CN211535510U - Manipulator with kneading function - Google Patents

Abstract

The utility model relates to a manipulator with knead function, which comprises a mounting bas, be equipped with two sets of massage wheel subassemblies on the mount pad, every massage wheel subassembly of group is respectively including one rub swing arm and first massage wheel and second massage wheel, first massage wheel and second massage wheel are respectively through first wheel carrier and second wheel carrier setting in rubbing the swing arm, still be equipped with the drive on the mount pad and rub the drive mechanism of swing arm action, the mount pad is equipped with actuating mechanism at two intervals of rubbing the swing arm, actuating mechanism includes the second motor, drive sleeve and two swing arms of kneading the hands, the drive sleeve is connected with transmission shaft normal running fit, the both ends circumference linkage of drive sleeve is connected with two and kneads the declination wheel, two are kneaded the swing arm and are connected with the declination wheel normal running fit that corresponds respectively, two are kneaded the swing arm and are connected through connecting rod and the first wheel carrier or the second wheel carrier that are located its one side respectively. By adopting the scheme, the first massage wheel and the second massage wheel are independently controlled to perform kneading action or simultaneously perform kneading action, the structure is simple, and the functions are rich.

Description

Manipulator with kneading function

Technical Field

The utility model belongs to the technical field of massage armchair technique and specifically relates to a manipulator with knead function.

Background

The existing massage chair comprises a massage chair framework and a massage manipulator, a guide rail is arranged on the massage chair framework, the massage manipulator comprises a mounting seat, the mounting seat can slide up and down along the guide rail, a kneading component for kneading the massage wheel component and a driving massage wheel component for knocking the human body are mounted on the mounting seat, and a walking component for driving the mounting seat to move along the guide rail is arranged between the mounting seat and the guide rail.

However, in this kind of massage device, the massage wheel assembly includes a kneading swing arm and a first massage wheel and a second massage wheel, the first massage wheel and the second massage wheel are movably disposed on the kneading swing arm through a first wheel carrier and a second wheel carrier respectively, the first wheel carrier and the second wheel carrier can be clamped with each other, the kneading assembly can only drive the kneading swing arm to move, so the kneading motion is performed simultaneously, the first massage wheel and the second massage wheel cannot be controlled independently to perform the kneading motion, and the function is relatively single.

Disclosure of Invention

The utility model overcomes prior art's is not enough, provides a manipulator with function of kneading, and the action is kneaded to its first massage wheel of independent control and second massage wheel, or kneads the action simultaneously, simple structure, and the function is abundant.

In order to realize the purpose, the utility model discloses a technical scheme is: a manipulator with a kneading function comprises a mounting seat, wherein two groups of massage wheel assemblies are arranged on the mounting seat, each group of massage wheel assemblies respectively comprises a kneading swing arm, a first massage wheel and a second massage wheel, the two kneading swing arms are arranged at intervals, the first massage wheel and the second massage wheel are respectively arranged on the kneading swing arms through a first wheel carrier and a second wheel carrier, the first wheel carrier and the second wheel carrier can be mutually clamped, the mounting seat is also provided with a transmission mechanism for driving the kneading swing arms to act, the transmission mechanism comprises a transmission shaft and a first motor, the transmission shaft is rotationally arranged on the mounting seat, the first motor drives the transmission shaft to rotate, the transmission shaft is respectively provided with two kneading deflection angle wheels in circumferential linkage at positions corresponding to the two kneading swing arms, the two kneading swing arms are respectively connected with the corresponding kneading deflection angle wheels in a rotationally matched manner, the mounting seat is provided with a driving mechanism at the interval of the two kneading swing arms, and the driving mechanism drives the first wheel carrier or the second wheel carrier on the two kneading, actuating mechanism include the second motor, the swing arm is held between the fingers to transmission cover and two, two are held between the fingers the swing arm and are located two and rub between the declination wheel, the transmission cover is connected with transmission shaft normal running fit, the both ends of transmission cover are held between the fingers the swing arm punishment respectively circumference linkage and are connected with two and hold between the declination wheels corresponding two, two are held between the fingers the swing arm and are connected with the declination wheel normal running fit that corresponds respectively, second motor drive transmission cover rotates, two are held between the fingers the swing arm respectively through the connecting rod with be located its one side first wheel carrier or second wheel carrier connection, the first end activity of connecting rod sets up on holding between the fingers the swing arm, the second end activity of connecting rod sets up on first wheel carrier or second wheel carrier.

By adopting the scheme, the number of the kneading swing arms is two, the two kneading swing arms are respectively provided with the first massage wheel and the second massage wheel, the first massage wheel and the second massage wheel are respectively arranged on the kneading swing arms through the first wheel carrier and the second wheel carrier, wherein the first wheel carrier and the second wheel carrier can be rotatably arranged on the kneading swing arms, the first wheel carrier can be rotatably arranged on the kneading swing arms, the second wheel carrier can be fixedly arranged on the kneading swing arms, the first wheel carrier can be fixedly arranged on the kneading swing arms, the second wheel carrier can be rotatably arranged on the kneading swing arms, the first wheel carrier and the second wheel carrier can be mutually clamped, namely the action of clamping and pinching two fingers is simulated, the first motor drives the transmission shaft to rotate, the transmission shaft drives the kneading deflection angle wheel to rotate, the kneading swing arms are externally sleeved on the kneading deflection angle wheels through bearings, so as to drive the kneading swing arms to move in a small range, the kneading action of the human body is realized through the massage wheels, the transmission sleeve is arranged on the transmission shaft in a rotating mode through the bearing, so that the transmission shaft cannot drive the transmission sleeve to rotate, the transmission sleeve is only driven by the second motor, the second motor drives the transmission sleeve to rotate, the transmission sleeve drives the angle kneading wheel to rotate, the angle kneading swing arm is sleeved outside the angle kneading wheel through the bearing, the angle kneading swing arm is driven to move in a small range, the angle kneading swing arm is connected with the first wheel frame or the second wheel frame through the connecting rod, the kneading action is realized by the action of the massage wheel on a human body, when the first motor operates and the second motor does not operate, the kneading swing arm can drive the kneading swing arm to do kneading action, and the kneading swing arm can drive the first massage wheel and the second massage wheel to do kneading action; when first motor does not operate, the second motor moves, kneads the swing arm and can not drive and knead the swing arm and do the action of kneading, kneads the swing arm and can drive and drive first massage wheel and second massage wheel and do the action of kneading, consequently its first massage wheel of independent control and second massage wheel knead the action, or knead the action simultaneously, simple structure, the function is abundant.

The utility model discloses a further setting is: the mounting seat is provided with a first detection assembly used for detecting the transmission shaft and controlling the first motor and a second detection assembly used for detecting the transmission sleeve and controlling the second motor, and the first detection assembly and the second detection assembly respectively control the first motor and the second motor to realize that the movement tracks of the first end of the connecting rod and the second end of the connecting rod are the same.

By adopting the scheme, the first detection assembly and the second detection assembly can be Hall sensors or photoelectric sensors, when the first motor and the second motor run simultaneously and the movement tracks of the first end of the connecting rod and the second end of the connecting rod are the same, namely the rotating speeds of the kneading deflection angle wheel and the kneading deflection angle wheel are the same and no phase difference exists (namely the deflection angles of the two deflection angle wheels are the same), the kneading swing arm can only do kneading action, and the first massage wheel and the second massage wheel can not do kneading action; when the first motor and the second motor run simultaneously and the movement tracks of the first end of the connecting rod and the second end of the connecting rod are different, the kneading swing arm performs kneading action, and the first massage wheel and the second massage wheel perform pinching action, so that the structure is simple and the control is convenient.

The utility model discloses a further setting is: the middle of the transmission sleeve is fixedly or integrally provided with a first worm wheel, an output shaft of the second motor is fixedly or integrally provided with a first worm meshed with the first worm wheel, and the second motor is positioned in the middle of the two pinching swing arms.

Through adopting above-mentioned scheme, first worm is fixed to be set up on the output shaft of second motor, and the second motor is located the intermediate position that two held between the fingers the swing arm, and position reasonable in design, the second motor drive first worm and rotate, and first worm drives first worm wheel and rotates, and first worm wheel rotates with the transmission cover synchronization, simple structure, and the transmission is stable.

The utility model discloses a further setting is: first wheel carrier rotates through first articulated shaft and sets up on rubbing the swing arm, and the second wheel carrier rotates through the second articulated shaft and sets up on rubbing the swing arm, be equipped with first spherical chamber on pinching the swing arm, be equipped with the spherical chamber of second on the first wheel carrier, the first end of connecting rod is equipped with first bulb, and the second end of connecting rod is equipped with the second bulb, and the first bulb of connecting rod is inserted and is located first spherical chamber, and the second bulb of connecting rod is inserted and is located the spherical chamber of second.

By adopting the scheme, the ball head of the connecting rod is inserted into the spherical cavity to realize the rolling fit of the ball head and the spherical cavity, the locking condition can be avoided, the structure is simple, and the design is reasonable.

The utility model discloses a further setting is: the end part of the kneading swing arm is fixedly or integrally provided with a first bearing seat, the first bearing seat is connected with the kneading deflection angle wheel through a first bearing, the kneading swing arm is fixedly or integrally provided with a second bearing seat, and the second bearing seat is connected with the kneading deflection angle wheel through a second bearing.

Through adopting above-mentioned scheme, first bearing frame overcoat in first bearing, first bearing overcoat in kneading the declination wheel to in kneading the declination wheel and rotating and drive and rub the swing arm activity, second bearing frame overcoat in the second bearing, second bearing overcoat in holding between the fingers the declination wheel, so that hold between the fingers the declination wheel and rotate and drive and hold between the fingers the swing arm activity, simple structure, the installation is stable.

The utility model discloses a further setting is: the first wheel frame is provided with a guide block, the second wheel frame is provided with an arc-shaped guide groove, and the guide block is inserted into the arc-shaped guide groove and can slide along the arc-shaped guide groove.

By adopting the scheme, when the first wheel frame or the second wheel frame swings, the guide block is matched with the arc-shaped guide groove, and the other wheel frame can be driven to mutually approach or keep away from each other to realize clamping action, so that the structure is simple, and the transmission is stable.

The utility model discloses a further setting is: and a second worm wheel is arranged at one end of the transmission shaft in a circumferential linkage manner, and a second worm meshed with the second worm wheel is fixedly or integrally arranged on an output shaft of the first motor.

Through adopting above-mentioned scheme, the fixed setting of second worm is on the output shaft of first motor, and first motor is located the one end department of transmission shaft, and first motor drives the second worm and rotates, and the second worm drives the rotation of second worm wheel, and second worm wheel and transmission shaft synchronous revolution, simple structure, the transmission is stable to position reasonable in design.

The present invention will be further described with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic view of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic view of the combination structure of the kneading swing arm and the pinching swing arm;

FIG. 3 is a schematic view of the mounting structure of each component on the kneading swing arm;

FIG. 4 is a schematic view of the mounting structure of each component on the kneading swing arm;

FIG. 5 is a schematic view of the engagement of the first and second wheel frames;

FIG. 6 is a schematic view of a driving structure of the first motor and the second motor;

FIG. 7 is a schematic structural view of a driving sleeve;

FIG. 8 is a schematic view of a connecting rod;

fig. 9 is a schematic structural diagram of a second detection assembly.

Detailed Description

As shown in fig. 1-9, a manipulator with kneading function comprises a mounting base 1, two sets of massage wheel assemblies are arranged on the mounting base 1, each set of massage wheel assembly comprises a kneading swing arm 21 and a first massage wheel 22 and a second massage wheel 23, the kneading swing arms 21 are arranged at intervals, the first massage wheel 22 and the second massage wheel 23 are respectively arranged on the kneading swing arms through a first wheel carrier 24 and a second wheel carrier 25, wherein the first wheel carrier 24 and the second wheel carrier 25 are both rotatably arranged on the kneading swing arm 21, the first wheel carrier 24 is rotatably arranged on the kneading swing arm 21, the second wheel carrier 25 is fixedly arranged on the kneading swing arm 21, the first wheel carrier 24 and the second wheel carrier 25 are rotatably arranged on the kneading swing arm 21, the first wheel carrier 24 and the second wheel carrier 25 can be clamped with each other, namely, a kneading action of two fingers is simulated, a transmission mechanism for driving the kneading swing arm 21 is further arranged on the mounting base 1, the transmission mechanism comprises a transmission shaft 31 and a first motor 32, the transmission shaft 31 is rotatably arranged on the mounting base 1 through a bearing, the first motor 32 drives the transmission shaft 31 to rotate, the first motor 32 is fixedly arranged at the front or back position on the mounting base 1, of course, the first motor can also be fixedly arranged on an external machine frame, the transmission shaft 31 is respectively provided with two eccentric kneading wheels 33 in circumferential linkage at the positions corresponding to the two eccentric kneading arms 21, the linkage can be realized through tight fit insertion or fastening of external fixing parts or integrated arrangement, the two eccentric kneading arms 33 are respectively connected with the corresponding eccentric kneading wheels 33 in a rotating fit manner, the ends of the eccentric kneading arms 21 are fixedly or integrally provided with a first bearing seat 26, the first bearing seat 26 is rotatably arranged on the eccentric kneading wheels 33 through a first bearing 27, the first bearing seat 26 is sleeved on the first bearing 27, the first bearing 27 is sleeved on the eccentric kneading wheels 33, the mounting base 1 is provided with a driving mechanism at the interval of the two eccentric kneading, the driving mechanism drives the first wheel carrier 24 or the second wheel carrier 25 on the two massage wheel assemblies to act, the driving mechanism comprises a second motor 41, a transmission sleeve 42 and two pinching swing arms 43, the two pinching swing arms 21 are positioned between the two rubbing swing arms 21, the transmission sleeve 42 is sleeved on the transmission shaft 31 and positioned between the two rubbing deflection angle wheels 33, the transmission sleeve 42 is connected with the transmission shaft 31 in a rotating fit manner through a third bearing 44, two pinching angle wheels 45 are respectively connected with two ends of the transmission sleeve 42 in a circumferential linkage manner at positions corresponding to the two pinching swing arms 43, the linkage can be realized through tight fit insertion or fastening of external fixing pieces or integrated arrangement, the two pinching swing arms 43 are respectively connected with the corresponding pinching deflection angle wheels 45 in a rotating fit manner, a second bearing seat 46 is fixedly or integrally arranged on the pinching swing arms 43, the second bearing seat 46 is rotatably arranged on the corresponding pinching deflection angle wheels 45 through a second bearing 47, and the second bearing seat 46 is, the second bearing 47 is sleeved outside the pinch angle wheel 45, the second motor 41 drives the transmission sleeve 42 to rotate, the second motor 41 is fixedly arranged at the front or back position of the mounting seat 1, and of course, the second motor 41 can also be fixedly arranged on an external frame, the two pinch swing arms 43 are respectively connected with the first wheel frame 24 or the second wheel frame 25 at one side thereof through a connecting rod 48, the first end 481 of the connecting rod 48 is movably arranged on the pinch swing arms 43, and the second end 482 of the connecting rod 48 is movably arranged on the first wheel frame 24 or the second wheel frame 25.

In this embodiment, the mounting base 1 is provided with a first detecting assembly 5 for detecting the transmission shaft 31 and controlling the first motor 32, and a second detecting assembly 6 for detecting the transmission sleeve 42 and controlling the second motor 41, wherein the first detecting assembly 5 and the second detecting assembly 6 respectively control the first motor 32 and the second motor 41 to realize that the first end 481 of the connecting rod 48 and the second end 482 of the connecting rod 48 have the same movement track.

In the present embodiment, a first worm wheel 49 is fixed or integrally provided at the middle of the transmission sleeve 42, a first worm 410 engaged with the first worm wheel 49 is fixed or integrally provided on the output shaft of the second motor 41, and the second motor 41 is located at the middle portion of the two pinching swing arms 43, which is the position between the two pinching swing arms. Of course, the second motor 41 can also indirectly drive the first worm to rotate through the gear set.

In the present embodiment, the first wheel carrier 24 is rotatably disposed on the kneading swing arm 21 through the first hinge shaft 28, the second wheel carrier 25 is rotatably disposed on the kneading swing arm 21 through the second hinge shaft 29, the first wheel carrier 24 is fixedly or integrally provided with the guide block 241, the second wheel carrier 25 is provided with the arc-shaped guide groove 251, the guide block 241 is inserted into the arc-shaped guide groove 251 and can slide along the arc-shaped guide groove 251, the kneading swing arm 43 is provided with the first spherical cavity 431, the first wheel carrier 24 is provided with the second spherical cavity 242, the first end 481 of the connecting rod 48 is provided with the first spherical head, the second end 482 of the connecting rod 48 is provided with the second spherical head, the first spherical head 481 of the connecting rod 48 is inserted into the first spherical cavity 431, and the second spherical head 482 of the connecting rod 48 is inserted into the second spherical.

In this embodiment, a second worm wheel 34 is disposed at one end of the transmission shaft 31 in a circumferential interlocking manner, the interlocking may be achieved by tight fitting, or by fastening with an external fixing member, or by integrally disposing, and a second worm 35 engaged with the second worm wheel 34 is fixedly or integrally disposed on the output shaft of the first motor 32.

The above embodiment is only one of the preferred embodiments of the present invention, and the general changes and substitutions performed by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims (7)

1. The utility model provides a manipulator with knead function, includes the mount pad, is equipped with two sets of massage wheel subassemblies on the mount pad, and every massage wheel subassembly of group is respectively including a kneading swing arm and first massage wheel and second massage wheel, and two knead the interval between the swing arm and set up, and first massage wheel and second massage wheel set up respectively through first wheel carrier and second wheel carrier on kneading the swing arm, and first wheel carrier and second wheel carrier centre gripping each other, still be equipped with the drive mechanism that the swing arm action was kneaded in the drive on the mount pad, drive mechanism includes transmission shaft and first motor, and the transmission shaft rotates and sets up on the mount pad, and first motor drive transmission shaft rotates, and the transmission shaft is being kneaded two swing arms punishment corresponding two and is kneaded and is provided with two and knead the declination horn, and two are kneaded the swing arm and are connected with the corresponding and are kneaded the declination horn rotation cooperation: the mounting seat is equipped with actuating mechanism in the interval department of two swing arms of kneading, first wheel carrier or the action of second wheel carrier on two massage wheel subassemblies of actuating mechanism drive, actuating mechanism include that second motor, drive sleeve and two are held between the fingers the swing arm, two are held between the fingers the swing arm and are located two and are kneaded between the swing arm, the drive sleeve is established on the transmission shaft and are located two and rub between the yaw wheel, the drive sleeve rotates the cooperation and be connected with the transmission shaft, the both ends of drive sleeve are held between the fingers the swing arm punishment in corresponding two respectively circumference linkage be connected with two and are held between the fingers the yaw wheel, two are held between the fingers the swing arm and are connected with the yaw wheel rotation cooperation that corresponds respectively, second motor drive sleeve rotates, two are held between the fingers the swing arm and are connected with the first wheel carrier or the second wheel carrier that are located its one side through the connecting rod respectively, the.

2. A manipulator having a kneading function according to claim 1, characterized in that: the mounting seat is provided with a first detection assembly used for detecting the transmission shaft and controlling the first motor and a second detection assembly used for detecting the transmission sleeve and controlling the second motor, and the first detection assembly and the second detection assembly respectively control the first motor and the second motor to realize that the movement tracks of the first end of the connecting rod and the second end of the connecting rod are the same.

3. A manipulator having a kneading function according to claim 1 or 2, characterized in that: the middle of the transmission sleeve is fixedly or integrally provided with a first worm wheel, an output shaft of the second motor is fixedly or integrally provided with a first worm meshed with the first worm wheel, and the second motor is positioned in the middle of the two pinching swing arms.

4. A manipulator having a kneading function according to claim 1 or 2, characterized in that: first wheel carrier rotates through first articulated shaft and sets up on rubbing the swing arm, and the second wheel carrier rotates through the second articulated shaft and sets up on rubbing the swing arm, be equipped with first spherical chamber on pinching the swing arm, be equipped with the spherical chamber of second on the first wheel carrier, the first end of connecting rod is equipped with first bulb, and the second end of connecting rod is equipped with the second bulb, and the first bulb of connecting rod is inserted and is located first spherical chamber, and the second bulb of connecting rod is inserted and is located the spherical chamber of second.

5. A manipulator having a kneading function according to claim 1 or 2, characterized in that: the end part of the kneading swing arm is fixedly or integrally provided with a first bearing seat, the first bearing seat is connected with the kneading deflection angle wheel through a first bearing, the kneading swing arm is fixedly or integrally provided with a second bearing seat, and the second bearing seat is connected with the kneading deflection angle wheel through a second bearing.

6. A manipulator having a kneading function according to claim 1 or 2, characterized in that: the first wheel frame is provided with a guide block, the second wheel frame is provided with an arc-shaped guide groove, and the guide block is inserted into the arc-shaped guide groove and can slide along the arc-shaped guide groove.

7. A manipulator having a kneading function according to claim 1 or 2, characterized in that: and a second worm wheel is arranged at one end of the transmission shaft in a circumferential linkage manner, and a second worm meshed with the second worm wheel is fixedly or integrally arranged on an output shaft of the first motor.

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