CN106038215A - Shoulder breadth-adjustable medical shoulder massaging robot - Google Patents
Shoulder breadth-adjustable medical shoulder massaging robot Download PDFInfo
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- CN106038215A CN106038215A CN201610343695.2A CN201610343695A CN106038215A CN 106038215 A CN106038215 A CN 106038215A CN 201610343695 A CN201610343695 A CN 201610343695A CN 106038215 A CN106038215 A CN 106038215A
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- 238000002604 ultrasonography Methods 0.000 claims description 69
- 230000035807 sensation Effects 0.000 claims description 37
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- 241000397426 Centroberyx lineatus Species 0.000 claims description 11
- 229920001821 foam rubber Polymers 0.000 claims description 7
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- 230000008901 benefit Effects 0.000 description 9
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- 230000004044 response Effects 0.000 description 3
- 206010028391 Musculoskeletal Pain Diseases 0.000 description 2
- 208000007613 Shoulder Pain Diseases 0.000 description 2
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Classifications
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- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/008—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms using shock waves
-
- 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
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1614—Shoulder, e.g. for neck stretching
-
- 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
- A61H2205/06—Arms
- A61H2205/062—Shoulders
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Massaging Devices (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to a shoulder breadth-adjustable medical shoulder massaging robot, which comprises a fixed stand, wherein the fixed stand comprises a lower platform; a transmission shaft is arranged in the middle of the upper end face of the lower platform by virtue of a bearing; a transmission gear is arranged in the middle of the transmission shaft by virtue of a key; the transmission gear is engaged with six transmission branched chains in an axial direction; each transmission branched chain comprises a transmission motor with bottom end arranged on the lower platform by virtue of a motor base; the output ends of the transmission motors are connected to drive shafts by virtue of shaft couplings; drive gears are arranged in the middles of the drive shafts by virtue of keys; the drive gears are engaged with the transmission gear, and the upper ends of six drive shafts on the six transmission branched chains are connected to a supporting platform; and a shoulder massaging manipulator is arranged in the middle of the upper end face of the upper platform. The massaging robot disclosed by the invention can achieve a stable ultrasonic uniform massaging function on shoulders; therefore, a new way is provided for massaging the shoulders.
Description
Technical field
The present invention relates to medical instruments field, a kind of Width adjustable medical treatment shoulder massage robot.
Background technology
Along with improving constantly of people's living standard, for a long time reading, in the face of computer screen, use mobile phone and play mah-jong
It is seen everywhere etc. phenomenon, but croucs can cause the deformity of spinal column, so that trapezius shoulders is chronically at for a long time
Tense situation, has brought the slight illness of many, such as cerebral anoxia, headache and insomnia, and dizziness is off one's dot etc..Existing solution this
The mode predominantly massage that a little shoulders are ailing, by effective massaging point, loosens the anxiety alleviating trapezius shoulders, is solved
Pain except patient.
Shoulder massaging way of the prior art is mainly manual massage or automatization's massage apparatus massage two ways,
Trapezius shoulders is predominantly massaged by artificial shoulder massage by hand so that trapezius shoulders loosening all muscles, alleviates shoulder
Portion's pain, but exist at this artificial shoulder massaging way need to manually adjust that massage position, massage force be uneven, massage time
Between long, massage effect is poor and the defect such as inefficiency；And existing automatization shoulder massaging way is mainly Cape massage side
Formula and wall-mounted massaging way, although the function of automatization's shoulder massage can be realized, but Cape massaging way needs people
Work regulates shoulder massage position, complex operation, inefficiency, and the massage of wall-mounted massaging way height can not regulate,
Can not meet the patient of different height, the scope of application is little, and massage force is non-adjustable, and in massage processes, equipment exists shake, massage
Stability is poor, and massage range is little, and massage effect is poor.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of Width adjustable medical treatment shoulder massage robot, can solve
Certainly artificial shoulder massaging way needs to manually adjust massage position, complex operation and an ineffective difficult problem, it is also possible to solve
The massage that existing automatization shoulder massaging way exists is the most non-adjustable, the scope of application is little, massage force is non-adjustable, massage range
Little, massage effect is poor, equipment exists shake and a difficult problem for massage stability difference in massage processes, it is possible to achieve shoulder is stable
Ultrasound wave homogeneously kneaded function, and have massage height adjustable, the scope of application is big, massage force is adjustable, massage range is big, massage
Effective, massage processes does not exist shake, massage stability good, without artificial adjusting massage position, easy and simple to handle and work
Make efficiency advantages of higher, it is provided that the new way of a kind of shoulder massage.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of Width adjustable medical treatment shoulder
Massage robot, including fixed frame, described fixed frame includes lower platform, passes through bearing in the middle part of the upper surface of described lower platform
Being provided with power transmission shaft, the middle part of power transmission shaft is provided with travelling gear by key, travelling gear the most respectively with six biographies
Dynamic side chain is meshed, and the upper end of six transmission branch chain is all connected, by six transmission branch chain from six with support platform by bearing
The mode that individual angle band nutating gear simultaneously rotates adds transmission twisting resistance, improves the stationarity of transmission, transmission branch chain
The driving motor being arranged on lower platform by motor cabinet including bottom, the outfan of driving motor passes through shaft coupling and drive shaft
Being connected, the middle part of drive shaft is provided with driving gear by key, drives gear to be meshed with travelling gear, and the upper end of drive shaft
All being connected with support platform by bearing, drive drive shaft turns by driving motor, drive shaft drives and drives pinion rotation, thus
Constitute by six planetary gear mechanisms driving gear driven travelling gear to rotate, improve the stationarity of transmission；Institute
Stating the middle part supporting platform to be connected with power transmission shaft by bearing, the lower surface supporting platform has the six roots of sensation to support along the square uniform welding of axis
Post, the lower surface of six roots of sensation support column is installed on lower platform, and six roots of sensation support column plays the most fixing function supporting platform, thus
Make that power transmission shaft can be stable under the drive of planetary gear mechanism rotates on platform supporting；The upper end of described power transmission shaft
Being connected with turn-screw by shaft coupling, the middle part of turn-screw is threaded connection mode and is provided with driving block, and transmission is sliding
Block is regular hexagon structure, and six end faces of driving block are respectively welded the six roots of sensation and move post, and the six roots of sensation moves the end of post respectively
It is arranged on six line slide rails, by the regular hexagon structure of driving block, the six roots of sensation being welded on driving block is moved
Post can make stable elevating movement under the drive of turn-screw on six line slide rails, and six line slide rails are divided by screw
Not being arranged in six pieces of gripper shoes, the lower end of six pieces of gripper shoes is respectively welded on lower platform, and six pieces of gripper shoes play fixing
The effect of six line slide rails of support, adds the mobile post stability at line correspondence slide rail；The upper end of described six pieces of gripper shoes
Being respectively welded the spacing pillar of the six roots of sensation on inwall, the middle part of six roots of sensation limited post offers six square limited mouths respectively, and the six roots of sensation limits
The end of position pillar is respectively welded on fixed station, and the middle part of fixed station is connected with the upper end of turn-screw by bearing；Described
The six roots of sensation moves the upper surface of post and is separately installed with six side chains in parallel, and the upper end of six side chains in parallel is uniformly arranged on upper mounting plate
On, and the middle part of each side chain in parallel is all located in the square limited mouth of corresponding spacing pillar, the square of spacing pillar is spacing
Mouth plays the effect limiting side chain range of movement in parallel, moves post by the six roots of sensation and drives six side chains in parallel to make lifting fortune respectively
Dynamic, six side chains in parallel synchronize to drive upper mounting plate to make elevating movement, by the stable drive performance of planetary gear mechanism, carry
Stability in high lifting process, so that the present invention can realize stable lifting adjustable function so that the present invention fits
For the patient of different heights, the scope of application is big；Described side chain in parallel includes the hollow lower screw thread that lower end is welded on mobile post
Axle, mode that hollow lower thread spindle is threaded connection is provided with a ball pivot, the upper end side of being threaded connection of a ball pivot
Formula is provided with a sleeve, and the upper end of a sleeve is threaded connection mode and is provided with hydraulic cylinder, and the upper end of hydraulic cylinder is passed through
Thread connecting mode is provided with No. two sleeves, and the upper end of No. two sleeves is threaded connection mode and is provided with No. two ball pivots, No. two
The upper end of ball pivot is threaded connection mode and is provided with hollow upper thread spindle, and hollow upper thread spindle is welded on the lower surface of upper mounting plate
On, the present invention is by the moving sets P formed when spherical pair S of formation, hydraulic cylinder extension during a ball pivot job and No. two ball pivots
Spherical pair S formed during work constitutes SPS parallel connection side chain, and the fixed frame in the present invention is as fixed platform, six SPS also
Connection side chain, upper mounting plate constitute 6-SPS parallel institution as moving platform, and 6-SPS parallel institution has that dynamic response is good, rigidity
High, bearing capacity big, good stability and kinematic accuracy advantages of higher；In the middle part of described upper mounting plate upper surface, shoulder massage appliance is installed
Tool hands, starts to carry out patient's shoulder ultrasound wave homogeneously kneaded by shoulder massaging manipulator, and owing to the present invention is by 6-SPS
The premium properties of parallel institution makes to be arranged on the shoulder massaging manipulator above upper mounting plate can in ultrasound wave massage processes
Remain plateau, eliminate the jitter phenomenon produced in massage processes, add the stability of massage processes, improve
Massage effect.
As a preferred technical solution of the present invention, described shoulder massaging manipulator includes being arranged on upper mounting plate upper surface
The massage upright post at middle part, the end of massage upright post is welded with U-shaped support, and the inwall of U-shaped support is provided with one layer of foam-rubber cushion,
In shoulder massage processes, patient's neck leans against on foam-rubber cushion, and foam-rubber cushion adds the level of comfort of patient's massage processes, U-shaped support
Two ends be symmetrically installed with two massage machines, massage machine can realize automatic uniform massage functions back and forth, it is not necessary to artificial
Adjusting shoulder massage position, easy and simple to handle, massage range is big, and massage efficiency is high；Described massage machine includes being welded on U-shaped support
Massage support plate on outer wall, massage support plate upper surface is welded with baffle plate away from one end of U-shaped support, baffle plate is pacified by motor cabinet
Equipped with mobile motor, the output shaft of mobile motor being provided with mobile leading screw by shaft coupling, axle is passed through at the two ends of mobile leading screw
Holding and be symmetrically mounted on two fixing ears, the lower end of two fixing ears is symmetrically welded at massage support plate upper surface, massage support plate
Middle part is provided with square stopper slot；The middle part of described mobile leading screw is threaded connection mode and is provided with mobile slide block, mobile sliding
The two ends of block are symmetrically welded with two swallow-tail form travellers, and two swallow-tail form travellers are arranged on two by sliding matching mode respectively
On swallowtail-shaped slide, two swallowtail-shaped slides are symmetrically welded at the both sides of massage support plate, by two swallow-tail form travellers and two
The spaced motion of swallowtail-shaped slide makes mobile slide block can move stable moving back and forth on leading screw；Under described mobile slide block
End face weld is connected to massage cylinder, and the middle part of massage cylinder is located in the square stopper slot on massage support plate, under massage cylinder
End is welded with arc massage block, and the inwall of arc massage block is uniformly provided with ultrasound wave massage side chain, and square stopper slot plays
Limit the effect of ultrasound wave massage range back and forth；Described ultrasound wave massage side chain includes being arranged on arc massage block by motor cabinet
Ultrasonic motor on inwall, the output shaft of ultrasonic motor is provided with ultrasound probe, is driven super by ultrasonic motor
Sonic probe rotates, and ultrasound probe is connected with extraneous supersonic generator, and extraneous supersonic generator can be visited to ultrasound wave
Hair goes out the massage ultrasound wave of different frequency, and the massage force of different frequency massage ultrasound wave varies in size, it is achieved thereby that this
The bright adjustable function of massage force size, and owing to ultrasound wave sends more stable, so that the massage force that patient's shoulder is subject to
Highly uniform.
Ultrasound wave shoulder massage cardinal principle is: the high frequency ultrasound vibration sent by ultrasound wave promotes blood, lymph
Liquid energy preferably Supply Organization, and attract leukocyte actively to move to scorching district center, eliminating microcirculation disturbance, film mistake is worn in stimulation
Journey, thus strengthens metabolic processes, plays antiinflammatory, pain relieving, the effect of healing of subsiding a swelling, promote, improves the regeneration of tissue
Function and regulative mechanism, the present invention utilizes the above-mentioned biological physical and chemical effect of ultrasound wave to reach to alleviate patient's shoulder pain
Effect.
As a preferred technical solution of the present invention, use mutually between described six transmission branch chain and six roots of sensation support column
Staggered mode is arranged on lower platform, has both added the stationary performance of transmission, too increases support column to supporting uniformly propping up of platform
Support performance.
As a preferred technical solution of the present invention, the central axis phase of the central axis of described lower platform and upper mounting plate
Overlapping, the advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform and upper mounting plate holding all the time
Parallel, so that patient is carried out remaining steady in shoulder massage processes by shoulder massaging manipulator, stability
Good, massage effect is good, and work efficiency is high.
As a preferred technical solution of the present invention, the quantity of described ultrasound wave massage side chain is at least 15, super
The quantity of Acoustic massage side chain is the most, and the level of comfort of massage is the highest, and massage effect is the best.
During work, the present invention is first arranged on the operation ground of required massage, it is then determined that the height of patient regulates
Shoulder massage height, six driving motors in six transmission branch chain start simultaneously at work, and six driving motors drive six respectively
Individual drive shaft turns, six drive shafts drive six to drive pinion rotation, and six drive the motion of gear driven travelling gear, transmission
Gear driven drive axis, power transmission shaft drives turn-screw to rotate, and turn-screw drives driving block motion, owing to transmission is sliding
The regular hexagon structure of block makes the six roots of sensation being welded on driving block move post can be straight at six under the drive of turn-screw
Making stable elevating movement on line slide rail, the six roots of sensation moves post and drives six side chains in parallel to make elevating movement respectively, and six parallel connections are propped up
Chain synchronizes to drive the shoulder massaging manipulator on upper mounting plate to make elevating movement, by the stable drive of planetary gear mechanism
Can, improve the stability in lifting process, so that the present invention can realize stable lifting adjustable function so that this
The bright patient being applicable to different height, the scope of application is big, and when the present invention reaches suitable shoulder massage height, driving motor stops
Work；Ultrasound wave massage force size is regulated, by extraneous supersonic generator to ultrasound probe further according to patient's shoulder situation
Send the massage ultrasound wave of suitable frequency, because the massage force of different frequency massage ultrasound wave varies in size, it is achieved thereby that this
The adjustable function of invention massage force size, and owing to ultrasound wave sends more stable, so that the massage that patient's shoulder is subject to
Power is highly uniform；Last shoulder massaging manipulator starts patient's shoulder to carry out back and forth ultrasound wave massage, on two massage machines
Two mobile motors start simultaneously at work, mobile motor drives mobile screw turns, mobile leading screw to drive mobile slide block, mobile
Slide block drives massage cylinder side on massage support plate under the spaced motion of two swallow-tail form travellers and two swallowtail-shaped slides
Moving back and forth in type stopper slot, massage cylinder drives the ultrasound wave massage side chain on arc massage block inwall to move back and forth, and surpasses
Ultrasonic motor on Acoustic massage side chain drives ultrasound probe to carry out ultrasound wave rotary massage, backhauling of mobile slide block
The present invention is achieved to the stable ultrasound wave homogeneously kneaded of patient's shoulder under the dynamic lower and ultrasound wave rotary massage of ultrasound probe
Function, and owing to the fixed frame in the present invention forms as moving platform as fixed platform, six SPS parallel connection side chains, upper mounting plates
6-SPS parallel institution, 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and motion
Precision advantages of higher, the present invention makes the shoulder massage appliance being arranged on upper mounting plate by the premium properties of 6-SPS parallel institution
Tool hands can remain plateau in ultrasound wave massage processes, eliminates the jitter phenomenon produced in massage processes, increases
Add the stability of massage processes, improve massage effect.
The invention has the beneficial effects as follows:
1, the present invention is by six planetary gear mechanisms driving gear band nutating gear simultaneously to rotate, thus carries
Dynamic six side chains in parallel move stable moving up and down on post in the six roots of sensation, and six parallel connections are propped up and synchronized to drive the shoulder on upper mounting plate to press
Elevating movement made by the mechanical hand that rubs, and by the stable drive performance of planetary gear mechanism, improves stablizing in lifting process
Property, so that the present invention can realize stable lifting adjustable function so that the present invention is applicable to the patient of different height, suitable
Big by scope；
2, the present invention makes the shoulder massaging manipulator being arranged on upper mounting plate by the premium properties of 6-SPS parallel institution
Plateau can be remained in ultrasound wave massage processes, eliminate the jitter phenomenon produced in massage processes, add
The stability of massage processes, improves massage effect；
3, the present invention makes ultrasound probe send the massage ultrasound wave of different frequency by extraneous supersonic generator, passes through
The shoulder massage ultrasound wave of different frequency realizes the adjustable function of massage force of the present invention, the massage of different frequency massage ultrasound wave
Power varies in size, owing to ultrasound wave sends more stable, so that the massage force that patient's shoulder is subject to is highly uniform；And this
Bright shoulder massage machine two massage machines on hand can realize automatic uniform massage functions back and forth, it is not necessary to artificially adjusts shoulder
Portion's massage position, easy and simple to handle, massage range is big, and massage efficiency is high；
4, the present invention solves artificial shoulder massaging way needs to manually adjust massage position, complex operation and work efficiency
A low difficult problem, also solves that the massage that existing automatization shoulder massaging way exists is the most non-adjustable, the scope of application is little, massage force
Spend non-adjustable, massage range is little, massage effect is poor, equipment exists shake and a difficult problem for massage stability difference in massage processes,
Achieve the ultrasound wave homogeneously kneaded function that shoulder is stable, and there is massage height adjustable, the scope of application is big, massage force can
Adjust, massage range is big, massage effect good, there is not shake in massage processes, to massage stability good, without artificial adjusting massage
Position, easy and simple to handle and work efficiency advantages of higher, it is provided that the new way of a kind of shoulder massage.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the full sectional view that the present invention removes after shoulder massaging manipulator；
Fig. 3 is that the A-A of Fig. 2 of the present invention is to sectional view；
Fig. 4 is that the B-B of Fig. 2 of the present invention is to sectional view；
Fig. 5 is the structural representation of shoulder massaging manipulator of the present invention；
Fig. 6 is the top view of shoulder massaging manipulator of the present invention；
Fig. 7 is that the C-C of Fig. 6 of the present invention is to sectional view.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 7, a kind of Width adjustable medical treatment shoulder massage robot, including fixed frame 1, described solid
Determine frame 1 and include lower platform 11, in the middle part of the upper surface of described lower platform 11, by bearing, power transmission shaft 12 is installed, power transmission shaft 12
Middle part is provided with travelling gear 13 by key, and travelling gear 13 is meshed with six transmission branch chain 14 the most respectively, and
Six transmission branch chain 14 upper ends are all connected with support platform 15 by bearing, are carried from six angles by six transmission branch chain 14 simultaneously
The mode that nutating gear 13 rotates adds transmission twisting resistance, improves the stationarity of transmission, and transmission branch chain 14 includes bottom
The driving motor 141 being arranged on lower platform 11 by motor cabinet, the outfan of driving motor 141 passes through shaft coupling and drive shaft
142 are connected, and the middle part of drive shaft 142 is provided with driving gear 143 by key, drive gear 143 to be meshed with travelling gear 13,
And the upper end of drive shaft 142 is all connected with support platform 15 by bearing, drives drive shaft 142 to rotate by driving motor 41, drive
Moving axis 142 drives and drives gear 143 to rotate, thus constitutes by six row driving gear 143 band nutating gear 13 to rotate
Star gear drive, improves the stationarity of transmission；The middle part of described support platform 15 is connected with power transmission shaft 12 by bearing,
The lower surface of support platform 15 has six roots of sensation support column 16, the lower surface of six roots of sensation support column 16 to be installed in down along the square uniform welding of axis
On platform 11, six roots of sensation support column 16 plays the most fixing function supporting platform 15, so that power transmission shaft 12 passes at planetary gear
Rotation on support platform 15 that can be stable is descended in the drive of motivation structure；Shaft coupling and driving wire are passed through in the upper end of described power transmission shaft 12
Thick stick 17 is connected, and the middle part of turn-screw 17 is threaded connection mode and is provided with driving block 18, and driving block 18 is positive six limits
Shape structure, six end faces of driving block 18 are respectively welded the six roots of sensation and move post 19, and the six roots of sensation moves the end of post 19 and is respectively mounted
On six line slide rails 110, made the six roots of sensation being welded on driving block 18 by the regular hexagon structure of driving block 18
Mobile post 19 can make stable elevating movement under the drive of turn-screw 17 on six line slide rails 110, and six straight lines are sliding
Rail 110 is separately mounted in six pieces of gripper shoes 111 by screw, and the lower end of six pieces of gripper shoes 111 is respectively welded at lower platform 11
On, six pieces of gripper shoes 111 play the fixing effect supporting six line slide rails 110, add mobile post 19 sliding at line correspondence
The stability of rail 110；Being respectively welded the spacing pillar of the six roots of sensation 112 on the upper end inwall of described six pieces of gripper shoes 111, the six roots of sensation is spacing
The middle part of post 112 offers six square limited mouths respectively, and the end of the spacing pillar of the six roots of sensation 112 is respectively welded at fixed station 113
On, the middle part of fixed station 113 is connected with the upper end of turn-screw 17 by bearing；The described six roots of sensation moves the upper surface of post 19 respectively
Being provided with six side chains 2 in parallel, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3, and each side chain 2 in parallel
Middle part is all located in the square limited mouth of corresponding spacing pillar 112, and the square limited mouth of spacing pillar 112 plays restriction parallel connection
The effect of side chain 2 range of movement, moves post 19 by the six roots of sensation and drives six side chains 2 in parallel to make elevating movement respectively, six parallel connections
Side chain 2 synchronizes to drive upper mounting plate 3 to make elevating movement, by the stable drive performance of planetary gear mechanism, improves lifting
During stability so that the present invention can realize stable lifting adjustable function so that the present invention is applicable to difference
The patient of height, the scope of application is big；Described side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on mobile post 19,
The mode that is threaded connection on hollow lower thread spindle 21 is provided with a ball pivot 22, and the upper end of a ball pivot 22 is threaded connection
Mode is provided with a sleeve 23, and the upper end of a sleeve 23 is threaded connection mode and is provided with hydraulic cylinder 24, hydraulic cylinder 24
Upper end be threaded connection mode No. two sleeves 25 be installed, the upper end of No. two sleeves 25 is threaded connection mode and is provided with
No. two ball pivots 26, the upper end of No. two ball pivots 26 is threaded connection mode and is provided with hollow upper thread spindle 27, hollow upper thread spindle
On 27 lower surfaces being welded on upper mounting plate 3, spherical pair S, the hydraulic cylinder 24 that are formed when the present invention is worked by a ball pivot 22 are stretched
Spherical pair S formed when the moving sets P formed during contracting and No. two ball pivots 26 work constitutes SPS parallel connection side chain 2, and in the present invention
Fixed frame 1 constitute 6-SPS parallel institution as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as moving platform,
6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher；Described
Upper mounting plate 3 is provided with shoulder massaging manipulator 9 in the middle part of upper surface, starts to carry out patient's shoulder by shoulder massaging manipulator 9
Ultrasound wave homogeneously kneaded, and owing to the present invention makes to be arranged on above upper mounting plate 3 by the premium properties of 6-SPS parallel institution
Shoulder massaging manipulator 9 can remain plateau in ultrasound wave massage processes, eliminates generation in massage processes
Jitter phenomenon, adds the stability of massage processes, improves massage effect.
Described shoulder massaging manipulator 9 includes being arranged on the massage upright post 91 in the middle part of upper mounting plate 3 upper surface, massage upright post 91
End be welded with U-shaped support 92, the inwall of U-shaped support 92 is provided with one layer of foam-rubber cushion 93, sick in shoulder massage processes
Person neck leans against on foam-rubber cushion 93, and foam-rubber cushion 93 adds the level of comfort of patient's massage processes, and the two ends of U-shaped support 93 are symmetrical
Being provided with two massage machines 94, massage machine 94 can realize automatic uniform massage functions back and forth, it is not necessary to artificially adjusts shoulder
Portion's massage position, easy and simple to handle, massage range is big, and massage efficiency is high；Described massage machine 94 includes being welded on outside U-shaped support 93
Massage support plate 941 on wall, massage support plate 941 upper surface is welded with baffle plate 942, on baffle plate 942 away from one end of U-shaped support 93
By motor cabinet, mobile motor 943 is installed, the output shaft of mobile motor 943 is provided with mobile leading screw 944 by shaft coupling,
The two ends of mobile leading screw 944 are symmetrically mounted on two fixing ear 944a by bearing, and the lower end of two fixing ear 944a is symmetrical
Being welded on massage support plate 941 upper surface, the middle part of massage support plate 941 is provided with square stopper slot；In described mobile leading screw 944
Portion is threaded connection mode and is provided with mobile slide block 945, and the two ends of mobile slide block 945 are symmetrically welded with two swallow-tail form travellers
946, two swallow-tail form travellers 946 are arranged on two swallowtail-shaped slides 947 by sliding matching mode respectively, two swallow-tail forms
Chute 947 is symmetrically welded at the both sides of massage support plate 941, by two swallow-tail form travellers 946 and two swallowtail-shaped slides 947
Spaced motion makes mobile slide block 945 can move stable moving back and forth on leading screw 944；The lower end of described mobile slide block 945
Face is welded with massage cylinder 945a, and the middle part of massage cylinder 945a is located in the square stopper slot on massage support plate 941, massage
The lower end of cylinder 945a is welded with arc massage block 948, and the inwall of arc massage block 948 is uniformly provided with ultrasound wave massage
Chain 949, square stopper slot plays the effect limiting ultrasound wave massage range back and forth；Described ultrasound wave massage side chain 949 includes leading to
Cross the ultrasonic motor 9491 that motor cabinet is arranged on arc massage block 948 inwall, the output shaft of ultrasonic motor 9491 is pacified
Equipped with ultrasound probe 9492, drive ultrasound probe 9492 to rotate by ultrasonic motor 9491, ultrasound probe 9492 with
Extraneous supersonic generator is connected, and extraneous supersonic generator can send the massage of different frequency to ultrasound probe 9492 and surpass
Sound wave, the massage force of different frequency massage ultrasound wave varies in size, it is achieved thereby that the adjustable function of massage force size of the present invention,
And owing to ultrasound wave sends more stable, so that the massage force that patient's shoulder is subject to is highly uniform.
Ultrasound wave shoulder massage cardinal principle is: the high frequency ultrasound vibration sent by ultrasound wave promotes blood, lymph
Liquid energy preferably Supply Organization, and attract leukocyte actively to move to scorching district center, eliminating microcirculation disturbance, film mistake is worn in stimulation
Journey, thus strengthens metabolic processes, plays antiinflammatory, pain relieving, the effect of healing of subsiding a swelling, promote, improves the regeneration of tissue
Function and regulative mechanism, the present invention utilizes the above-mentioned biological physical and chemical effect of ultrasound wave to reach to alleviate patient's shoulder pain
Effect.
Interlaced mode is used to be arranged on lower platform 11 between described six transmission branch chain 14 and six roots of sensation support column 16,
Both add the stationary performance of transmission, too increase the support column 16 even support performance to supporting platform 15.
The central axis of described lower platform 11 coincides with the central axis of upper mounting plate 3, firm by 6-SPS parallel institution
The advantages such as degree height is good with stability can make lower platform 11 and upper mounting plate 3 keeping parallelism all the time, so that shoulder massage appliance
Patient is carried out remaining steady in shoulder massage processes by tool hands 9, and stability is good, and massage effect is good, work efficiency
High.
The quantity of described ultrasound wave massage side chain 949 is at least 15, and the quantity of ultrasound wave massage side chain 949 is the most,
The level of comfort of massage is the highest, and massage effect is the best.
During work, the present invention is first arranged on the operation ground of required massage, it is then determined that the height of patient regulates
Shoulder massage height, six driving motors 141 in six transmission branch chain 14 start simultaneously at work, six driving motors 141 points
Dai Dong six drive shafts 142 not rotate, six drive shafts 142 drive six to drive gear 143 to rotate, and six drive gear 143
Band nutating gear 13 moves, and travelling gear 13 drives power transmission shaft 12 to rotate, and power transmission shaft 12 drives turn-screw 17 to rotate, transmission
Leading screw 17 drives driving block 18 to move, owing to the regular hexagon structure of driving block 18 makes to be welded on driving block 18
The six roots of sensation moves post 19 can make stable elevating movement under the drive of turn-screw 17 on six line slide rails 110, and the six roots of sensation is moved
Dynamic post 19 drives six side chains 2 in parallel to make elevating movement respectively, and six side chains 2 in parallel synchronize to drive the shoulder on upper mounting plate 3 to press
Elevating movement made by the mechanical hand 9 that rubs, and by the stable drive performance of planetary gear mechanism, improves stablizing in lifting process
Property, so that the present invention can realize stable lifting adjustable function so that the present invention is applicable to the patient of different height, suitable
Big by scope, when the present invention reaches suitable shoulder massage height, driving motor 141 quits work；Further according to patient's shoulder situation
Regulation ultrasound wave massage force size, the massage sending suitable frequency to ultrasound probe 9492 by extraneous supersonic generator surpasses
Sound wave, because the massage force of different frequency massage ultrasound wave varies in size, it is achieved thereby that massage force size of the present invention is adjustable
Function, and owing to ultrasound wave sends more stable, so that the massage force that patient's shoulder is subject to is highly uniform；Last shoulder is pressed
The mechanical hand 9 that rubs starts patient's shoulder carries out back and forth ultrasound wave massage, and two mobile motors 943 on two massage machines 94 are same
Time start working, mobile motor 943 drives mobile leading screw 944 to rotate, and mobile leading screw 944 drives mobile slide block 945, mobile slide block
945 drive massage cylinder 945a in massage under the spaced motion of two swallow-tail form travellers 946 and two swallowtail-shaped slides 947
Moving back and forth in square stopper slot on plate 941, massage cylinder 945a drives the ultrasound wave massage on arc massage block 948 inwall
Side chain 949 moves back and forth, and the ultrasonic motor 9491 on ultrasound wave massage side chain 949 drives ultrasound probe 9492 to surpass
Sound wave rotary massage, realizes under the moving back and forth of mobile slide block 945 and under the ultrasound wave rotary massage of ultrasound probe 9492
The present invention is to the stable ultrasound wave homogeneously kneaded function of patient's shoulder, and owing to the fixed frame 1 in the present invention is as allocating
Platform, six SPS parallel connection side chains 2, upper mounting plates 3 constitute 6-SPS parallel institution as moving platform, and 6-SPS parallel institution has dynamic
State responds, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, and the present invention is by 6-SPS parallel institution
Premium properties the shoulder massaging manipulator 9 being arranged on upper mounting plate 3 can be remained in ultrasound wave massage processes
Plateau, eliminates the jitter phenomenon produced in massage processes, adds the stability of massage processes, improves massage effect
Really, solving artificial shoulder massaging way needs to manually adjust massage position, complex operation and an ineffective difficult problem, also solves
The massage that existing automatization shoulder massaging way of having determined exists is the most non-adjustable, the scope of application is little, massage force is non-adjustable, massage
Scope is little, massage effect is poor, equipment exists shake and a difficult problem for massage stability difference in massage processes, has reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (7)
1. a Width adjustable medical treatment shoulder massage robot, it is characterised in that: include fixed frame (1), described fixing machine
Frame (1) includes lower platform (11), is provided with power transmission shaft (12), power transmission shaft by bearing in the middle part of the upper surface of described lower platform (11)
(12) middle part is provided with travelling gear (13) by key, travelling gear (13) the most respectively with six transmission branch chain
(14) it is meshed, and the upper end of six transmission branch chain (14) is all connected with support platform (15) by bearing；Described support platform (15)
Middle part be connected with power transmission shaft (12) by bearing, the lower surface of support platform (15) has the six roots of sensation to support along the square uniform welding of axis
Post (16), the lower surface of six roots of sensation support column (16) is installed on lower platform (11)；The upper end of described power transmission shaft (12) is by connection
Axial organ is connected with turn-screw (17), and the middle part of turn-screw (17) is threaded connection mode and is provided with driving block (18),
Driving block (18) is regular hexagon structure, and six end faces of driving block (18) are respectively welded the six roots of sensation and move post (19), six
Root moves the end of post (19) and is separately mounted on six line slide rails (110), and six line slide rails (110) are by screw respectively
Being arranged on six pieces of gripper shoes (111), the lower end of six pieces of gripper shoes (111) is respectively welded on lower platform (11)；Described six pieces
Being respectively welded the spacing pillar of the six roots of sensation (112) on the upper end inwall of gripper shoe (111), the middle part of six roots of sensation limited post (112) is respectively
Offering six square limited mouths, the end of the spacing pillar of the six roots of sensation (112) is respectively welded on fixed station (113), fixed station
(113) middle part is connected with the upper end of turn-screw (17) by bearing；The described six roots of sensation moves the upper surface of post (19) and pacifies respectively
Equipped with six side chains in parallel (2), the upper end of six side chains in parallel (2) is uniformly arranged on upper mounting plate (3), and each side chain in parallel
(2) middle part is all located in the square limited mouth of corresponding spacing pillar (112)；Install in the middle part of described upper mounting plate (3) upper surface
There is shoulder massaging manipulator (9)；
Described shoulder massaging manipulator (9) includes the massage upright post (91) being arranged in the middle part of upper mounting plate (3) upper surface, massage upright post
(91) end is welded with U-shaped support (92), and the inwall of U-shaped support (92) is provided with one layer of foam-rubber cushion (93), U-shaped support
(93) two ends are symmetrically installed with two massage machines (94)；Described massage machine (94) includes being welded on U-shaped support (93) outward
Massage support plate (941) on wall, massage support plate (941) upper surface is welded with baffle plate (942) away from one end of U-shaped support (93),
By motor cabinet, mobile motor (943) is installed on baffle plate (942), the output shaft of mobile motor (943) is pacified by shaft coupling
Equipped with mobile leading screw (944), the two ends of mobile leading screw (944) are symmetrically mounted on two fixing ears (944a) by bearing, and two
The lower end of individual fixing ear (944a) is symmetrically welded at massage support plate (941) upper surface, the middle part side of being provided with of massage support plate (941)
Type stopper slot；The middle part of described mobile leading screw (944) is threaded connection mode and is provided with mobile slide block (945), mobile slide block
(945) two ends are symmetrically welded with two swallow-tail form travellers (946), and two swallow-tail form travellers (946) are respectively by being slidably matched
Mode is arranged on two swallowtail-shaped slides (947), and two swallowtail-shaped slides (947) are symmetrically welded at massage support plate (941)
Both sides；The lower surface of described mobile slide block (945) is welded with massage cylinder (945a), and the middle part of massage cylinder (945a) is located in
In square stopper slot in massage support plate (941), the lower end of massage cylinder (945a) is welded with arc massage block (948), arc
Ultrasound wave massage side chain (949) is uniformly installed on the inwall of massage block (948).
A kind of Width adjustable medical treatment shoulder massage robot the most according to claim 1, it is characterised in that: described six
Interlaced mode is used to be arranged on lower platform (11) between transmission branch chain (14) and six roots of sensation support column (16).
A kind of Width adjustable medical treatment shoulder massage robot the most according to claim 1 and 2, it is characterised in that: described
Transmission branch chain (14) includes the driving motor (141) that bottom is arranged on lower platform (11), driving motor (141) by motor cabinet
Outfan be connected with drive shaft (142) by shaft coupling, the middle part of drive shaft (142) is provided with driving gear by key
(143), drive gear (143) be meshed with travelling gear (13), and the upper end of drive shaft (142) by bearing all with support platform
(15) it is connected.
A kind of Width adjustable medical treatment shoulder massage robot the most according to claim 1, it is characterised in that: described lower flat
The central axis of platform (11) coincides with the central axis of upper mounting plate (3).
A kind of Width adjustable medical treatment shoulder massage robot the most according to claim 1, it is characterised in that: described parallel connection
Side chain (2) includes the hollow lower thread spindle (21) that lower end is welded on mobile post (19), and hollow lower thread spindle (21) passes through spiral shell
Stricture of vagina connected mode is provided with a ball pivot (22), and the upper end of a ball pivot (22) is threaded connection mode and is provided with a sleeve
(23), the upper end of a sleeve (23) is threaded connection mode and is provided with hydraulic cylinder (24), and the upper end of hydraulic cylinder (24) is passed through
Thread connecting mode is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) is threaded connection mode and is provided with No. two balls
Hinge (26), the upper end of No. two ball pivots (26) is threaded connection mode and is provided with hollow upper thread spindle (27), hollow upper thread spindle
(27) it is welded on the lower surface of upper mounting plate (3).
A kind of Width adjustable medical treatment shoulder massage robot the most according to claim 1, it is characterised in that: described ultrasonic
Ripple massage side chain (949) includes the ultrasonic motor (9491) being arranged on arc massage block (948) inwall by motor cabinet, super
Ultrasound probe (9492) is installed on the output shaft of sound wave motor (9491).
7. according to a kind of Width adjustable medical treatment shoulder massage robot described in claim 1 or 6, it is characterised in that: described
The quantity of ultrasound wave massage side chain (949) is at least 15.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810019037.7A CN108283573A (en) | 2016-05-22 | 2016-05-22 | A kind of orthopaedic medical treatment parallel connection type shoulder ultrasonic wave massage nursing robot |
| CN201810018673.8A CN108245396B (en) | 2016-05-22 | 2016-05-22 | A kind of surgery multiple degrees of freedom shoulder massage nursing medical instrument |
| CN201610343695.2A CN106038215B (en) | 2016-05-22 | 2016-05-22 | A kind of Width adjustable medical treatment shoulder massage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343695.2A CN106038215B (en) | 2016-05-22 | 2016-05-22 | A kind of Width adjustable medical treatment shoulder massage robot |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810018673.8A Division CN108245396B (en) | 2016-05-22 | 2016-05-22 | A kind of surgery multiple degrees of freedom shoulder massage nursing medical instrument |
| CN201810019037.7A Division CN108283573A (en) | 2016-05-22 | 2016-05-22 | A kind of orthopaedic medical treatment parallel connection type shoulder ultrasonic wave massage nursing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106038215A true CN106038215A (en) | 2016-10-26 |
| CN106038215B CN106038215B (en) | 2018-04-03 |
Family
ID=57177342
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610343695.2A Expired - Fee Related CN106038215B (en) | 2016-05-22 | 2016-05-22 | A kind of Width adjustable medical treatment shoulder massage robot |
| CN201810018673.8A Expired - Fee Related CN108245396B (en) | 2016-05-22 | 2016-05-22 | A kind of surgery multiple degrees of freedom shoulder massage nursing medical instrument |
| CN201810019037.7A Withdrawn CN108283573A (en) | 2016-05-22 | 2016-05-22 | A kind of orthopaedic medical treatment parallel connection type shoulder ultrasonic wave massage nursing robot |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810018673.8A Expired - Fee Related CN108245396B (en) | 2016-05-22 | 2016-05-22 | A kind of surgery multiple degrees of freedom shoulder massage nursing medical instrument |
| CN201810019037.7A Withdrawn CN108283573A (en) | 2016-05-22 | 2016-05-22 | A kind of orthopaedic medical treatment parallel connection type shoulder ultrasonic wave massage nursing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106038215B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963615A (en) * | 2017-04-13 | 2017-07-21 | 周佰利 | A kind of medical massage instrument |
| CN106975140A (en) * | 2017-04-11 | 2017-07-25 | 周佰利 | A kind of massage device for promoting to sleep |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109106530A (en) * | 2018-10-12 | 2019-01-01 | 许涛 | A kind of severe medicine section is with monitoring bed |
| CN110926763B (en) * | 2019-12-09 | 2021-04-02 | 中国科学院长春光学精密机械与物理研究所 | A high-precision positioning system and method for a large-diameter mirror |
| CN113133922A (en) * | 2021-04-14 | 2021-07-20 | 尹钢 | Massage chair with ultrasonic excitation and traction functions |
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- 2016-05-22 CN CN201610343695.2A patent/CN106038215B/en not_active Expired - Fee Related
- 2016-05-22 CN CN201810018673.8A patent/CN108245396B/en not_active Expired - Fee Related
- 2016-05-22 CN CN201810019037.7A patent/CN108283573A/en not_active Withdrawn
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| CA2329117C (en) * | 1999-12-20 | 2004-12-14 | Toshiba Tec Kabushiki Kaisha | Massager |
| CN2439856Y (en) * | 2000-08-25 | 2001-07-25 | 周小红 | Shoulder-neck massage cape |
| CN2699872Y (en) * | 2004-04-19 | 2005-05-18 | 广州市普源科技有限公司 | Massager for shoulders and knees |
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| CN106975140A (en) * | 2017-04-11 | 2017-07-25 | 周佰利 | A kind of massage device for promoting to sleep |
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| CN106963615A (en) * | 2017-04-13 | 2017-07-21 | 周佰利 | A kind of medical massage instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108283573A (en) | 2018-07-17 |
| CN108245396B (en) | 2019-07-26 |
| CN108245396A (en) | 2018-07-06 |
| CN106038215B (en) | 2018-04-03 |
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