CN209187469U - Portable bionics massage back pounding apparatus - Google Patents
Portable bionics massage back pounding apparatus Download PDFInfo
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- CN209187469U CN209187469U CN201821124928.0U CN201821124928U CN209187469U CN 209187469 U CN209187469 U CN 209187469U CN 201821124928 U CN201821124928 U CN 201821124928U CN 209187469 U CN209187469 U CN 209187469U
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Abstract
Portable bionics massage back pounding apparatus belongs to massage apparatus technical field, it is therefore intended that solve the problems, such as it is of the existing technology have a single function, structure is complicated, it is bulky, massage comfort difference and it is inconvenient to carry.The utility model includes: pedestal；One end and pedestal the upper surface bionic arm hinged by arm jack, bionic arm include one end and hinged large arm and one end forearm hinged by elbow joint and the large arm other end of pedestal, and forearm drives relatively large crook of the arm folding to move by elbow joint；Pass through the hinged bionic hand of wrist and the bionic arm other end, bionic hand includes one end and the hinged palm and one end of the forearm the other end multiple fingers hinged by synchronism mechanism and the palm other end, multiple fingers drive the synchronous bending movement of palm opposite, the opposite bending in each finger both ends or stretching, extension by synchronism mechanism；And controller, it is acted by controller control biomimetics arm and bionic hand.
Description
Technical field
The utility model belongs to massage apparatus technical field, and in particular to a kind of portable bionics massage back pounding apparatus.
Background technique
In Chinese physical therapy practice, presses with finger, grabs and pinch, rub and push away human skin surface and subcutaneous tissue and related acupuncture point
Massage therapy means have pain, the fatigue for releasing human body in time, improve personal mechanism function, excitation and enhancing human immunity energy
Power shortens pathologic process.Therefore, massage whether there is or not pairs to make, quick, treatment cost is low, easily universal and convenient Chinese physical therapy and
Health-care effect.But massage doctor or massage person expend physical strength and refer to that power is big.
Currently, massage equipment is from complex degree of structure including two kinds in the market, one is Simple massaging devices, and one is multiple
Miscellaneous massage machine.For Simple massaging device, there are two types of structure types in the prior art, and one is column structure ends to have
Ball-shaped massaging head is held column structure and is beaten by ball-shaped massaging head to physical feeling, this kind of massage machine is independently grasped
Make, but local location can not be massaged, there are massage dead angles；Another kind is U-shaped massage machine, in U-shaped structure phase
Pair inner sidewall relative position be provided with massage head, neck is squeezed by the elastic force of U-shaped structure and the active force of both hands
Massage, single can only massage neck, totally see Simple massaging device, have a single function, and massage comfort is poor.For multiple
Miscellaneous massage machine, it is of all shapes and colors, have and turn ball-type, oscillatory type, Patting type etc., largely has a single function, structure is complicated, equipment body
Product it is big, at high cost, feel stiff, comfort level is poor, it is inconvenient to use carrying and should not store.
Utility model content
The purpose of this utility model is that proposing a kind of portable bionics massage back pounding apparatus, function of the existing technology is solved
Can it is single, structure is complicated, it is bulky, massage comfort difference and problem inconvenient to carry.
To achieve the above object, the portable bionics massage back pounding apparatus of the utility model includes:
Pedestal；
One end and the pedestal upper surface pass through the hinged bionic arm of arm jack, and the bionic arm includes one
The end forearm hinged by elbow joint and the large arm other end with the hinged large arm of the pedestal and one end, the forearm are logical
It crosses elbow joint and drives relatively large crook of the arm folding movement；
By the hinged bionic hand of wrist and the bionic arm other end, the bionic hand includes that one end and forearm are another
Multiple fingers that hinged palm and one end are hinged by synchronism mechanism and the palm other end are held, multiple fingers are logical
It crosses synchronism mechanism and drives the synchronous bending movement of palm opposite, the opposite bending in each finger both ends or stretching, extension；
And controller, it is acted by the controller control biomimetics arm and bionic hand.
The arm jack includes:
Fixed first motor on the base；
The first spur gear being fixedly connected with the first motor output shaft；
With the second spur gear of first spur gear engagement；
And the fixing axle being fixedly connected with second spur gear center, the fixed both ends of the shaft are fixed on the end of large arm
Portion, the fixing axle and the large arm axis are vertical.
The elbow joint includes:
It is fixed on the second motor of the large arm other end；
The third spur gear being fixedly connected with second motor output shaft；
With the 4th spur gear of third spur gear engagement；
And the revolution of arm axis being fixedly connected with the 4th spur gear center, revolution of arm axis both ends are fixed on forearm
End, the revolution of arm axis and the forearm axis are vertical.
The forearm includes:
First forearm, first forearm one end are fixedly connected with revolution of arm axis both ends；
With the second forearm of first forearm coaxial arrangement；
The rotating electric machine being fixed on inside the first forearm other end, the rotating electric machine output shaft and described first small
Arm coaxial arrangement；
And the fixed plate being fixedly connected with the rotating electric machine output shaft, the fixed plate are fixed on second forearm
One end inside.
The wrist includes:
It is fixed on the third motor of the second forearm other end；
The first bevel gear being fixedly connected with the third motor output shaft；
With the second bevel gear of first bevel gear engagement；
And the wrist transmission shaft being fixedly connected with the second bevel gear center, the wrist both ends of the drive shaft and the palm
One end is fixedly connected, and the axis of the wrist transmission shaft and second forearm is vertical.
The synchronism mechanism includes:
It is fixed on the 4th motor of the palm other end；
And the finger rotating shaft being fixedly connected with the 4th motor output shaft, the finger rotating shaft respectively with multiple fingers
One end be fixedly connected.
The finger includes:
Arc pressuring plate is provided with threaded hole, the arc pressuring plate intrados and the finger in the arc pressuring plate
The cooperation of rotating shaft outer surface, and be fixedly connected by screw；
The first joint that one end is fixedly connected with described arc pressuring plate one end；
And one end passes through the second joint that articulations digitorum manus is connected with the other end in first joint, second joint passes through institute
It states articulations digitorum manus and drives opposite first joint bending movement.
The bionic hand outer surface is provided with one layer of rubber structure.
Uniformly distributed multiple pressure sensors on the palm, the pressure sensor and controller electrical connection.
The pedestal upper surface is provided with container, when the bionic arm is with respect to base motions to contact pedestal upper surface
When, bionic arm and the bionic hand are located in the container.
The utility model has the following beneficial effects: the portable bionics massage back pounding apparatus of the utility model passes through arm radio and tape player
Structure realizes packing up or opening for whole opposite pedestal, convenient for collecting when not in use or carrying.In the bionic arm of the utility model
Large arm and opposite bending movement between comparing, realize and move back and forth, and then realize the driving for movement of pounding one's back, the first forearm and second
Forearm is driven by rotating electric machine and is relatively rotated, and then drives bionic hand rotation, adjusts the posture that bionic hand acts on human body, such as
The beating of the beaing when side of bionic hand beats, clenches fist and palm；The finger of bionic hand is driven by synchronism mechanism
Synchronous palm opposite bending, the first joint of each finger and second joint is opposite bends, and then realize from palm to clenching fist
The conversion of movement, the reciprocating action of finger palm opposite bending and stretching is realized to human body by the movement pinched, and is arranged on palm
Pressure sensor can be with real-time detection by the strength pinched, and then acted by controller adjustment, at the same time, the utility model
Bionic hand outer surface be provided with one layer of rubber structure, increase and comfort when human contact.The utility model is integrally tied
Structure is simple, small in size, and massaging action multiplicity, comfort is good, is convenient for carrying.
Detailed description of the invention
Fig. 1 is the portable bionics massage back pounding apparatus overall structure diagram of the utility model；
Fig. 2 is the portable bionics massage back pounding apparatus structure top view of the utility model；
Fig. 3 is arm jack structural schematic diagram in the portable bionics massage back pounding apparatus of the utility model；
Fig. 4 is elbow joint structure schematic diagram in the portable bionics massage back pounding apparatus of the utility model；
Fig. 5 is forearm structure schematic diagram in the portable bionics massage back pounding apparatus of the utility model；
Fig. 6 is wrist part structure schematic diagram in the portable bionics massage back pounding apparatus of the utility model；
Fig. 7 is finger structure schematic diagram in the portable bionics massage back pounding apparatus of the utility model；
Wherein: 1, pedestal, 2, arm jack, 201, first motor, the 202, first spur gear, the 203, second straight-tooth
Wheel, 204, fixing axle, 3, bionic arm, 301, large arm, 302, elbow joint, the 303, second motor, 304, third spur gear, 305,
4th spur gear, 306, revolution of arm axis, 307, forearm, the 308, first forearm, the 309, second forearm, 310, rotating electric machine, 311,
Fixed plate, 4, wrist, 401, third motor, 402, first bevel gear, 403, second bevel gear, 404, wrist transmission shaft, 5, bionical
Hand, 501, palm, 502, pressure sensor, 503, finger, 504, arc pressuring plate, the 505, first joint, 506, second joint,
507, articulations digitorum manus, 6, controller.
Specific embodiment
The embodiments of the present invention is described further with reference to the accompanying drawing.
Referring to attached drawing 1 and attached drawing 2, the portable bionics massage back pounding apparatus of the utility model includes:
Pedestal 1；
One end and 1 upper surface of the pedestal pass through the hinged bionic arm 3 of arm jack 2, and the bionic arm 3 wraps
It is by elbow joint 302 and 301 other end of the large arm hinged to include one end and the hinged large arm 301 and one end of the pedestal 1
Forearm 307, the forearm 307 drive the opposite bending of large arm 301 movement by elbow joint 302, i.e., forearm 307 is in elbow joint 302
Drive under draw close or stretch to large arm 301 using vertical 307 axis direction of forearm as shaft；
By the hinged bionic hand 5 of wrist 4 and 3 other end of the bionic arm, the bionic hand 5 includes one end and forearm
The multiple fingers of the hinged palm 501 of 307 other ends and one end by synchronism mechanism and 501 other end of palm hingedly
503, multiple fingers 503 drive the synchronous bending movement of palm opposite 501, each finger by synchronism mechanism
The opposite bending in 503 both ends or stretching, extension；
And controller 6, it is acted by the 6 control biomimetics arm 3 of controller and bionic hand 5.
Referring to attached drawing 3, the arm jack 2 includes:
The first motor 201 being fixed on the pedestal 1；
The first spur gear 202 being fixedly connected with 201 output shaft of first motor；
With the second spur gear 203 of first spur gear 202 engagement；
And the fixing axle 204 being fixedly connected with 203 center of the second spur gear, 204 both ends of fixing axle are fixed
In the end of large arm 301, the fixing axle 204 is vertical with 301 axis of large arm.
Referring to attached drawing 4, the elbow joint 302 includes:
It is fixed on the second motor 303 of 301 other end of large arm；
The third spur gear 304 being fixedly connected with 303 output shaft of the second motor；
With the 4th spur gear 305 of the third spur gear 304 engagement；
And the revolution of arm axis 306 being fixedly connected with 305 center of the 4th spur gear, 306 both ends of revolution of arm axis
It is fixed on the end of forearm 307, the revolution of arm axis 306 is vertical with 307 axis of forearm.
Referring to attached drawing 5, the forearm 307 includes:
First forearm 308, described first forearm, 308 one end are fixedly connected with 306 both ends of revolution of arm axis；
With the second forearm 309 of first forearm 308 coaxial arrangement；
The rotating electric machine 310 being fixed on inside 308 other end of the first forearm, 310 output shaft of rotating electric machine and
First forearm 308 is coaxially disposed；
And the fixed plate 311 being fixedly connected with 310 output shaft of rotating electric machine, the fixed plate 311 are fixed on institute
Inside the one end for stating the second forearm 309.
Include: referring to wrist 4 described in attached drawing 6
It is fixed on the third motor 401 of 309 other end of the second forearm；
The first bevel gear 402 being fixedly connected with 401 output shaft of third motor；
With the second bevel gear 403 of the first bevel gear 402 engagement；
And the wrist transmission shaft 404 being fixedly connected with 403 center of second bevel gear, 404 both ends of wrist transmission shaft
It is fixedly connected with described 501 one end of palm, the wrist transmission shaft 404 is vertical with the axis of second forearm 309.
The synchronism mechanism includes:
It is fixed on the 4th motor of 501 other end of palm；
And the finger rotating shaft being fixedly connected with the 4th motor output shaft, the finger rotating shaft respectively with multiple fingers
503 one end is fixedly connected.
Referring to attached drawing 7, the finger 503 includes:
Arc pressuring plate 504 is provided with threaded hole, 504 intrados of arc pressuring plate in the arc pressuring plate 504
Cooperate with the finger rotating shaft outer surface, and is fixedly connected by screw；
The first joint 505 that one end is fixedly connected with described 504 one end of arc pressuring plate；
And the second joint 506 that one end is connected by articulations digitorum manus 507 with the other end in first joint 505, second
Joint 506 drives opposite first joint 505 bending movement by the articulations digitorum manus 507.
5 outer surface of bionic hand is provided with one layer of rubber structure.
Uniformly distributed multiple pressure sensors 52 on the palm 501, the pressure sensor 52 and the controller 6 are electrically connected
It connects.
1 upper surface of pedestal is provided with container, when the opposite pedestal 1 of the bionic arm 3 moves on contact pedestal 1
When end face, bionic arm 3 and the bionic hand 5 are located in the container.
The movement of relative motion includes: between each structure of the utility model
1, large arm 301 is to turn axially adjacent to upper surface direction or far from upper surface side with junction with respect to 1 upper surface of pedestal
To rotation, the upper surface of plane and the pedestal 1 that motion profile is inswept is vertical；
2, forearm 307 is whole using wrist joint as junction, and opposite 301 pitching of large arm bending movement makes large arm 301 and forearm
Angle between 307 converts between 180 ° and 30 °；
3, two sections of forearm 307, i.e. the first forearm 308 and the opposite rotary motion of the second forearm 309；
4, under the action of wrist 4, bionic hand 5 carries out pitching bending movement by shaft of junction with respect to forearm 307；
5, under the action of synchronism mechanism, 505 palm opposite 501 of the first joint of finger 503 is driven to do pitching curved
Folding movement, converts the angle between the first joint 505 and palm 501 between 180 ° and 90 °；
6, under the action of articulations digitorum manus 507, opposite first joint 505 of the second joint 506 of finger 503 is driven to do pitching curved
Folding movement, converts the angle between the first joint 505 and second joint 506 between 180 ° and 60 °.
Claims (10)
1. portable bionics massage back pounding apparatus characterized by comprising
Pedestal (1)；
One end and the pedestal (1) upper surface pass through arm jack (2) hinged bionic arm (3), the bionic arm
It (3) include that one end and the hinged large arm (301) and one end of the pedestal (1) pass through elbow joint (302) and the large arm (301)
The hinged forearm of the other end (307), the forearm (307) drive opposite large arm (301) bending movement by elbow joint (302)；
By the hinged bionic hand (5) of wrist (4) and the bionic arm (3) other end, the bionic hand (5) include one end and
The hinged palm (501) of forearm (307) other end and one end are by synchronism mechanism and palm (501) other end hinged
Multiple fingers (503), multiple fingers (503) drive palm opposite (501) synchronous bending movement by synchronism mechanism,
The opposite bending in each finger (503) both ends or stretching, extension；
And controller (6), it is acted by the controller (6) control biomimetics arm (3) and bionic hand (5).
2. portable bionics massage back pounding apparatus according to claim 1, which is characterized in that the arm jack (2)
Include:
The first motor (201) being fixed on the pedestal (1)；
The first spur gear (202) being fixedly connected with the first motor (201) output shaft；
With the second spur gear (203) of first spur gear (202) engagement；
And the fixing axle (204) being fixedly connected with the second spur gear (203) center, fixing axle (204) both ends are solid
It is scheduled on the end of large arm (301), the fixing axle (204) and the large arm (301) axis are vertical.
3. portable bionics massage back pounding apparatus according to claim 1 or 2, which is characterized in that elbow joint (302) packet
It includes:
It is fixed on second motor (303) of the large arm (301) other end；
The third spur gear (304) being fixedly connected with the second motor (303) output shaft；
With the 4th spur gear (305) of the third spur gear (304) engagement；
And the revolution of arm axis (306) being fixedly connected with the 4th spur gear (305) center, the revolution of arm axis (306) two
End is fixed on the end of forearm (307), and the revolution of arm axis (306) and the forearm (307) axis are vertical.
4. portable bionics massage back pounding apparatus according to claim 3, which is characterized in that the forearm (307) includes:
First forearm (308), described first forearm (308) one end are fixedly connected with revolution of arm axis (306) both ends；
With the second forearm (309) of first forearm (308) coaxial arrangement；
The rotating electric machine (310) being fixed on inside the first forearm (308) other end, rotating electric machine (310) output shaft
It is coaxially disposed with first forearm (308)；
And the fixed plate (311) being fixedly connected with the rotating electric machine (310) output shaft, the fixed plate (311) are fixed on
Inside one end of second forearm (309).
5. portable bionics massage back pounding apparatus according to claim 4, which is characterized in that the wrist (4) includes:
It is fixed on the third motor (401) of the second forearm (309) other end；
The first bevel gear (402) being fixedly connected with third motor (401) output shaft；
With the second bevel gear (403) of the first bevel gear (402) engagement；
And the wrist transmission shaft (404) being fixedly connected with the second bevel gear (403) center, the wrist transmission shaft (404) two
End is fixedly connected with the palm (501) one end, and the axis of the wrist transmission shaft (404) and second forearm (309) is vertical.
6. portable bionics massage back pounding apparatus according to claim 1 or 5, which is characterized in that the synchronism mechanism
Include:
It is fixed on the 4th motor of the palm (501) other end；
And the finger rotating shaft being fixedly connected with the 4th motor output shaft, the finger rotating shaft respectively with multiple fingers
(503) one end is fixedly connected.
7. portable bionics massage back pounding apparatus according to claim 6, which is characterized in that the finger (503) includes:
Arc pressuring plate (504) is provided with threaded hole, arc pressuring plate (504) inner arc on the arc pressuring plate (504)
Face and finger rotating shaft outer surface cooperation, and be fixedly connected by screw；
The first joint (505) that one end is fixedly connected with the arc pressuring plate (504) one end；
And one end passes through the second joint (506) that articulations digitorum manus (507) are connected with the other end of first joint (505), the
Two joints (506) drive opposite first joint (505) bending movement by the articulations digitorum manus (507).
8. portable bionics massage back pounding apparatus according to claim 1, which is characterized in that bionic hand (5) outer surface
It is provided with one layer of rubber structure.
9. portable bionics massage back pounding apparatus according to claim 1, which is characterized in that uniformly distributed on the palm (501)
Multiple pressure sensors (502), the pressure sensor (502) and the controller (6) electrical connection.
10. portable bionics massage back pounding apparatus according to claim 1 or 2, which is characterized in that pedestal (1) upper end
Face is provided with container, when the bionic arm (3) move to contact pedestal (1) upper surface with respect to pedestal (1), bionic arm
(3) it is located in the container with the bionic hand (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821124928.0U CN209187469U (en) | 2018-07-16 | 2018-07-16 | Portable bionics massage back pounding apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821124928.0U CN209187469U (en) | 2018-07-16 | 2018-07-16 | Portable bionics massage back pounding apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209187469U true CN209187469U (en) | 2019-08-02 |
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ID=67403300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821124928.0U Active CN209187469U (en) | 2018-07-16 | 2018-07-16 | Portable bionics massage back pounding apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209187469U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108926470A (en) * | 2018-07-16 | 2018-12-04 | 李宗唐 | Portable bionics massage back pounding apparatus |
| CN110538015A (en) * | 2019-09-06 | 2019-12-06 | 山东科技大学 | Mechanical artificial limb arm |
-
2018
- 2018-07-16 CN CN201821124928.0U patent/CN209187469U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108926470A (en) * | 2018-07-16 | 2018-12-04 | 李宗唐 | Portable bionics massage back pounding apparatus |
| CN110538015A (en) * | 2019-09-06 | 2019-12-06 | 山东科技大学 | Mechanical artificial limb arm |
| CN110538015B (en) * | 2019-09-06 | 2021-07-02 | 山东科技大学 | Mechanical artificial limb arm |
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