WO2016127536A1 - 一种敲背机构及其敲击方法 - Google Patents

一种敲背机构及其敲击方法 Download PDF

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Publication number
WO2016127536A1
WO2016127536A1 PCT/CN2015/081663 CN2015081663W WO2016127536A1 WO 2016127536 A1 WO2016127536 A1 WO 2016127536A1 CN 2015081663 W CN2015081663 W CN 2015081663W WO 2016127536 A1 WO2016127536 A1 WO 2016127536A1
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WO
WIPO (PCT)
Prior art keywords
sliding rod
tapping
disk
knocking
transmission shaft
Prior art date
Application number
PCT/CN2015/081663
Other languages
English (en)
French (fr)
Inventor
汪景亮
杨镜
汪丽丹
Original Assignee
杭州德宇精密机械制造有限公司
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Application filed by 杭州德宇精密机械制造有限公司 filed Critical 杭州德宇精密机械制造有限公司
Priority to EP15881697.5A priority Critical patent/EP3293418B1/en
Publication of WO2016127536A1 publication Critical patent/WO2016127536A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006—Percussion or tapping massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H33/00—Gearings based on repeated accumulation and delivery of energy
    • F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • H02K7/16—Structural association with mechanical loads, e.g. with hand-held machine tools or fans for operation above the critical speed of vibration of the rotating parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear

Definitions

  • the invention relates to a knockback mechanism and a tapping method thereof.
  • the knockback mechanism is a mechanical device that simulates the knocking of a person's fist.
  • the existing knocking back mechanism is mainly driven by a kick-back mechanism, a pendulum-type knockback mechanism, a motor-driven crank rocker mechanism, a motor-driven swing lever cam mechanism, etc., and has a large volume, poor knock comfort, and knocking. Defects such as inconvenient adjustment of the force.
  • the object of the present invention is a knockback mechanism and a tapping method thereof.
  • the object of the present invention is achieved by the following technical solutions:
  • a knockback mechanism includes: a frame, a percussion force adjustment motor, a percussion force adjustment deceleration device, a worm, a main motor, a main motor reduction device, a pinion gear, a convex plate, a sliding rod, a concave plate, a transition plate, a large gear a tapping head, a striking arm, a turbine, a propeller shaft, a scroll spring, the striking force adjusting motor being mounted on the frame, the striking force adjusting motor being connected to one end of the striking force adjusting speed reducing device, The other end of the striking force adjusting speed reducing device is connected to the worm, the worm is connected to the frame by a rotating pair, the worm is meshed with the turbine, and the turbine is connected with the rotating shaft by a rotating pair, and the outer end of the scroll spring is fixed On the turbine, the inner end of the scroll spring is fixed on a transmission shaft, the rotating shaft is connected to the frame by a rotating pair, the main motor is mounted on the frame, and the main
  • a plurality of beveled bumps are fixed on the convex disk.
  • the concave disk is provided with a plurality of beveled grooves.
  • the tapping method of the knockback mechanism is:
  • the percussion force adjustment motor drives the deceleration device to drive the worm to rotate, and the worm drives the turbine to rotate.
  • the turbine drives the scroll spring to move relative to the transmission shaft, and adjusts the rotation direction of the motor according to the striking force to realize the winding or loosening of the scroll spring.
  • the main motor rotates clockwise, and the pinion gear rotates clockwise by the main motor reduction device.
  • the pinion drives the large gear and the convex disk to rotate counterclockwise.
  • the beveled lug on the convex plate is in contact with the upper end of the sliding rod.
  • the sliding rod has a circumferential force and an axial force. The sliding rod rotates counterclockwise around the axis of the transmission shaft under the action of the circumferential force.
  • the sliding rod has a tendency to slide to the right under the axial force, but the right end of the sliding rod It is in direct contact with the concave disk surface fixed on the frame 1, so it cannot move to the right.
  • the sliding rod drives the transition coil to rotate counterclockwise of the shaft axis of the transmission shaft.
  • the transition plate drives the transmission shaft to rotate counterclockwise, and the transmission shaft rotates counterclockwise.
  • the tight coil spring stores the elastic potential energy.
  • the elastic potential energy in the scroll spring is released, and the driving shaft is driven to move clockwise to drive the striking arm to swing.
  • the tapping arm drives the tapping head to achieve the tapping effect, and the driving shaft forces the sliding rod to move to the left when moving clockwise, but since the convex disc is continuously counterclockwise when separated from the sliding rod, when the sliding rod is leftward When moving, it has been offset from the previous bump and rests on the disk surface of the convex disk. Then, with the rapid clockwise movement of the drive shaft, the sliding rod will contact the next bump, and the drive shaft stops moving clockwise and starts.
  • the knockback mechanism of the invention has the advantages of compact structure, small size, stable operation, safe use, comfort and adjustable tapping force.
  • FIG. 1 is a schematic structural view of a knockback mechanism of the present invention
  • Figure 2 is a perspective view of a convex disk of the present invention
  • Figure 3 is a perspective view of the slide bar of the present invention.
  • Figure 4 is a perspective view of the transition disk of the present invention.
  • Figure 5 is a perspective view of a concave disk of the present invention.
  • the knockback mechanism includes: a frame 1, a percussion force adjustment motor 2, a percussion force adjustment deceleration device 3, a worm 4, a main motor 5, a main motor reduction device 6, a pinion 7, and a convex a disk 8, a sliding rod 9, a concave disk 10, a transition disk 11, a large gear 12, a tapping head 13, a striking arm 14, a turbine 15, a transmission shaft 16, a scroll spring 17, and the knocking force adjusting motor 2 are mounted On the frame 1, the striking force adjustment motor 2 is connected to one end of the striking force adjustment deceleration device 3, and the other end of the striking force adjustment deceleration device 3 is connected to the worm 4, and the worm 4 and the frame 1 are Rotating the secondary connection, the worm 4 meshes with the turbine 15, the turbine 15 is coupled to the drive shaft 16 by a rotating pair, the outer end of the scroll spring 17 is fixed to the turbine 15, and the inner end of the scroll spring 17 is fixed On the drive shaft 16, the rotating shaft 16 is connected to the
  • the recessed disk 10 is provided with a beveled groove 18.
  • the striking force adjusting motor 2 drives the worm gear 4 to rotate by the striking force adjusting deceleration device 3, the worm 4 drives the turbine 15 to rotate, and the turbine 15 drives the scroll spring 17 to move relative to the propeller shaft 16, and adjusts the motor 2 according to the striking force.
  • the rotation direction is different to realize the effect of winding or loosening the scroll spring 17; the main motor 5 rotates clockwise, and the pinion 7 rotates clockwise by the main motor reduction device 6, and the pinion 7 drives the large gear 12 and the boss 8 counterclockwise.
  • the sliding rod 9 has a tendency to slide to the right under the axial force, but the right end of the sliding rod 9 is in direct contact with the concave disk surface fixed on the frame 1, so that it cannot move to the right, and the sliding rod 9
  • the transition plate 11 is rotated counterclockwise around the axis of the drive shaft 16, the transition plate 11 drives the drive shaft 16 to rotate counterclockwise, and the drive shaft 16 rotates counterclockwise to wind the spiral coil spring 17 to store the elastic potential energy, when the slide rod 9 is turned When the position of the groove 18
  • the sliding rod 9 forces the sliding rod 9 to move horizontally under the axial force of the projection 19, and when the right end of the sliding rod 9 slides all the way into the groove 18, the convex portion 19 is completely separated from the left end of the sliding rod 9, at this time,
  • the elastic potential energy in the scroll spring 17 is released, driving the drive shaft 16 to move clockwise, causing the tapping arm 14 to swing, the striking arm 14 driving the striking head 13 to achieve a tapping effect, and the transmission shaft 16 forcing sliding when

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Power Engineering (AREA)
  • Percussion Or Vibration Massage (AREA)
  • Transmission Devices (AREA)
  • Toys (AREA)

Abstract

一种敲背机构，它包括机架（1）、敲击力调节电机（2）、敲击力调节减速装置（3）、蜗杆（4）、主电机（5）、主电机减速装置（6）、小齿轮（7）、凸盘（8）、滑动杆（9）、凹盘（10）、过渡盘（11）、大齿轮（12）、敲击头（13）、敲击臂（14）、涡轮（15）、传动轴（16）、蜗卷弹簧（17）。敲击力调节电机（2）通过敲击力调节减速装置（3）、蜗杆（4）、涡轮（15）驱动蜗卷弹簧（17）相对于传动轴（16）运动，调节敲击力的大小；主电机（5）通过主电机减速器（6）、小齿轮（7）、大齿轮（12）、凸盘（8）、滑动杆（9）、过渡盘（11）、凹盘（10），将主电机（5）的连续运动转换为传动轴（16）的摆动。还公开了一种敲击方法。该敲背机构体积小巧，使用安全、舒适。

Description

一种敲背机构及其敲击方法
技术领域
本发明涉及一种敲背机构及其敲击方法。
背景技术
生活中，人们出现腰酸背痛的现象非常普遍，用拳头敲击背部是一种疏通经络，循环气血，放松肌肉，消除疲劳，缓解腰酸背痛症状的有效方法。敲背机构是一种模拟人拳敲背的机械装置。现有敲背机构主要由脚踩驱动的敲背机构、钟摆式敲背机构、电机驱动的曲柄摇杆机构、电机驱动的摆杆凸轮机构等，存在体积大、敲击舒适性不佳、敲击力调节不方便等缺陷。
发明内容
针对现有技术的不足， 本发明的目的是一种敲背机构及其敲击方法。本发明目的通过以下的技术方案实现 ：
一种敲背机构包括：机架、敲击力调节电机、敲击力调节减速装置、蜗杆、主电机、主电机减速装置、小齿轮、凸盘、滑动杆、凹盘、过渡盘、大齿轮、敲击头、敲击臂、涡轮、传动轴、蜗卷弹簧，所述敲击力调节电机安装在机架上，所述敲击力调节电机连接敲击力调节减速装置的一端，所述敲击力调节减速装置的另一端连接蜗杆，所述蜗杆与机架以转动副连接，所述蜗杆与涡轮啮合，所述涡轮与传动轴以转动副连接，所述蜗卷弹簧的外端固定在涡轮上，所述蜗卷弹簧内端固定在传动轴上，所述转动轴与机架以转动副连接，所述主电机安装在机架上，所述主电机连接主电机减速装置的一端，所述主电机减速装置的另一端连接小齿轮，所述小齿轮与大齿轮啮合，所述大齿轮与传动轴以转动副连接，所述凸盘固定在大齿轮上，所述过渡盘固定在传动轴上，所述过渡盘布置在凸盘与凹盘之间，所述滑动杆与过渡盘以移动副连接，所述滑动杆的一端与凸盘以高副连接，所述滑动杆的另一端与凹盘以高副连接，所述凹盘与传动轴以转动副连接，所述凹盘与机架固定，所述敲击臂的一端固定在传动轴上，所述敲击臂的另一端连接敲击头。
所述凸盘上固定有若干带斜面的凸块。
所述凹盘上设置有若干带斜面凹槽。
所述敲背机构的敲击方法是：
敲击力调节电机通过敲击力调节减速装置带动蜗杆转动，蜗杆带动涡轮转动，涡轮带动蜗卷弹簧相对于传动轴运动，根据敲击力调节电机的转动方向不同实现绕紧或放松蜗卷弹簧的效果；主电机顺时针转动，通过主电机减速装置带动小齿轮顺时针转动，小齿轮带动大齿轮与凸盘逆时针转动，凸盘上的带斜面凸块与滑动杆左端高副接触，作用给滑动杆一个周向力和一个轴向力，滑动杆在周向力的作用下绕传动轴的轴心线逆时针转动，滑动杆在轴向力的作用下有向右滑动的趋势，但滑动杆的右端与固定在机架1上的凹盘盘面直接接触，因此无法向右移动，滑动杆带动过渡盘绕传动轴的轴心线逆时针转动，过渡盘带动传动轴逆时针转动，传动轴逆时针转动绕紧蜗卷盘簧储存弹性势能，当滑动杆转到凹槽的位置时，滑动杆在凸块轴向力的作用下迫使滑动杆水平移动，当滑动杆的右端全部滑入凹槽中时，凸块与滑动杆的左端完全脱离，此时蜗卷弹簧中的弹性势能得以释放，带动传动轴顺时针运动，带动敲击臂摆动，敲击臂带动敲击头实现敲击效果，传动轴在顺时针运动时迫使滑动杆向左运动，但因为凸盘在与滑动杆分离时是持续逆时针运动的，因此当滑动杆向左移动时已经与之前的凸块错开而靠在凸盘的盘面上，其后在传动轴快速顺时针运动带动下，滑动杆将与下一个凸块接触，此时传动轴停止顺时针运动并开始随凸盘的逆时针运动而运动，同时蜗卷弹簧重新开始新一轮的弹性势能积蓄，以此方式循环，实现敲击头的连续敲击，其中传动轴的每次的摆动角度由凸块之间分布的角度来决定。
本发明的敲背机构结构紧凑、 体积小巧、 运行稳定、使用安全、舒适、敲击力可调的。
附图说明
图1是本发明敲背机构的结构示意图；
图2是本发明的凸盘立体图；
图3是本发明的滑动杆立体图；
图4是本发明的过渡盘立体图；
图5是本发明的凹盘立体图；
图中：机架1、敲击力调节电机2、敲击力调节减速装置3、蜗杆4、主电机5、主电机减速装置6、小齿轮7、凸盘8、滑动杆9、凹盘10、过渡盘11、大齿轮12、敲击头13、敲击臂14、涡轮15、传动轴16、蜗卷弹簧17、凹槽18、凸块19。
具体实施方式
下面结合附图和实施例详细说明本发明：
如图1-5所示，敲背机构包括：机架1、敲击力调节电机2、敲击力调节减速装置3、蜗杆4、主电机5、主电机减速装置6、小齿轮7、凸盘8、滑动杆9、凹盘10、过渡盘11、大齿轮12、敲击头13、敲击臂14、涡轮15、传动轴16、蜗卷弹簧17，所述敲击力调节电机2安装在机架1上，所述敲击力调节电机2连接敲击力调节减速装置3的一端，所述敲击力调节减速装置3的另一端连接蜗杆4，所述蜗杆4与机架1以转动副连接，所述蜗杆4与涡轮15啮合，所述涡轮15与传动轴16以转动副连接，所述蜗卷弹簧17的外端固定在涡轮15上，所述蜗卷弹簧17内端固定在传动轴16上，所述转动轴16与机架1以转动副连接，所述主电机5安装在机架1上，所述主电机5连接主电机减速装置6的一端，所述主电机减速装置6的另一端连接小齿轮7，所述小齿轮7与大齿轮12啮合，所述大齿轮12与传动轴16以转动副连接，所述凸盘8固定在大齿轮12上，所述过渡盘11固定在传动轴16上，所述过渡盘11布置在凸盘8与凹盘10之间，所述滑动杆9与过渡盘11以移动副连接，所述滑动杆9的一端与凸盘8以高副连接，所述滑动杆9的另一端与凹盘10以高副连接，所述凹盘10与传动轴16以转动副连接，所述凹盘10与机架1固定，所述敲击臂14的一端固定在传动轴16上，所述敲击臂14的另一端连接敲击头13。
所述凸盘19上固定有3个带斜面的凸块19。
所述凹盘10上设置有1个带斜面凹槽18。
使用时，敲击力调节电机2通过敲击力调节减速装置3带动蜗杆4转动，蜗杆4带动涡轮15转动，涡轮15带动蜗卷弹簧17相对于传动轴16运动，根据敲击力调节电机2的转动方向不同实现绕紧或放松蜗卷弹簧17的效果；主电机5顺时针转动，通过主电机减速装置6带动小齿轮7顺时针转动，小齿轮7带动大齿轮12与凸盘8逆时针转动，凸盘8上的带斜面凸块19与滑动杆9左端高副接触，作用给滑动杆9一个周向力和一个轴向力，滑动杆9在周向力的作用下绕传动轴16的轴心线逆时针转动，滑动杆9在轴向力的作用下有向右滑动的趋势，但滑动杆9的右端与固定在机架1上的凹盘盘面直接接触，因此无法向右移动，滑动杆9带动过渡盘11绕传动轴16的轴心线逆时针转动，过渡盘11带动传动轴16逆时针转动，传动轴16逆时针转动绕紧蜗卷盘簧17储存弹性势能，当滑动杆9转到凹槽18的位置时，滑动杆9在凸块19轴向力的作用下迫使滑动杆9水平移动，当滑动杆9的右端全部滑入凹槽18中时，凸块19与滑动杆9的左端完全脱离，此时蜗卷弹簧17中的弹性势能得以释放，带动传动轴16顺时针运动，带动敲击臂14摆动，敲击臂14带动敲击头13实现敲击效果，传动轴16在顺时针运动时迫使滑动杆9向左运动，但因为凸盘8在与滑动杆9分离时是持续逆时针运动的，因此当滑动杆9向左移动时已经与之前的凸块19错开而靠在凸盘8的盘面上，其后在传动轴16快速顺时针运动带动下，滑动杆9将与下一个凸块19接触，此时传动轴16停止顺时针运动并开始随凸盘8的逆时针运动而运动，同时蜗卷弹簧重新开始新一轮的弹性势能积蓄，以此方式循环，实现敲击头13的连续敲击，其中传动轴16的每次的摆动角度由凸块之间分布的角度来决定。

Claims (4)

  1. 一种敲背机构，其特征是在于，包括：机架（1）、敲击力调节电机（2）、敲击力调节减速装置（3）、蜗杆（4）、主电机（5）、主电机减速装置（6）、小齿轮（7）、凸盘（8）、滑动杆（9）、凹盘（10）、过渡盘（11）、大齿轮（12）、敲击头（13）、敲击臂（14）、涡轮（15）、传动轴（16）、蜗卷弹簧（17），所述敲击力调节电机（2）安装在机架（1）上，所述敲击力调节电机（2）连接敲击力调节减速装置（3）的一端，所述敲击力调节减速装置（3）的另一端连接蜗杆（4），所述蜗杆（4）与机架（1）以转动副连接，所述蜗杆（4）与涡轮（15）啮合，所述涡轮（15）与传动轴（16）以转动副连接，所述蜗卷弹簧（17）的外端固定在涡轮（15）上，所述蜗卷弹簧（17）内端固定在传动轴（16）上，所述转动轴（16）与机架（1）以转动副连接，所述主电机（5）安装在机架（1）上，所述主电机（5）连接主电机减速装置（6）的一端，所述主电机减速装置（6）的另一端连接小齿轮（7），所述小齿轮（7）与大齿轮（12）啮合，所述大齿轮（12）与传动轴（16）以转动副连接，所述凸盘（8）固定在大齿轮（12）上，所述过渡盘（11）固定在传动轴（16）上，所述过渡盘（11）布置在凸盘（8）与凹盘（10）之间，所述滑动杆（9）与过渡盘（11）以移动副连接，所述滑动杆（9）的一端与凸盘（8）以高副连接，所述滑动杆（9）的另一端与凹盘（10）以高副连接，所述凹盘（10）与传动轴（16）以转动副连接，所述凹盘（10）与机架（1）固定，所述敲击臂（14）的一端固定在传动轴（16）上，所述敲击臂（14）的另一端连接敲击头（13）。
  2. 根据权利要求1所述的一种敲背机构，其特征在于：所述凸盘（19）上固定有若干带斜面的凸块（19）。
  3. 根据权利要求1所述的一种敲背机构，其特征在于：所述凹盘（10）上设置有若干带斜面凹槽（18）。
  4. 一种如权利要求1至3任一项所述敲背机构的敲击方法，其特征在于：
    敲击力调节电机（2）通过敲击力调节减速装置（3）带动蜗杆（4）转动，蜗杆（4）带动涡轮（15）转动，涡轮（15）带动蜗卷弹簧（17）相对于传动轴（16）运动，根据敲击力调节电机（2）的转动方向不同实现绕紧或放松蜗卷弹簧（17）的效果；主电机（5）顺时针转动，通过主电机减速装置（6）带动小齿轮（7）顺时针转动，小齿轮（7）带动大齿轮（12）与凸盘（8）逆时针转动，凸盘（8）上的带斜面凸块（19）与滑动杆（9）左端高副接触，作用给滑动杆（9）一个周向力和一个轴向力，滑动杆（9）在周向力的作用下绕传动轴（16）的轴心线逆时针转动，滑动杆（9）在轴向力的作用下有向右滑动的趋势，但滑动杆（9）的右端与固定在机架1上的凹盘盘面直接接触，因此无法向右移动，滑动杆（9）带动过渡盘（11）绕传动轴（16）的轴心线逆时针转动，过渡盘（11）带动传动轴（16）逆时针转动，传动轴（16）逆时针转动绕紧蜗卷盘簧（17）储存弹性势能，当滑动杆（9）转到凹槽（18）的位置时，滑动杆（9）在凸块（19）轴向力的作用下迫使滑动杆（9）水平移动，当滑动杆（9）的右端全部滑入凹槽（18）中时，凸块（19）与滑动杆（9）的左端完全脱离，此时蜗卷弹簧（17）中的弹性势能得以释放，带动传动轴（16）顺时针运动，带动敲击臂（14）摆动，敲击臂（14）带动敲击头（13）实现敲击效果，传动轴（16）在顺时针运动时迫使滑动杆（9）向左运动，但因为凸盘（8）在与滑动杆（9）分离时是持续逆时针运动的，因此当滑动杆（9）向左移动时已经与之前的凸块（19）错开而靠在凸盘（8）的盘面上，其后在传动轴（16）快速顺时针运动带动下，滑动杆（9）将与下一个凸块（19）接触，此时传动轴（16）停止顺时针运动并开始随凸盘（8）的逆时针运动而运动，同时蜗卷弹簧重新开始新一轮的弹性势能积蓄，以此方式循环，实现敲击头（13）的连续敲击，其中传动轴（16）的每次的摆动角度由凸块之间分布的角度来决定。
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