneading motor, and kneading shaft is in corresponding kneading snail
The kneading worm gear being meshed with kneading worm screw is equipped at bar, the both ends of kneading shaft are respectively arranged with drift angle wheel, and drift angle takes turns and cranks arm
Bearing connection.
By using above scheme, the rotation of kneading motor driven kneading driving wheel, kneading driving wheel passes through kneading belt band
Dynamic kneading driven wheel rotation, kneading driven wheel and kneading worm screw rotate synchronously, and kneading worm screw drives the rotation of kneading worm gear, kneading snail
Wheel is rotated synchronously with kneading shaft, and kneading shaft drives the movement of drift angle crop rotation drift angle, and drift angle wheel is sheathed on crank pin and holds, to drive song
Arm makees rotation by a small margin, by massage wheels effect on human body, realizes kneading movement, structure is simple, is driven more stable.
The utility model is further arranged so that the kneading taps component including tapping structure, the percussion structure packet
It includes and taps motor and tap axis, tap motor and be fixed at kneading percussion side of the frame far from kneading shaft, tap the defeated of motor
Shaft is parallel to each other with kneading shaft, and the percussion axis is rotatably arranged on kneading and taps on frame, and is located at and taps motor and kneading
It between motor, taps axis and is parallel to each other with the output shaft for tapping motor, the output shaft for tapping motor, which is equipped with, taps driving wheel, strikes
It hits axis and is equipped with percussion driven wheel, tap and be driven between driving wheel and percussion driven wheel by tapping belt, tap the end of axis
With percussion shaft body at eccentric setting, the both ends for tapping axis are respectively arranged with percussion bearing block, tap and are connected with ball on bearing block
Head connecting rod, the bar portion of ball head connecting rod, which is fixed at, to be tapped on bearing block, and the head of ball head connecting rod is connect with cranking arm.
By using above scheme, taps motor driven and tap driving wheel rotation, tap driving wheel by tapping belt band
It is dynamic to tap driven wheel rotation, it taps driven wheel and is rotated synchronously with axis is tapped, tap axis and percussion bearing block is driven to make eccentric motion, strike
Hit bearing block and tap axis cooperation, so that ball head connecting rod is generated vibration, crank arm vibration realizing hammer action to drive, crank arm on set
There is the bulb chamber that cooperation is rolled with the head of ball head connecting rod, the head of ball head connecting rod and bulb chamber cooperate, and can avoid locking
The case where, each component is arranged at kneading and taps on frame, and the design of each component locations is rationally, and structure is more compact.
The utility model is further arranged so that described crank arm is equipped with driving between mounting rack and cranks arm the second of reset
Reset spring, an end hook of second back-moving spring is located at crank arm on, another end hook is located on mounting rack.
By using above scheme, second back-moving spring, which can drive to crank arm, to be resetted, and structure is simple.
The utility model is further described with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the positive structure schematic of the utility model embodiment；
Fig. 2 is the reverse structure schematic of the utility model embodiment；
Fig. 3 is the mounting structure schematic diagram of the first active walking axle and the second active walking axle；
Fig. 4 is massage assembly, kneading structure and the cooperation schematic diagram for tapping structure；
Fig. 5 is the fit structure schematic diagram cranked arm with massage wheels；
Fig. 6 is the schematic diagram of kneading structure；
Fig. 7 is the schematic diagram for tapping structure；
Fig. 8 is the structural schematic diagram for tapping axis.
Specific embodiment
As Figure 1-Figure 8, a kind of robot device of massage armchair, including mounting rack 1, mounting rack 1 are equipped with massage group
Part, massage assembly include crank arm 21 and massage wheels 22, and massage wheels 22, which are mounted on, cranks arm on 21, and it is bent that mounting rack 1 is equipped with driving
The kneading of arm 21 and 22 interoperation of massage wheels taps component, and it includes kneading structure 3 and percussion structure 4, peace that kneading, which taps component,
It shelves and is additionally provided with walking component on 1, walking component includes the first active walking axle 51 and second being rotatably arranged on mounting rack 1
Active walking axle 5, the first active walking axle 51 and the second active walking axle 52 are parallel to each other and are spaced setting, and first actively walks
The both ends of axis 51 are fixed respectively or have been wholely set the first idler wheel 61, and the both ends of the second active walking axle 52 are fixedly installed respectively
Second idler wheel 62, the first active walking axle 51 are fixing or are being wholely set first gear 71 at the first idler wheel 61, and second
Second gear 72, first gear 71 and second gear are being fixed or be wholely set to active walking axle 52 at the second idler wheel 62
72 shift to install, and second gear 72 is arranged in close to the side of the second idler wheel 62 in first gear 71, and mounting rack 1 is equipped with driving the
The actuator of one active walking axle 51 and the rotation of the second active walking axle 52, actuator includes movable motor 81, movable motor 81
It is fixed on mounting rack 1, and between the first active walking axle 51 and the second active walking axle 52,81 phase of movable motor
Back is provided with the first output shaft 811 and the second output shaft 812, and the first output shaft 811 and the first active walking axle 51 are perpendicular, the
Two output shafts 812 and the second active walking axle 52 are perpendicular, fix or be wholely set the first worm screw on the first output shaft 811
82, first to be meshed with the first worm screw 82 is fixed or be wholely set to the first active walking axle 51 at corresponding first worm screw 82
Worm gear 83 fixes or has been wholely set the second worm screw 84 on second output shaft 812, and the second active walking axle 52 is in corresponding second snail
The second worm gear 85 being meshed with the second worm screw 84 is fixed or is wholely set at bar 84.It can of course be using two motor difference
The first active walking axle 51 and the second active walking axle 52 is driven to rotate, it can also be using the first active of structure driving of belt pulley
Walking axle 51 and the second active walking axle 52 rotate.
In the present embodiment, crank arm 21 one end is equipped with and cranks arm bearing 23, and 21 other end of cranking arm hingedly is provided with wheel carrier
24, massage wheels are symmetrically rotatably arranged on wheel carrier 24 at two, and wheel carrier 24 is equipped with pillar 241, crank arm 21 in corresponding pillar 241
Place is equipped with limiting slot 211, and limiting slot 211 is arranged along the rotary motion trace of pillar 241, and pillar 241 is inserted in limiting slot 211, pillar
241 can be inconsistent with the end of limiting slot 211, realizes to the rotary spacing of wheel carrier 24, wheel carrier 24 and cranks arm to be equipped between 21 and drives
The first back-moving spring 25 that driving wheel frame 24 resets, 25 1 end hook of first back-moving spring are located on wheel carrier 24, and another end hook is located at song
On arm 21.
In the present embodiment, kneading structure 3 includes that kneading taps frame 31, and kneading taps frame 31 and is fixed at mounting rack 1
On, kneading taps and is fixedly installed kneading motor 32 on frame 31, and kneading is fixedly installed on the output shaft of kneading motor 32 actively
Wheel 33, kneading, which taps also to rotate on frame 31, is provided with kneading worm screw 34 and kneading shaft 35, kneading worm screw 34 and kneading motor 32
Output shaft is parallel to each other, and kneading driven wheel 36, kneading driving wheel 33 and kneading driven wheel 36 are fixedly installed on kneading worm screw 34
Between be driven by kneading belt 37, kneading shaft 35 is perpendicular to the output shaft of kneading motor 32, and kneading shaft 35 is in corresponding kneading snail
The kneading worm gear 38 being meshed with kneading worm screw 34 is fixedly installed at bar 34, the both ends of kneading shaft 35 are fixedly installed partially respectively
Horn ring 39, drift angle wheel 39 are sheathed on bearing 23 of cranking arm.
In the present embodiment, percussion structure 4 includes tapping motor 41 and tapping axis 42, and percussion motor 41, which is fixed at, to be rubbed
It pinches and taps side of the frame 31 far from kneading shaft 35, the output shaft for tapping motor 41 is parallel to each other with kneading shaft 35, taps 42 turns of axis
Dynamic setting taps on frame 31 in kneading, and is located at and taps between motor 41 and kneading motor 32, taps axis 42 and taps motor
41 output shaft is parallel to each other, and taps and fixes or be wholely set percussion driving wheel 43 on the output shaft of motor 41, taps axis 42
Upper fixation has been wholely set percussion driven wheel 44, taps driving wheel 43 and taps between driven wheel 44 by tapping the biography of belt 45
It is dynamic, the end 421 of axis 42 and the main body of percussion axis 42 are tapped into eccentric setting, and the both ends for tapping axis 42 are fixedly installed respectively strikes
Bearing block 46 is hit, taps and is connected with ball head connecting rod 47 on bearing block 46, the bar portion 471 of ball head connecting rod 47 is fixed at percussion axis
It holds on seat 46, cranks arm 21 equipped with the bulb chamber 212 for rolling cooperation with the head 472 of ball head connecting rod 47, the head of ball head connecting rod 47
Portion 472 is inserted in bulb chamber 212.
In the present embodiment, it cranks arm and is equipped with driving between 21 and mounting rack 1 and cranks arm the second back-moving springs 26 of 21 resets, the
One end hook of two reset springs 26, which is located at, cranks arm on 21, and another end hook is located on mounting rack 1.
Above embodiments, only one kind of the utility model preferably specific embodiment, those skilled in the art are in this reality
It is included in the protection scope of the utility model with the usual variations and alternatives carried out in new technique aspects.
Claims (6)
1. a kind of robot device of massage armchair, including mounting rack, the mounting rack is equipped with massage assembly, the massage assembly
Include to crank arm and massage wheels, the massage wheels are mounted on crank arm on, the mounting rack is equipped with driving and cranks arm matches with massage wheels
The kneading of conjunction movement taps component, is additionally provided with walking component on the mounting rack, it is characterised in that: the walking component includes turning
Dynamic the first active walking axle and the second active walking axle being arranged on mounting rack, the first active walking axle are actively walked with second
Axis is parallel to each other and is spaced setting, and the both ends of the first active walking axle are respectively equipped with the first idler wheel, and described second actively goes
The both ends for walking axis are respectively equipped with the second idler wheel, and the first active walking axle is being equipped with first gear at the first idler wheel, and described the
Two active walking axles are being equipped with second gear at the second idler wheel, and first gear and second gear shift to install, on mounting rack
Actuator equipped with the first active walking axle of driving and the rotation of the second active walking axle.
2. a kind of robot device of massage armchair according to claim 1, it is characterised in that: the actuator includes walking
Motor, movable motor are fixed on mounting rack, and between the first active walking axle and the second active walking axle, described
Movable motor has been disposed opposite to each other the first output shaft and the second output shaft, and the first output shaft and the first active walking axle are perpendicular, the
Two output shafts and the second active walking axle are perpendicular, and the first output shaft is equipped with the first worm screw, and the first active walking axle exists
It is equipped with the first worm gear being meshed with the first worm screw at corresponding first worm screw, the second output shaft is equipped with the second worm screw, and described the
Two active walking axles are equipped with the second worm gear being meshed with the second worm screw at corresponding second worm screw.
3. a kind of robot device of massage armchair according to claim 1 or 2, it is characterised in that: described one end cranked arm
Equipped with bearing of cranking arm, the other end cranked arm hingedly is provided with wheel carrier, and the massage wheels are rotatably arranged on wheel carrier, on the wheel carrier
Equipped with pillar, described crank arm is equipped with limiting slot at corresponding pillar, and limiting slot is arranged along the rotary motion trace of pillar, and pillar is inserted in
Limiting slot, pillar can be inconsistent with the end of limiting slot, wheel carrier and are equipped with driving wheel carrier resets first between cranking arm and reset bullet
Spring.
4. a kind of robot device of massage armchair according to claim 3, it is characterised in that: the kneading taps component packet
Kneading structure is included, the kneading structure includes that kneading taps frame, and kneading taps frame and is fixed on mounting rack, and kneading taps frame
On be fixedly installed kneading motor, the output shaft of kneading motor is equipped with kneading driving wheel, and kneading taps also rotation setting on frame
There are kneading worm screw and kneading shaft, the kneading worm screw and the output shaft of kneading motor are parallel to each other, and kneading worm screw is equipped with kneading
Driven wheel is driven between kneading driving wheel and kneading driven wheel by kneading belt, and the kneading shaft is perpendicular to kneading motor
Output shaft, kneading shaft are equipped with the kneading worm gear being meshed with kneading worm screw, the both ends difference of kneading shaft at corresponding kneading worm screw
It is provided with drift angle wheel, drift angle wheel is connect with bearing of cranking arm.
5. a kind of robot device of massage armchair according to claim 4, it is characterised in that: the kneading taps component packet
Percussion structure is included, for the percussion structure including tapping motor and tapping axis, it is separate that percussion motor is fixed at kneading percussion frame
The side of kneading shaft, the output shaft and kneading shaft for tapping motor are parallel to each other, and the percussion axis is rotatably arranged on kneading and taps frame
On, and be located at and tap between motor and kneading motor, it taps axis and is parallel to each other with the output shaft for tapping motor, tap motor
Output shaft is equipped with percussion driving wheel, taps axis and is equipped with percussion driven wheel, taps and pass through between driving wheel and percussion driven wheel
Belt transmission is tapped, the end of axis is tapped and taps shaft body into eccentric setting, the both ends for tapping axis are respectively arranged with percussion axis
Seat is held, taps and is connected with ball head connecting rod on bearing block, the bar portion of ball head connecting rod, which is fixed at, to be tapped on bearing block, ball head connecting rod
Head connect with cranking arm.
6. a kind of robot device of massage armchair according to claim 3, it is characterised in that: it is described crank arm with mounting rack it
Between be equipped with driving and crank arm the second back-moving spring of reset, an end hook of second back-moving spring is located at crank arm on, another end hook is located at
On mounting rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821003545.8U CN208926992U (en) | 2018-06-27 | 2018-06-27 | A kind of robot device of massage armchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821003545.8U CN208926992U (en) | 2018-06-27 | 2018-06-27 | A kind of robot device of massage armchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208926992U true CN208926992U (en) | 2019-06-04 |
Family
ID=66715561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821003545.8U Active CN208926992U (en) | 2018-06-27 | 2018-06-27 | A kind of robot device of massage armchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208926992U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111920667A (en) * | 2020-08-18 | 2020-11-13 | 武汉理工大学 | 3D massage manipulator |
| CN113397941A (en) * | 2021-07-05 | 2021-09-17 | 豪中豪健康科技有限公司 | Massage manipulator with front-mounted shaft seat and rotatable arm for collection |
| CN113509369A (en) * | 2021-04-14 | 2021-10-19 | 尹钢 | Profiling manipulator |
| WO2021212642A1 (en) * | 2020-04-21 | 2021-10-28 | 恒林家居股份有限公司 | Chair and massage mechanism therefor |
-
2018
- 2018-06-27 CN CN201821003545.8U patent/CN208926992U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021212642A1 (en) * | 2020-04-21 | 2021-10-28 | 恒林家居股份有限公司 | Chair and massage mechanism therefor |
| CN111920667A (en) * | 2020-08-18 | 2020-11-13 | 武汉理工大学 | 3D massage manipulator |
| CN113509369A (en) * | 2021-04-14 | 2021-10-19 | 尹钢 | Profiling manipulator |
| CN113509369B (en) * | 2021-04-14 | 2023-12-01 | 浙江豪中豪健康产品有限公司 | Profiling manipulator |
| CN113397941A (en) * | 2021-07-05 | 2021-09-17 | 豪中豪健康科技有限公司 | Massage manipulator with front-mounted shaft seat and rotatable arm for collection |
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