CN105832517A - Rubbing and pressing device for armpit rubbing and pressing automatic robot - Google Patents
Rubbing and pressing device for armpit rubbing and pressing automatic robot Download PDFInfo
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- CN105832517A CN105832517A CN201610329327.2A CN201610329327A CN105832517A CN 105832517 A CN105832517 A CN 105832517A CN 201610329327 A CN201610329327 A CN 201610329327A CN 105832517 A CN105832517 A CN 105832517A
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- 239000000463 material Substances 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 229920006351 engineering plastic Polymers 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 14
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000001816 cooling Methods 0.000 abstract description 2
- 230000009323 psychological health Effects 0.000 abstract 1
- 210000004243 sweat Anatomy 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 20
- 230000001166 anti-perspirative effect Effects 0.000 description 4
- 239000003213 antiperspirant Substances 0.000 description 4
- 230000036541 health Effects 0.000 description 4
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- 206010002383 Angina Pectoris Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000004356 Hysteria Diseases 0.000 description 1
- 206010049949 Intercostal neuralgia Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010034464 Periarthritis Diseases 0.000 description 1
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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
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0071—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers having built-in vibrating means
-
- 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
- A61H2201/01—Constructive details
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to a rubbing and pressing device for an armpit rubbing and pressing automatic robot. The rubbing and pressing device comprises a lifting adjusting device, a main body massage device and two local massage devices, wherein the main body massage device is fixedly arranged just above the lifting adjusting device; the local massage devices are respectively and symmetrically arranged at the left side and right side of the main body massage device, and are fixedly connected with the lifting adjusting device. The rubbing and pressing device has the advantages that the massage and air-cooling sweat expelling functions are realized for the armpits of a human body, the comprehensive massage effect is realized, the massage effect is obvious, the massage comfortability is high, the good health-care function is realized for the armpits of the human body, and the physical and psychological health of the human body is certainly promoted.
Description
Technical field
The present invention relates to health care intelligent machine field, oxter, a kind of axillary fossa rubs pressure automatic machinery people with rubbing pressure device.
Background technology
Massage is with the internal organs of the traditional Chinese medical science, theory of channels and collaterals as theoretical basis, and combines dissection and the pathological diagnosis of doctor trained in Western medicine, and uses maneuver
Or apparatus rubs back and forth, kneading or beat the specific part of body surface to regulate organism physiology, pathological condition, reaches physical therapy mesh
Method, in nature, it is the Therapeutic Method of a kind of physics, in the treatment of massage, can be divided into therapeutic massage, fortune
Dynamic massage and medical massage；For from position, massage can be divided into head massage, neck massaging, oxter massage, waist massage,
The massage of back massage, buttocks, leg massage and foot massage etc..
Oxter is commonly called as " axillary fossa " or " armpit ", therebetween the many sweat glands of cortex, and nerve and the blood vessel of domination upper limb are distributed,
Also have Lymph Node Groups in nest, summarize upper limb thoracic wall and the lymph of back shallow-layer, be referred to as " human body three keep healthy greatly special zone " by doctor；
Often pressing axillary fossa can treat the blood circulation diseases such as coronary heart diseases and angina pectoris, apoplexy sequela, and intercostal neuralgia,
The nervous system disease such as hysteria, also mastopathy, scapulohumeral periarthritis etc.；Human anatomy then discloses, and does not only have arteriovenous at axillary fossa
Blood vessel, and have substantial amounts of lymphoid tissue, it is responsible for blood conveying, immune defense function, often presses axillary fossa, by improving blood
Supply, stimulation lymph, can improve cardio-pulmonary function, appetite stimulator, improve digestion power.
As can be seen here, massage healthy to people and at ordinary times health care in oxter all plays an important role, but,
Human body oxter is the position that people seldom touch in daily routines at present, is often easy to be ignored by everybody, let alone other
Health care, and artificial massage and by pinching all is used for the most a small amount of human body oxter health care massage, there is no well
Human body oxter massage related equipment.In view of the above circumstances, the invention provides a kind of axillary fossa to rub pressure automatic machinery people and press-fit with rubbing
Put.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of axillary fossa and rub pressure automatic machinery people with rubbing pressure device.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of axillary fossa rubs pressure automatic machinery people with rubbing pressure device, including elevation and subsidence regulating device, main body massage machine and part massage
Device, and the quantity of part massage device is two；Described main body massage machine is fixed on directly over elevation and subsidence regulating device, locally
Massage machine is respectively symmetrically the left and right sides being positioned at main body massage machine, and part massage device is connected with elevation and subsidence regulating device.
As a further improvement on the present invention, described elevation and subsidence regulating device include fixed disk, lifting disk, lifting electric push rod,
Lifting lead, regulation rotating shaft and fixed mount；Described lifting disk is positioned at directly over fixed disk, and lifting electric push rod is positioned at fixing
Between dish and lifting disk, and lifting electric push rod bottom is connected with fixed disk, and lifting electric push rod top is connected with lifting disk,
Lifting lead quantity is four, and lifting lead uses two grades of stretching structures, and lifting lead is along the central shaft of lifting electric push rod
Line is respectively symmetrically layout, and regulation rotating shaft is through the upper end of lifting electric push rod, and regulation rotating shaft two ends are carried out by fixed mount respectively
Fixing connection, fixed mount is in " X " type structure, and four legs of fixed mount are separately fixed on lifting lead, in fixed mount
Position, portion is provided with and regulates the lifting bearing that rotating shaft matches；Elevation and subsidence regulating device is mainly used in the present invention on the vertical plane
The regulation of whole height, and easy to adjust, guide, regulation rotating shaft simultaneously can drive the rotation on the vertical plane of part massage device
Turn, and then the setting angle of regulation part massage device.
As a further improvement on the present invention, described main body massage machine includes redundancy parallel mechanism, massage outer housing, transmission rolling
Pearl, back-up ring and air-supply arrangement；Described massage outer housing is positioned at directly over redundancy parallel mechanism, and massage outer housing is hemispherical shell
Structure, massage outer housing material is PP engineering plastics, massages and is evenly arranged with vibrating massaging head and air-permeating hole respectively on outer cover outer surface,
Vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure, and vibrating massaging head outer surface is flexible rubber
Glue material, back-up ring is positioned at outside massage outer housing, and back-up ring fixes with redundancy parallel mechanism, and transmitting balls is uniformly arranged on back-up ring
And between massage outer housing, can realize massaging outer housing by the cooperation of massage outer housing, transmitting balls and back-up ring and rotate fortune in the horizontal plane
Dynamic function, air-supply arrangement is positioned at inside massage outer housing；Described redundancy parallel mechanism include fixed platform, moving platform, first
Chain and the second side chain；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at directly over fixed platform；Described
The first side chain and the quantity of the second side chain be two, the first side chain and the second side chain are respectively positioned between fixed platform and moving platform,
The two ends of one side chain and the second side chain are connected with fixed platform and moving platform respectively, and the level peace of the first side chain and the second side chain
Dress angle is 90 degree；The first described side chain include the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, first
Connect post and the first damping spring；The first described ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
Using Hooke's hinge to be attached between lower end, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the
One connects post is fixed on the lower surface of moving platform, and the first damping spring, around being enclosed within the first electric pushrod, can be entered by Hooke's hinge
The rotation of row both direction, can carry out the rotation in three directions by the first spherical hinge, can be carried out up and down by the first electric pushrod
Mobile, the first side chain uses the form of 2-UPS parallel institution, and when adding first chain movement by the first damping spring
Stationarity, improves the exercise performance of the present invention；The second described side chain include the second ear mount, rotational pin, the second electric pushrod,
Second spherical hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed platform upper surface, the second ear
Using rotational pin to be attached between seat and the second electric pushrod lower end, the second electric pushrod upper end is connected with the second spherical hinge,
Second spherical hinge connects post by second and is fixed on the lower surface of moving platform, and the second damping spring is around being enclosed within the second electric pushrod；
The rotation in a direction can be carried out by rotational pin, the rotation in three directions can be carried out by the second spherical hinge, electronic by second
Push rod can move up and down, and the second side chain uses the form of 2-RPS parallel institution, and adds the by the second damping spring
Stationarity during two chain movements, improves the exercise performance of the present invention；Redundancy parallel mechanism by fixed platform, moving platform, the
One side chain and the second side chain constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS,
It can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, and four from
All independent by spending, by four degree of freedom can also co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, fortune
Dynamic steadily, motion flexibly, in the present invention, drives by redundancy parallel mechanism that can to carry out two in covering on space outside whole massage flat
Moving the motion in two rotation totally four degree of freedom directions, massage motion personality is alive and massage effect good.Described air-supply arrangement includes sending
Wind turbine, motor cabinet, air-supply rotating shaft, blowing fan and locking cap, air supply motor is fixed on moving platform upper surface by motor cabinet,
Air-supply rotating shaft one end is connected with air supply motor main shaft, and the air-supply rotating shaft other end is connected with blowing fan, and blowing fan turns with air-supply
It is fixed by locking cap between axle；Air-supply arrangement can be that the present invention produces wind regime, and the wind-force that air-supply arrangement produces is by pressing
The air-permeating hole on outer cover outer surface that rubs is discharged so that axillary fossa can be blown while massaging human body oxter by the present invention, rises
To driving the effect of antiperspirant, also make to massage more comfortable pleasantly cool simultaneously.
As a further improvement on the present invention, described part massage device includes support, fixing axle, part massage head, support
Axle, retainer ring, vibrating motor and vibrating spring, and number of holders is two；Described pedestal lower end is the strip of extension type
Structure, pedestal upper end is forme fruste umbrella-shaped structure, and support is respectively symmetrically and is arranged in part massage head both sides, and part massage head
And be attached by fixing axle between pedestal upper end, part massage head is incomplete ring-shaped structure, part massage head outer surface
On have massaging strip, support shaft to be positioned at immediately below part massage head along its circumferential direction spaced set, and support shaft two ends respectively with
Support medial wall is connected, and vibrating motor is positioned at directly over support shaft, and vibrating motor is uniformly along support shaft axial direction linearly
Arranging, vibrating motor lower end is arranged in support shaft by retainer ring, and vibrating motor upper end is connected with vibrating spring one end, shakes
The spring other end of moving is connected with part massage head medial wall；Vibration by vibrating motor drives the shake of vibrating spring, thus
Realizing the vibration of part massage head, serve the effect of vibromassage, part massage device is mainly used in both sides, human body oxter
Massage.
Compared with prior art, the invention have the advantages that
(1) present invention can carry out massage and air-cooled scattered antiperspirant to human body oxter, and massage is comprehensive, and massage effect is obvious,
Massage comfort level is high, and human body oxter serves good health-care effect, the physical and mental health promoting human body the most to a certain extent.
(2) the main body massage machine of the present invention uses four-degree-of-freedom symmetry redundancy parallel mechanism, and it uses 2-UPS-2-RPS's
Parallel institution form, it can realize moving along X-axis and Z axis and around X-axis with around rotation totally four degree of freedom directions of Y-axis
Motion, and four degree of freedom are all independent, by four degree of freedom can also co-ordination, the moving platform track made is along predetermined space
Curvilinear motion, stable movement, motion flexibly, in the present invention, is driven by redundancy parallel mechanism and covers on sky outside whole massage
In can carry out two translations two and rotate the motion in totally four degree of freedom directions, massage motion personality is alive and massage effect good.
(3) air-supply arrangement of the present invention can be that the present invention produces wind regime, and the wind-force that air-supply arrangement produces is by massage outer housing appearance
Air-permeating hole on face is discharged so that axillary fossa can be blown while massaging human body oxter by the present invention, serves and drives antiperspirant
Effect, also makes to massage more comfortable cooling off oneself simultaneously.
(4) the part massage device of the present invention drives the shake of vibrating spring by the vibration of vibrating motor, thus realizes local and press
Rub the vibration of head, serves the effect of vibromassage, and part massage device is mainly used in the massage to both sides, human body oxter.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view (seeing from front to back) when elevation and subsidence regulating device of the present invention and local massage machine cooperation；
Fig. 3 is the perspective view (seeing from the bottom up) when elevation and subsidence regulating device of the present invention and local massage machine cooperation；
Fig. 4 is the perspective view of main body massage machine of the present invention；
Fig. 5 is the front view after main body massage machine of the present invention removes redundancy parallel mechanism；
Fig. 6 is the perspective view of redundancy parallel mechanism of the present invention；
Fig. 7 is the perspective view after main body massage machine of the present invention removes redundancy parallel mechanism；
Fig. 8 is the perspective view of part massage device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of axillary fossa is rubbed and is pressed automatic machinery people with rubbing pressure device, including elevation and subsidence regulating device 4, leads
Body massage machine 5 and local massage machine 6, and the quantity of part massage device 6 is two；Described main body massage machine 5 is solid
Being scheduled on directly over elevation and subsidence regulating device 4, part massage device 6 is respectively symmetrically the left and right sides being positioned at main body massage machine 5, and
Part massage device 6 is connected with elevation and subsidence regulating device 4.
As shown in Figure 1, Figure 2 and Figure 3, described elevation and subsidence regulating device 4 includes fixed disk 41, lifting disk 42, lifting electric
Push rod 43, lifting lead 44, regulation rotating shaft 45 and fixed mount 46；Described lifting disk 42 is positioned at directly over fixed disk 41,
Lifting electric push rod 43 is between fixed disk 41 and lifting disk 42, and lifting electric push rod 43 bottom is connected with fixed disk 41
Connecing, lifting electric push rod 43 top is connected with lifting disk 42, and lifting lead 44 quantity is four, and lifting lead 44 is adopted
With two grades of stretching structures, lifting lead 44 is respectively symmetrically layout along the central axis of lifting electric push rod 43, regulates rotating shaft 45
Through the upper end of lifting electric push rod 43, and regulation rotating shaft 45 two ends are fixedly connected by fixed mount 46 respectively, fixed mount
46 in " X " type structure, and four legs of fixed mount 46 are separately fixed on lifting lead 44, position in fixed mount 46
The place of putting is provided with and regulates the lifting bearing that rotating shaft 45 matches；Elevation and subsidence regulating device 4 is mainly used in the present invention on the vertical plane
The regulation of whole height, and easy to adjust, guide, regulation rotating shaft 45 simultaneously can drive part massage device 6 on the vertical plane
Rotation, and then regulation part massage device 6 setting angle.
As shown in Figures 4 to 7, described main body massage machine 5 includes redundancy parallel mechanism 51, massage outer housing 52, transmission rolling
Pearl 53, back-up ring 54 and air-supply arrangement 55；Described massage outer housing 52 is positioned at directly over redundancy parallel mechanism 51, and outside massage
Cover 52 is hemispherical shell structure, and massage outer housing 52 material is PP engineering plastics, on massage outer housing 52 outer surface the most uniformly
Being provided with vibrating massaging head and air-permeating hole, vibrating massaging head and air-permeating hole interlaced arrangement two-by-two, vibrating massaging head is hemispherical dome structure,
Vibrating massaging head outer surface is flexible rubber material, and back-up ring 54 is positioned at outside massage outer housing 52, and back-up ring 54 and redundant parallel
Structure 51 fixes, and transmitting balls 53 is uniformly arranged between back-up ring 54 and massage outer housing 52, by massage outer housing 52, transmission
The cooperation of ball 53 and back-up ring 54 can realize massaging the function of outer housing 52 rotary motion in the horizontal plane, and air-supply arrangement 55 is positioned at
Massage outer housing 52 is internal；Described redundancy parallel mechanism 51 includes fixed platform 511, moving platform the 512, first side chain 513 and
Two side chains 514；Described fixed platform 511 and moving platform 512 are disc-shaped structure, and moving platform 512 is positioned at fixed platform 511
Surface；The first described side chain 513 and the quantity of the second side chain 514 are two, the first side chain 513 and the second side chain 514
Be respectively positioned between fixed platform 511 and moving platform 512, the two ends of the first side chain 513 and the second side chain 514 respectively with fixed platform
511 are connected with moving platform 512, and the horizontal installation angle of the first side chain 513 and the second side chain 514 is 90 degree；Described
First side chain 513 include the first ear mount 5131, Hooke's hinge the 5132, first electric pushrod the 5133, first spherical hinge 5134,
One connects post 5135 and the first damping spring 5136；The first described ear mount 5131 is fixed on fixed platform 511 upper surface, the
Hooke's hinge 5132 is used to be attached between one ear mount 5131 and the first electric pushrod 5133 lower end, the first electric pushrod 5133
Upper end is connected with the first spherical hinge 5134, and the first spherical hinge 5134 is fixed on moving platform 512 by the first connection post 5135
On lower surface, the first damping spring 5136, around being enclosed within the first electric pushrod 5133, can carry out two sides by Hooke's hinge 5132
To rotation, the rotation in three directions can be carried out by the first spherical hinge 5134, can be carried out by the first electric pushrod 5133 on
Lower movement, the first side chain 513 uses the form of 2-UPS parallel institution, and adds first by the first damping spring 5136
Stationarity when chain 513 moves, improves the exercise performance of the present invention；The second described side chain 514 include the second ear mount 5141,
Rotational pin the 5142, second electric pushrod the 5143, second spherical hinge 5144, second connects post 5145 and the second damping spring 5146；
The second described ear mount 5141 is fixed on fixed platform 511 upper surface, the second ear mount 5141 and the second electric pushrod 5143 lower end
Between use rotational pin 5142 be attached, the second electric pushrod 5143 upper end is connected with the second spherical hinge 5144, the second ball
Hinge 5144 is fixed on the lower surface of moving platform 512 by the second connection post 5145, and the second damping spring 5146 is around being enclosed within the
On two electric pushrods 5143；The rotation in a direction can be carried out by rotational pin 5142, can be carried out by the second spherical hinge 5144
The rotation in three directions, can be moved up and down by the second electric pushrod 5143, and the second side chain 514 uses 2-RPS parallel machine
The form of structure, and add stationarity when the second side chain 514 moves by the second damping spring 5146, improve the present invention's
Exercise performance；Redundancy parallel mechanism is constituted by fixed platform 511, moving platform the 512, first side chain 513 and the second side chain 514
Four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, it can realize moving along X-axis and Z axis
Move and around X-axis and the motion in rotation totally four the degree of freedom directions around Y-axis, and four degree of freedom are all independent, by four certainly
By degree can also co-ordination, the moving platform track made along the curvilinear motion of predetermined space, stable movement, motion flexibly, at this
In invention, by redundancy parallel mechanism 51 drive whole massage outer housing 52 can carry out in space two translations two rotate totally four from
By the motion in degree direction, massage motion personality is alive and massage effect good.Described air-supply arrangement 55 includes air supply motor 551, electricity
Support 552, air-supply rotating shaft 553, blowing fan 554 and locking cap 555, air supply motor 551 is fixed on dynamic by motor cabinet 552
On platform 512 upper surface, air-supply rotating shaft 553 one end be connected with air supply motor 551 main shaft, air-supply rotating shaft 553 other end and
Blowing fan 554 is connected, and is fixed by locking cap 555 between blowing fan 554 and air-supply rotating shaft 553；Air-supply arrangement
55 can be that the present invention produces wind regime, and the wind-force that air-supply arrangement 55 produces is discharged by the air-permeating hole on massage outer housing 52 outer surface,
Axillary fossa can be blown while massaging human body oxter by the present invention, serve the effect driving antiperspirant, also make simultaneously by
Rub more comfortable pleasantly cool.
As shown in Figure 8, described part massage device 6 includes support 61, fixing axle 62, part massage 63, support shaft
64, retainer ring 65, vibrating motor 66 and vibrating spring 67, and support 61 quantity is two；Described support 61 lower end is can
Telescopic strip structure, support 61 upper end is forme fruste umbrella-shaped structure, and support 61 is respectively symmetrically and is arranged in part massage
Be attached by fixing axle 62 between 63 both sides, and part massage 63 and support 61 upper end, part massage 63 in
Not exclusively ring-shaped structure, part massage 63 outer surface has massaging strip, support shaft 64 along its circumferential direction spaced set
It is positioned at immediately below part massage 63, and support shaft 64 two ends are connected with support 61 medial wall respectively, vibrating motor 66
Directly over support shaft 64, and vibrating motor 66 is uniformly linearly arranged along support shaft 64 axial direction, vibrating motor 66 times
End is arranged in support shaft 64 by retainer ring 65, and vibrating motor 66 upper end is connected with vibrating spring 67 one end, vibrates bullet
Spring 67 other end is connected with part massage 63 medial wall；Trembling of vibrating spring 67 is driven by the vibration of vibrating motor 66
Dynamic, thus realize the vibration of part massage 63, serving the effect of vibromassage, part massage device 6 is mainly used in people
The massage of both sides, body oxter.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (2)
1. an axillary fossa rubs pressure automatic machinery people with rubbing pressure device, it is characterised in that: include that elevation and subsidence regulating device, main body are massaged
Device and local massage machine, and the quantity of part massage device is two；Described main body massage machine is fixed on lift adjustment dress
Directly over putting, part massage device is respectively symmetrically the left and right sides being positioned at main body massage machine, and part massage device and rising-falling tone
Regulating device is connected；Wherein:
Described elevation and subsidence regulating device includes fixed disk, lifting disk, lifting electric push rod, lifting lead, regulation rotating shaft and consolidates
Determine frame；Described lifting disk is positioned at directly over fixed disk, and lifting electric push rod is between fixed disk and lifting disk, and lifting electricity
Dynamic push rod bottom is connected with fixed disk, and lifting electric push rod top is connected with lifting disk, and lifting lead quantity is four, rises
Fall lead uses two grades of stretching structures, and lifting lead is respectively symmetrically layout along the central axis of lifting electric push rod, and regulation turns
Axle is through the upper end of lifting electric push rod, and regulation rotating shaft two ends are fixedly connected by fixed mount respectively, and fixed mount is in " X "
Type structure, and four legs of fixed mount be separately fixed at lifting lead on, be provided with at fixed mount medium position and regulate turn
The lifting bearing that axle matches；
Described main body massage machine includes redundancy parallel mechanism, massage outer housing, transmitting balls, back-up ring and air-supply arrangement；Described
Massage outer housing be positioned at directly over redundancy parallel mechanism, and massage outer housing be hemispherical shell structure, massage outer housing material be PP work
Engineering plastics, massages and is evenly arranged with vibrating massaging head and air-permeating hole, vibrating massaging head and air-permeating hole respectively two-by-two on outer cover outer surface
Interlaced arrangement, vibrating massaging head is hemispherical dome structure, and vibrating massaging head outer surface is flexible rubber material, and back-up ring is positioned at outside massage
Outside cover, and back-up ring fixes with redundancy parallel mechanism, and transmitting balls is uniformly arranged between back-up ring and massage outer housing, air-supply dress
Inside massage outer housing；Described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Institute
The fixed platform stated and moving platform are disc-shaped structure, and moving platform is positioned at directly over fixed platform；Described the first side chain and second
The quantity of side chain is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the first side chain and the second side chain
Two ends be connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；Institute
The first side chain stated includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connection post and the first damping
Spring；The first described ear mount is fixed on fixed platform upper surface, uses Hooke between the first ear mount and the first electric pushrod lower end
Hinge is attached, and the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge connects post by first and is fixed on dynamic
On the lower surface of platform, the first damping spring is around being enclosed within the first electric pushrod；The second described side chain includes the second ear mount, turns
Untie-sell, the second electric pushrod, the second spherical hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed
On platform upper surface, rotational pin is used to be attached between the second ear mount and the second electric pushrod lower end, the second electric pushrod upper end
Being connected with the second spherical hinge, the second spherical hinge connects post by second and is fixed on the lower surface of moving platform, the second damping spring
Around being enclosed within the second electric pushrod；
Described part massage device includes support, fixing axle, part massage head, support shaft, retainer ring, vibrating motor and shakes
Move spring, and number of holders is two；Described pedestal lower end is the strip structure of extension type, and pedestal upper end is forme fruste
Umbrella-shaped structure, support is respectively symmetrically and is arranged in part massage head both sides, and by fixing axle between part massage head and pedestal upper end
Being attached, part massage head is incomplete ring-shaped structure, along its circumferential direction spaced set on part massage head outer surface
There are massaging strip, support shaft to be positioned at immediately below part massage head, and support shaft two ends are connected with support medial wall respectively, vibration electricity
Machine is positioned at directly over support shaft, and vibrating motor is uniformly linearly arranged along support shaft axial direction, and vibrating motor lower end is by solid
Determining ring to be arranged in support shaft, vibrating motor upper end is connected with vibrating spring one end, the vibrating spring other end and part massage head
Medial wall is connected.
A kind of axillary fossa the most according to claim 1 rubs pressure automatic machinery people with rubbing pressure device, it is characterised in that: described
Air-supply arrangement includes air supply motor, motor cabinet, air-supply rotating shaft, blowing fan and locking cap, and air supply motor is fixed on by motor cabinet
On moving platform upper surface, air-supply rotating shaft one end is connected with air supply motor main shaft, and the air-supply rotating shaft other end is connected with blowing fan,
And be fixed by locking cap between blowing fan and air-supply rotating shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610329327.2A CN105832517B (en) | 2016-05-18 | 2016-05-18 | A kind of armpit rubs pressure automatic machinery people with rubbing pressure device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610329327.2A CN105832517B (en) | 2016-05-18 | 2016-05-18 | A kind of armpit rubs pressure automatic machinery people with rubbing pressure device |
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| CN105832517A true CN105832517A (en) | 2016-08-10 |
| CN105832517B CN105832517B (en) | 2017-11-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112402209A (en) * | 2020-12-02 | 2021-02-26 | 深圳市妇幼保健院 | Underarm lymph massaging device |
| CN113081727A (en) * | 2021-04-15 | 2021-07-09 | 苏州研创健康科技有限公司 | Massage device |
| CN113730067A (en) * | 2021-09-26 | 2021-12-03 | 郑州大学第一附属医院 | Traction type rehabilitation auxiliary device for treating lumbar disc herniation |
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| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103156756A (en) * | 2013-04-07 | 2013-06-19 | 福州大学 | Adjustable ankle recovering device |
| CN105478258A (en) * | 2015-12-24 | 2016-04-13 | 蔡惠文 | Multifunctional massage shower |
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| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103156756A (en) * | 2013-04-07 | 2013-06-19 | 福州大学 | Adjustable ankle recovering device |
| CN105478258A (en) * | 2015-12-24 | 2016-04-13 | 蔡惠文 | Multifunctional massage shower |
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| CN112402209A (en) * | 2020-12-02 | 2021-02-26 | 深圳市妇幼保健院 | Underarm lymph massaging device |
| CN113081727A (en) * | 2021-04-15 | 2021-07-09 | 苏州研创健康科技有限公司 | Massage device |
| CN113730067A (en) * | 2021-09-26 | 2021-12-03 | 郑州大学第一附属医院 | Traction type rehabilitation auxiliary device for treating lumbar disc herniation |
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| Publication number | Publication date |
|---|---|
| CN105832517B (en) | 2017-11-24 |
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Effective date of registration: 20171101 Address after: 362000 Fujian Taiwanese investment zone of Quanzhou City Zhang Zhen Xing Qun Li Cun ban pit No. 123 Applicant after: Luo Xuee Address before: 246001, Anhui, Anqing Province grand view district built new village cottage 47 Applicant before: Yu Tianle |
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Effective date of registration: 20201028 Address after: 226000 machinery and electronics industry park, Xianfeng Town, Nantong, Jiangsu (Zhou Weicun), Tongzhou District Patentee after: NANTONG NANPING ELECTRONIC TECHNOLOGY Co.,Ltd. Address before: 362000 Fujian Taiwanese investment zone of Quanzhou City Zhang Zhen Xing Qun Li Cun ban pit No. 123 Patentee before: Luo Xuee |