CN209253568U - A kind of massage robot - Google Patents
A kind of massage robot Download PDFInfo
- Publication number
- CN209253568U CN209253568U CN201820907107.8U CN201820907107U CN209253568U CN 209253568 U CN209253568 U CN 209253568U CN 201820907107 U CN201820907107 U CN 201820907107U CN 209253568 U CN209253568 U CN 209253568U
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- China
- Prior art keywords
- massage
- guide ring
- arm
- support rod
- connects
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Abstract
The utility model discloses a kind of massage robot, including pedestal, telescopic column, translation rack at the top of telescopic column, one end for translating rack and massage arm is connected, and the other end of massage arm is equipped with massage head, and massage arm is by traversing motor driven along translation gantry motion；The bottom end of massage arm connects massage head by parallelogram hinge, parallelogram hinge is equipped with 4 groups of linking arms, every group of linking arm is equipped with the upper linking arm of articulated connection, lower linking arm, the top of upper linking arm and massage arm are articulated and connected, the bottom end of lower linking arm connects massage head, upper linking arm is connect by support rod with guiding device, the top of support rod and guiding device are hinged, the bottom end of support rod and upper linking arm are hinged, guiding device is by driving mechanism drives edge massage arm, lower movement, the up and down motion driving support rod movement of guiding device, support rod drives parallelogram hinge movement, parallelogram hinge drives massage head movement.It is good that the device massages comfort, and convenient for regulation.
Description
Technical field
The utility model relates to medical health devices, are exactly a kind of massage robots.
Background technique
Existing massage machine is largely fixed massage armchair or movable small-sized part massage device, presses
The head that rubs often directly is directly driven by song wheel or connecting rod, and massage force directly conducts, and massage comfort is poor.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of massage robot, device massage comfort is good, and
Convenient for regulation.
In order to solve the above technical problems, the utility model uses following technological means:
A kind of massage robot, including pedestal, the telescopic column being set on the base, the translation machine at the top of telescopic column
One end of frame, the translation rack and massage arm connects, and the other end of massage arm is equipped with massage head, and massage arm is by traversing motor
Drives edge slide rail is mobile, and slide rail is fixed in translation rack；It is cut with scissors by parallelogram the bottom end of massage arm
Chain link massage head, parallelogram hinge be equipped with 4 groups of linking arms, every group of linking arm be equipped with articulated connection upper linking arm,
Lower linking arm, the top of upper linking arm and massage arm are articulated and connected, and the bottom end of lower linking arm connects massage head, and upper linking arm passes through
Support rod is connect with guiding device, and the top of support rod and guiding device are hinged, and the bottom end of support rod and upper linking arm are hinged, is led
It is moved above and below to device by driving mechanism drives edge massage arm, the up and down motion driving support rod movement of guiding device, support rod
Parallelogram hinge movement is driven, parallelogram hinge drives massage head movement.
Human body surface be it is rugged, massage head act when, need to move horizontally simultaneously, parallelogram mechanism is in
Float up and down state, and massage head can be made smoothly to run to the different parts of human body.
Massage head is arranged in massage arm the technical program, can make massage arm in the horizontal direction using translation rack
Mobile, telescopic column can be massage arm and move in the vertical direction, be convenient for adjusting massage position；The driving of massage head, by putting down
Row quadrilateral hinge and support rod are completed, the stability of guiding device effective guarantee power transmitting, and guiding device is by driving mechanism
It is connected and is driven by flexible connector, made the power of driving mechanism, there is certain buffering, keep power soft, increase the comfortable of massage
Sense.
The guiding device is equipped with guide sleeve, guide ring, and guide sleeve is connected and fixed with massage arm, and guide ring, which is divided into, leads
Xiang Huan, lower guide ring, are equipped with pull rod between upper guide ring, lower guide ring, the top of pull rod connects upper guide ring, the bottom end of pull rod
Lower guide ring, the top articulated connection of lower guide ring and support rod are connected, upper guide ring is driven by driving mechanism, upper guide ring,
Pull rod and lower guide ring stress move above and below along guide sleeve.
By the way that upper guide ring, lower guide ring is arranged, upper guide ring, lower guide ring are connected using pull rod, in utilization
Guide ring, lower guide ring transmit driving force along the movement of guide sleeve, keep the transmission of strength stable, reliable.
The driving mechanism is equipped with synchronous motor, crank connecting link and support and extension spring, and support is set with extension spring
It sets in guide sleeve, support is connect with one end of extension spring with crank connecting link, and the other end of support and extension spring passes through upper
The small axis of guide ring is connect with upper guide ring, and guide sleeve is equipped with sliding slot, and the upper small axis of guide ring is arranged in sliding slot, the upper small axis of guide ring
Both ends connect with upper guide ring, the centre of the upper small axis of guide ring is connect with support with extension spring.
By the way that the upper small axis of guide ring is arranged, can use guide ring and support in the small axis connection of guide ring and stretches bullet
Spring, the setting of sliding slot position the movement of the small axis of upper guide ring, further increase the stability of driving transmission.
The synchronous motor is electrically connected with pressure follow device, and pressure follow device is equipped with rotational handle, same with rotational handle
Active turntable, the passive turntable of axis, active turntable are rotated coaxially with rotational handle, and passive turntable is rotated coaxially with synchronous motor,
Active turntable is electric conductor, and passive turntable is insulator, some is equipped with copper-foil conducting electricity for the side of passive turntable, actively turns
Disk, passive turntable side be respectively equipped with left fixed contact, right fixed contact, active turntable, passive turntable top be equipped with and turn
Movable contact, left fixed contact, right fixed contact, rotary contact and copper-foil conducting electricity external synchronous motor control signal when being electrically connected,
Rotational handle rotates by a certain angle, and rotary contact is made to disconnect passive turntable outer circle copper foil, synchronous motor signal out of hand.It is synchronous
Click follows automatically, and rotary contact connects copper foil, and motor stops.The rotate driving crank link mechanism of synchronous motor adjusts support
With the length of extension spring, the massage intensity that massage head acts on human body is also just had adjusted.
By the way that pressure follow device is arranged, driving of synchronous motor is controlled using it, further increasing the present apparatus makes
Convenience.
The telescopic column is equipped with upper pillar stand, and lower pillar stand, upper pillar stand, lower pillar stand is cavity body structure, the bottom of upper pillar stand
Portion is sleeved in lower pillar stand, and lower pillar stand is provided with stepper motor, and stepper motor is connect with electric pushrod, electric pushrod and upper pillar stand
Connection, stepper motor drive upper pillar stand to move above and below by electric pushrod.
By the way that telescopic column is arranged, it can be convenient the present apparatus and adjust height in the vertical direction, convenient for human body difference portion
It is massaged position.
The telescopic column is equipped with centralized control window, and centralized control window is equipped with control operation interface.
By the way that centralized control window is arranged, its control operation interface input control instruction being equipped with can use, further
Facilitate the control and regulation of the present apparatus.
After powering on, user lies low on bed, and operation interface sets massage intensity, and the time is massaged in working position.Work
The setting at position is according to theory of traditional Chinese medical science, and different diseases should massage corresponding acupuncture point setting.Start the present apparatus, massage head can root
Three-dimensional motion is made by origin according to setting, accurate movement is to needing the position massaged to be massaged, and massage head is automatic after work
Mobile Aligning control.
Three micro-step motors can be used in machine, and two small synchronous motors work.Three stepper motors can be done
Three-dimensional motion is accurately positioned.One synchronous motor gives the massage intensity intelligent control.
It is respectively provided with a small synchronous motor in each different types of massage head, different massage heads is selected, is inside equipped with
Small synchronous motor may be implemented massage head part different motion modes pass through to realize different massage manipulations
The massage manipulation that replacement massage head is realized includes: including shaking, beating, be affectedly bashful, and above-mentioned technology contents are existing miniature massage
The common setting of device, details are not described herein.The attachment base that the massage head of the technical program and parallelogram hinge bottom end are equipped with
It is connected by snap, is convenient for changing different massage heads.Machine has reliable safety, outstanding service performance.It can change
It is apt to and improves our quality of life.
All operationss can also be controlled by mobile phone wireless.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is that the structure of the utility model pressure follow device is intended to.
Fig. 3 is the partial enlarged view of part A in Fig. 2.
Fig. 4 is the structural schematic diagram for translating rack and massage arm.
Fig. 5 is the structural schematic diagram for translating rack.
Description of symbols: 1- massage head；2- parallelogram hinge；3- support rod；4- synchronous motor；It is oriented under 5-
Ring；6- guide sleeve；The upper guide ring of 7-；8- massage arm；The traversing motor of 9-；10- translates attachment base (synchronous and flexure member)；11-
Slide rail；12- translates rack；13- crank connecting link；14- telescopic column；15- pressure follow device；16- centralized control window；
17- pedestal；The small axis of the upper guide ring of 18-；19- rotary contact；20- active turntable；21- rotational handle；22- copper foil；23- is by turn
Disk；The left fixed contact of 24-；The right fixed contact of 25-；27- flexure member；The traversing synchronous belt of 28-；The traversing synchronous pulley of 29-；30-
Translation stepper motor；31- translates synchronous belt；32- translates synchronous pulley；33- translates transmission shaft；34- translates precision gear；35-
Translating rack.
Specific embodiment
Below with reference to embodiment, the utility model is further illustrated.
Referring to Fig. 1 it is found that a kind of massage robot of the utility model is arranged in flexible on pedestal 17 by pedestal 17
Column 14, the translation rack 12 at 14 top of telescopic column and the massage arm 8 connecting with rack form, and translate rack 12 and massage arm
8 one end is connected by translation attachment base 10, flexure member 27, and the other end of massage arm 8 is equipped with massage head 1, and massage arm 8 is by cross
It is mobile to move 9 drives edge slide rail 11 of motor, slide rail 11 is fixed in translation rack 12；The bottom end of massage arm 8 is logical
It crosses parallelogram hinge 2 and connects massage head 1, parallelogram hinge 2 is equipped with 4 groups of linking arms, and every group of linking arm is all provided with hinged
Upper linking arm, the lower linking arm connect in succession, the top of upper linking arm and massage arm 8 are articulated and connected, the bottom end connection of lower linking arm
Massage head 1, upper linking arm are connect by support rod 3 with guiding device, and the top of support rod 3 and guiding device are hinged, support rod 3
Bottom end and upper linking arm it is hinged, guiding device by driving mechanism drives edge massage arm 8 above and below move, guiding device up and down
Movement driving support rod 3 moves, and support rod 3 drives parallelogram hinge 2 to move, and parallelogram hinge 2 drives massage head 1
Movement.
Guiding device is equipped with guide sleeve 6, guide ring, and guide sleeve 6 is connected and fixed with massage arm 8, and guide ring is divided into guiding
Ring 7, lower guide ring 5 are equipped with pull rod between upper guide ring 7, lower guide ring 5, the top of pull rod connects upper guide ring 7, pull rod
Bottom end connects lower guide ring 5, and the top of lower guide ring 5 and support rod 3 is articulated and connected, and upper guide ring 7 is driven by driving mechanism, on
Guide ring 7, pull rod and 5 stress of lower guide ring move above and below along guide sleeve 6.
By the way that upper guide ring 7, lower guide ring 5 is arranged, upper guide ring 7, lower guide ring 5 are connected using pull rod, benefit
Driving force is transmitted along the movement of guide sleeve 6 with guide ring 7, lower guide ring 5, keeps the transmission of strength stable, reliable.
Driving mechanism is equipped with synchronous motor 4, crank connecting link 13 and support and extension spring, and support exists with extension spring setting
In guide sleeve 6, support is connect with one end of extension spring with crank connecting link 13, is supported with the other end of extension spring by above leading
Xiang Huan little axis 18 is connect with upper guide ring 7, and guide sleeve 6 is equipped with sliding slot, and the upper small axis 18 of guide ring is arranged in sliding slot, upper guide ring
The both ends of small axis 18 are connect with upper guide ring 7, and the centre of the upper small axis 18 of guide ring is connect with support with extension spring.
By the way that the upper small axis 18 of guide ring is arranged, it can use the small axis 18 of guide ring and connect upper guide ring 7 and support and draw
Spring is stretched, the setting of sliding slot positions the movement of the small axis of upper guide ring 18, further increases the stability of driving transmission.
Referring to fig. 2, for Fig. 3 it is found that synchronous motor 4 is electrically connected with pressure follow device 15, pressure follow device 15 is equipped with rotation hand
Handle 21, the active turntable 20 coaxial with rotational handle 21, passive turntable 23, active turntable 20 are rotated coaxially with rotational handle 21,
Passive turntable 23 is rotated coaxially with synchronous motor 4, and active turntable 20 is electric conductor, and passive turntable 23 is insulator, passive turntable
23 side some be equipped with copper-foil conducting electricity 22, active turntable 20, passive turntable 23 side be respectively equipped with left fixed contact
24, right fixed contact 25, active turntable 20, passive turntable 23 top be equipped with rotary contact 19, left fixed contact 24, right fixation
External synchronous motor 4 controls signal when contact 25, rotary contact 19 and the electrical connection of copper-foil conducting electricity 22, and rotational handle 21 rotates centainly
Angle makes rotary contact 19 disconnect passive 23 outer circle copper foil 22 of turntable, the signal out of hand of synchronous motor 4.Synchronous motor 4 starts
It follows, when passive 23 outer circle copper foil 22 of turntable is connected with rotary contact 19, motor stops.The rotate driving of synchronous motor 4 is bent
13 mechanism of handle connecting rod adjusts the length of support with extension spring, also just has adjusted the massage intensity that massage head 1 acts on human body.
By the way that pressure follow device 15 is arranged, driving of synchronous motor 4 is controlled using it, further increases the present apparatus
The convenience used.
Telescopic column 14 is equipped with upper pillar stand, and lower pillar stand, upper pillar stand, lower pillar stand is cavity body structure, the bottom set of upper pillar stand
In lower pillar stand, lower pillar stand is provided with stepper motor, and stepper motor is connect with electric pushrod, and electric pushrod and upper pillar stand connect
It connects, stepper motor drives upper pillar stand to move above and below by electric pushrod.
By the way that telescopic column 14 is arranged, it can be convenient the present apparatus and adjust height in the vertical direction, convenient for human body difference
It is massaged at position.
Telescopic column 14 is equipped with centralized control window 16, and centralized control window 16 is equipped with control operation interface.
By the way that centralized control window 16 is arranged, its control operation interface input control instruction being equipped with can use, into one
Step facilitates the control and regulation of the present apparatus.
After powering on, user lies low on bed, and operation interface sets massage intensity, and the time is massaged in working position.Work
The setting at position is according to theory of traditional Chinese medical science, and different diseases should massage corresponding acupuncture point setting.Start the present apparatus, massage head 1 can
Three-dimensional motion is made by origin according to setting, accurate movement to needing the position massaged to be massaged, after work massage head 1 oneself
Dynamic mobile Aligning control.
Three micro-step motors can be used, two small synchronous motors 4 work.
Telescopic column 14 is provided with lifting stepper motor, lifts stepper motor driven electric pushrod and realizes telescopic column 14
Lifting.The top for solid of stretching is connect with support arm.
Referring to Fig. 5 it is found that support arm is provided with translation stepper motor 30；The top of support arm is equipped with translation transmission shaft 33,
Translation stepper motor 30 translates transmission shaft 33 by translation synchronous belt 31, the translation driving of synchronous pulley 32, translation transmission shaft 33
One end is equipped with translating rack 35, translation precision gear 34 and translating rack 35 equipped with translation precision gear 34, translation rack 12
Cooperation；The driving translation rack 12 of translation stepper motor 30 moves to required position.
The connection of rack 12 and massage arm 8 is translated, massage arm 8 is mobile by traversing stepper motor drives edge translation rack 12.
Referring to fig. 4 it is found that one end of translation rack 12 is arranged in traversing stepper motor, translation rack 12 is equipped with traversing same
Band 28, traversing synchronous pulley 29 are walked, massage arm 8 is connect by flexure member 27 with traversing synchronous belt 28, and traversing stepper motor is logical
Cross traversing synchronous belt 28, flexure member 27 drives massage arm 8 to move.
Above-mentioned lifting stepper motor, translation stepper motor 30, traversing stepper motor can do three-dimensional motion, realize the essence of massage
Determine position.
One synchronous motor 4 gives the massage intensity intelligent control, can also be automatic by industry by another synchronous motor 4
Change control, if PLC is controlled, different massage manipulations is realized according to user's demand.Machine has reliable safety, and outstanding makes
Use performance.Our quality of life can be improved.
All operationss can also be controlled by mobile phone wireless.
Massage head 1 is arranged in massage arm 8 the technical program, massage arm 8 can be made in level using translation rack 12
It is moved on direction, telescopic column 14 can be massage arm 8 and move in the vertical direction, be convenient for adjusting massage position；Massage head 1
Driving, is completed by parallelogram hinge 2 and support rod 3, the stability of guiding device effective guarantee power transmitting, and guiding device
It is connected and is driven by flexible connector by driving mechanism, made the power of driving mechanism, there is certain buffering, keep power soft, increased
The comfort of massage.
Since the foregoing is merely specific embodiment of the present utility model, but the protection of the utility model is without being limited thereto,
Any those skilled in the art it is contemplated that the equivalent variation or substitution of the technical program technical characteristic, all covers
Within the protection scope of the utility model.
Claims (4)
1. a kind of massage robot, including pedestal, the telescopic column being set on the base, the translation rack at the top of telescopic column,
It is characterized by: one end of the translation rack and massage arm connects, the other end of massage arm is equipped with massage head, massage arm by
Traversing motor driven is moved along slide rail, and slide rail is fixed in translation rack；The bottom end of massage arm passes through parallel
Quadrilateral hinge connects massage head, and parallelogram hinge is equipped with 4 groups of linking arms, and every group of linking arm is equipped with the upper of articulated connection
Linking arm, lower linking arm, the top of upper linking arm and massage arm are articulated and connected, and the bottom end of lower linking arm connects massage head, upper company
It connects arm to connect by support rod with guiding device, the top of support rod and guiding device are hinged, the bottom end of support rod and upper connection
Arm is hinged, and guiding device is moved above and below by driving mechanism drives edge massage arm, the up and down motion driving support rod fortune of guiding device
Dynamic, support rod drives parallelogram hinge movement, and parallelogram hinge drives massage head movement；
The telescopic column is equipped with upper pillar stand, and lower pillar stand, upper pillar stand, lower pillar stand is cavity body structure, the bottom set of upper pillar stand
In lower pillar stand, lower pillar stand is provided with stepper motor, and stepper motor is connect with electric pushrod, and electric pushrod and upper pillar stand connect
It connects, stepper motor drives upper pillar stand to move above and below by electric pushrod；
The telescopic column is equipped with centralized control window, and centralized control window is equipped with control operation interface.
2. massage robot according to claim 1, it is characterised in that: the guiding device is equipped with guide sleeve, guiding
Ring, guide sleeve are connected and fixed with massage arm, and guide ring is divided into guide ring, lower guide ring, are set between upper guide ring, lower guide ring
There is pull rod, the top of pull rod connects upper guide ring, and the bottom end of pull rod connects lower guide ring, the top hinge of lower guide ring and support rod
It connects in succession, upper guide ring is driven by driving mechanism, and upper guide ring, pull rod and lower guide ring stress move above and below along guide sleeve.
3. massage robot according to claim 2, it is characterised in that: the driving mechanism is equipped with synchronous motor, song
Handle connecting rod and support and extension spring, support and extension spring are arranged in guide sleeve, the one end and song of support with extension spring
The connection of handle connecting rod, support are connect by the small axis of upper guide ring with upper guide ring with the other end of extension spring, and guide sleeve, which is equipped with, to be slided
Slot, the upper small axis of guide ring are arranged in sliding slot, and the both ends of the upper small axis of guide ring are connect with upper guide ring, in the upper small axis of guide ring
Between connect with support with extension spring.
4. massage robot according to claim 3, it is characterised in that: the synchronous motor is electrically connected with pressure follow device
It connects, pressure follow device is equipped with rotational handle, the active turntable coaxial with rotational handle, passive turntable, active turntable and rotation hand
Handle rotates coaxially, and passive turntable is rotated coaxially with synchronous motor, and active turntable is electric conductor, and passive turntable is insulator, passively
Some is equipped with copper-foil conducting electricity for the side of turntable, active turntable, passive turntable side be respectively equipped with left fixed contact, right solid
Fixed contact, active turntable, passive turntable top be equipped with rotary contact, left fixed contact, right fixed contact, rotary contact and lead
External synchronous motor controls signal when the electrical connection of electrolytic copper foil, and rotational handle rotates by a certain angle, and disconnects rotary contact by turn
Disk outer circle copper foil, synchronous motor signal out of hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820907107.8U CN209253568U (en) | 2018-06-12 | 2018-06-12 | A kind of massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820907107.8U CN209253568U (en) | 2018-06-12 | 2018-06-12 | A kind of massage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209253568U true CN209253568U (en) | 2019-08-16 |
Family
ID=67556859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820907107.8U Expired - Fee Related CN209253568U (en) | 2018-06-12 | 2018-06-12 | A kind of massage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209253568U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110742797A (en) * | 2019-10-31 | 2020-02-04 | 姜丽 | Automatic select acupuncture point device |
-
2018
- 2018-06-12 CN CN201820907107.8U patent/CN209253568U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110742797A (en) * | 2019-10-31 | 2020-02-04 | 姜丽 | Automatic select acupuncture point device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190816 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |