CN214806661U

CN214806661U - Robot hand structure for massage

Info

Publication number: CN214806661U
Application number: CN202121383296.1U
Authority: CN
Inventors: 任奎; 付吉庆; 孙启朋
Original assignee: Jining Haifu Electronic Technology Co Ltd
Current assignee: Jining Haifu Electronic Technology Co Ltd
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2021-11-23
Anticipated expiration: 2031-06-22

Abstract

The utility model discloses a robot hand structure for massage, including framework and box, the box passes through regulating assembly movable mounting in the inside of framework, and regulating assembly includes rectangle pole and pivot, and the fixed middle part that sets up at the box inner wall of rectangle pole, pivot rotation run through the middle part of rectangle pole, and the both ends of pivot rotate with the both sides of framework respectively and alternate and be connected, and the avris fixed mounting of box has bionical dexterous hand, and the top of box rolls to inlay and is equipped with a plurality of massage ball, and the fixed massage arm that is equipped with in middle part of box bottom, and another avris of box is equipped with the subassembly of pounding, the beneficial effects of the utility model are that: the hand structure is formed by matching the frame body and the box body, the bionic dexterous hand, the massage balls, the massage arms and the beating assembly are respectively arranged at the two ends and the two side sides of the box body, bionic massage, rolling massage, single-finger massage and beating massage can be respectively carried out, and different massage modes can be carried out on the hand structure, so that the hand structure is more practical.

Description

Robot hand structure for massage

Technical Field

The utility model relates to a hand structure, in particular to robot hand structure for massage belongs to machine people spare part technical field.

Background

Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). The appearance and development of the massage robot make up for the defects of massage apparatuses such as massage chairs and massage beds to a great extent, and play a great role in the traditional massage theory of China. People can relieve fatigue, relax the body and mind, improve blood circulation and accelerate metabolism of human body through the massage of the massage robot so as to achieve the purposes of enhancing immunity, protecting health and preserving health.

Various massage robots are diversified in the market at present, the most common type is that a multi-joint mechanical arm carries a massage hand to massage the human body through the massage hand, but the existing massage robot has a single hand structure massage mode, the single hand structure can only carry out single massage, the practicability is poor, the frequent replacement of the massage hand is needed when different massage modes are carried out, and the massage efficiency and the massage effect are influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot hand structure for massage to solve the current single problem of robot hand structure massage mode for massage that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a robot hand structure for massage, includes framework and box, the box passes through the inside of adjusting part movable mounting in the framework, the adjusting part includes rectangle pole and pivot, the fixed middle part that sets up at the box inner wall of rectangle pole, the pivot is rotated the middle part that runs through the rectangle pole, just the both ends of pivot are rotated with the both sides of framework respectively and are alternated to be connected, the avris fixed mounting of box has bionical dexterous hand, the top of box rolls to inlay and is equipped with a plurality of massage ball, the fixed massage arm that is equipped with in middle part of box bottom, another avris of box is equipped with the subassembly of pounding.

As a preferred technical scheme of the utility model, adjusting part still includes accommodate motor, accommodate motor fixed mounting is in one side of framework, just accommodate motor's output shaft and the one end fixed connection of pivot.

As a preferred technical scheme of the utility model, it includes two sleeves, two to beat the subassembly the sleeve is fixed respectively and alternates the top and the bottom that set up at box another avris, two telescopic inside slides respectively and alternates and is connected with two travellers, two the one end of traveller is all fixed to be equipped with and beats the head.

As a preferred technical scheme of the utility model, it still includes two driving motor, two to beat the subassembly driving motor is fixed mounting respectively at another avris on rectangle pole top and another avris of bottom, two driving motor's output shaft is connected with the other end transmission of two travelers respectively through two crank connecting rods.

As an optimal technical scheme of the utility model, accommodate motor, bionical dexterous hand and two driving motor all with the controller electric connection of robot.

As an optimized technical proposal of the utility model, the bottom cover of the massage arm is provided with an elastic semispherical sleeve.

As an optimized technical proposal of the utility model, the elastic semispherical sleeve is made of polyurethane elastomer.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to a robot hand structure for massage cooperatees through framework and box and constitutes the hand structure, and bionical dexterous hand, a plurality of massage ball, massage arm and the subassembly of beating are installed respectively to the both ends and the both sides side of box, can carry out bionical massage, roll massage, single finger massage respectively and beat the massage, make the hand structure can carry out different massage modes, and is more practical, and need not frequently to change the hand structure when switching, improves massage efficiency and effect.

Drawings

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

fig. 2 is a schematic sectional structure of the present invention;

FIG. 3 is an enlarged schematic view of part A of FIG. 2 according to the present invention;

fig. 4 is an enlarged schematic view of a portion B of fig. 2 according to the present invention.

In the figure: 1. a frame body; 2. a box body; 3. an adjustment assembly; 31. a rectangular bar; 32. a rotating shaft; 33. adjusting the motor; 4. simulating a dexterous hand; 5. a massage ball; 6. a massage arm; 7. a hammering assembly; 71. a sleeve; 72. a traveler; 73. beating the head; 74. a drive motor; 75. a crank connecting rod; 8. an elastic semispherical sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the utility model provides a hand structure of a robot for massage, comprising a frame body 1 and a box body 2, the box body 2 is movably installed inside the frame body 1 through an adjusting component 3, the adjusting component 3 comprises a rectangular rod 31 and a rotating shaft 32, the rectangular rod 31 is fixedly arranged in the middle of the inner wall of the box body 2, the rotating shaft 32 is rotatably penetrated through the middle of the rectangular rod 31, and two ends of the rotating shaft 32 are respectively rotatably inserted and connected with two sides of the frame body 1, a bionic dexterous hand 4 is fixedly installed at the lateral side of the box body 2, a plurality of massage balls 5 are embedded at the top end of the box body 2 in a rolling manner, a massage arm 6 is fixedly arranged at the middle of the bottom end of the box body 2, a beating component 7 is arranged at the other lateral side of the box body 2, the hand structure is formed by matching the frame body 1 and the box body 2, the bionic dexterous hand 4, a plurality of massage balls 5, the massage arm 6 and the beating component 7 are respectively installed at two ends and two sides of the box body 2, the bionic massage, the rolling massage, the single-finger massage and the beating massage can be respectively carried out by controlling the work of the bionic dexterous hand 4, the plurality of massage balls 5, the massage arm 6 and the beating component 7, so that different massage modes can be carried out on the hand structure, and the bionic massage device is more practical.

Preferably, the adjusting assembly 3 further comprises an adjusting motor 33, the adjusting motor 33 is fixedly installed at one side of the frame body 1, an output shaft of the adjusting motor 33 is fixedly connected with one end of the rotating shaft 32, the rotating shaft 32 is driven to rotate by the adjusting motor 33 to drive the box body 2 to rotate, then the massage surface can be adjusted, and the massage mode can be switched; the hammering assembly 7 comprises two sleeves 71, the two sleeves 71 are respectively fixedly inserted and arranged at the top and the bottom of the other side of the box body 2, two sliding columns 72 are respectively connected inside the two sleeves 71 in a sliding and inserting manner, one ends of the two sliding columns 72 are respectively and fixedly provided with a hammering head 73, and the reciprocating sliding of the sliding columns 72 can drive the hammering heads 73 to reciprocate so as to achieve the purpose of hammering and massaging; the hammering assembly 7 further comprises two driving motors 74, the two driving motors 74 are respectively and fixedly installed on the other edge side of the top end and the other edge side of the bottom end of the rectangular rod 31, output shafts of the two driving motors 74 are respectively in transmission connection with the other ends of the two sliding columns 72 through two crank connecting rods 75, and the driving motors 74 can drive the sliding columns 72 to slide in a reciprocating manner through the crank connecting rods 75 in a transmission manner when operating; the adjusting motor 33, the bionic dexterous hand 4 and the two driving motors 74 are electrically connected with a controller of the robot, and the whole hand structure is controlled through the controller of the massage robot, so that the control is convenient; the bottom end of the massage arm 6 is sleeved with an elastic semispherical sleeve 8, and the comfort of the massage arm 6 during massage can be improved through the elastic semispherical sleeve 8; the elastic semispherical sleeve 8 is made of polyurethane elastomer, so that the wear resistance is excellent, the elasticity is good, and the service life is prolonged.

When in specific use, the utility model relates to a robot hand structure for massage, firstly, the whole hand structure is arranged on the mechanical arm of the robot through the frame body 1, after the installation is finished, the adjusting motor 33, the bionic dexterous hand 4 and the two driving motors 74 are all electrically connected with the controller of the robot, then the robot can be put into normal use, in the normal use process, as the hand structure is formed by matching the frame body 1 and the box body 2, the bionic dexterous hand 4, the massage balls 5, the massage arm 6 and the beating component 7 are respectively arranged at the two ends and the two sides of the box body 2, the bionic dexterous hand 4, the massage balls 5, the massage arm 6 and the beating component 7 are controlled by the controller of the robot to respectively carry out bionic massage, rolling massage, single-finger massage and beating massage, so that the hand structure can carry out different massage modes, and is more practical, and the controller through the robot controls the adjustment motor 33 to operate during switching, the adjustment motor 33 drives the rotating shaft 32 to rotate so as to drive the box body 2 to rotate, then the massage surface can be adjusted, the massage mode is switched, the whole hand structure does not need to be frequently replaced, and the massage efficiency and effect are improved.

In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A robot hand structure for massage comprises a frame body (1) and a box body (2), it is characterized in that the box body (2) is movably arranged in the frame body (1) through an adjusting component (3), the adjusting component (3) comprises a rectangular rod (31) and a rotating shaft (32), the rectangular rod (31) is fixedly arranged in the middle of the inner wall of the box body (2), the rotating shaft (32) rotatably penetrates through the middle of the rectangular rod (31), and the two ends of the rotating shaft (32) are respectively in rotating and penetrating connection with the two sides of the frame body (1), the side of the box body (2) is fixedly provided with a bionic dexterous hand (4), the top end of the box body (2) is embedded with a plurality of massage balls (5) in a rolling way, the middle part of the bottom end of the box body (2) is fixedly provided with a massage arm (6), and the other side of the box body (2) is provided with a hammering assembly (7).

2. The robot hand structure for massage according to claim 1, characterized in that: the adjusting component (3) further comprises an adjusting motor (33), the adjusting motor (33) is fixedly installed on one side of the frame body (1), and an output shaft of the adjusting motor (33) is fixedly connected with one end of the rotating shaft (32).

3. The robot hand structure for massage according to claim 2, characterized in that: beat subassembly (7) and include two sleeves (71), two sleeve (71) are fixed respectively to alternate and are set up in the top and the bottom of box (2) another avris, two the inside of sleeve (71) slides respectively to alternate and is connected with two travelers (72), two the one end of traveler (72) is all fixed to be equipped with and is beaten head (73).

4. The robot hand structure for massage according to claim 3, characterized in that: the hammering assembly (7) further comprises two driving motors (74), wherein the two driving motors (74) are respectively and fixedly installed on the other side of the top end of the rectangular rod (31) and the other side of the bottom end of the rectangular rod, and the output shafts of the driving motors (74) are respectively in transmission connection with the other ends of the two sliding columns (72) through two crank connecting rods (75).

5. The robot hand structure for massage according to claim 4, characterized in that: the adjusting motor (33), the bionic dexterous hand (4) and the two driving motors (74) are electrically connected with a controller of the robot.

6. The robot hand structure for massage according to claim 1, characterized in that: the bottom end of the massage arm (6) is sleeved with an elastic semispherical sleeve (8).

7. The robot hand structure for massage according to claim 6, characterized in that: the elastic semispherical sleeve (8) is made of polyurethane elastomer.