CN106137671B - A kind of buttocks massages intelligent robot specialized massage performs device - Google Patents

Abstract

The invention relates to a special massage actuator for a hip massage intelligent robot, which includes a lower support plate, an upper support plate, left and right side plates, front and rear side plates, a six-degree-of-freedom massage actuator and a three-degree-of-freedom massage actuator. Right above the support plate, the left and right side plates are located between the lower support plate and the upper support plate, the upper ends of the left and right side plates are connected with the upper support plate, the lower ends of the left and right side plates are connected with the lower support plate, and the front and rear side plates are respectively located at the front of the left and right side plates. At the front and right behind, the six-degree-of-freedom massage actuators are symmetrically installed in the middle of the lower support plate, and the three-degree-of-freedom massage actuators are respectively located on the left and right sides of the six-degree-of-freedom massage actuator. The present invention is shrinkable as a whole, has good softness, and takes up little space. It can massage the buttocks of the human body. The massage force produced when massaging different parts of the buttocks is different, and the massage contact surface is comprehensive, and the massage effect is obvious, which improves the comfort of the buttocks massage. Spend.

Description

A special massage execution device for a buttocks massage intelligent robot

technical field

The invention relates to the field of medical and health care intelligent machinery, in particular to a special massage execution device for a buttocks massage intelligent robot.

Background technique

Massage is based on the theory of viscera and meridians of traditional Chinese medicine, combined with the anatomy and pathological diagnosis of Western medicine, and uses techniques or instruments to rub, knead or beat specific parts of the human body back and forth to adjust the physiological and pathological conditions of the body and achieve physical therapy. The method of purpose, in terms of nature, it is a physical therapy method. In terms of massage therapy, it can be divided into health massage, sports massage and medical massage; in terms of parts, massage can be divided into head massage, neck massage, etc. Massage, Waist Massage, Back Massage, Hip Massage, Leg Massage, Foot Massage and more.

When people ride for too long, they will have sore buttocks, and at the same time, they will also be accompanied by chest tightness or pain. If this happens too frequently, it will seriously affect people's health, and it will also be accompanied by some diseases. , and it is easy to lead to the occurrence of hemorrhoids and fat accumulation in the buttocks; if the buttocks are massaged regularly, it can not only relax the tight gluteus maximus, biceps femoris, and adductor magnus, but also relieve fatigue; It has the effect of losing weight for those with fat buttocks, making them more slender and round, thick and fleshy, very beautiful. At the same time, the most important thing is that it can reduce the accumulation of fat and reduce the occurrence of hemorrhoids.

It can be seen that the buttocks massage plays an important role in people's health and daily medical care. However, the current buttocks massage related equipment has problems with incomplete massage contact, ineffective massage, large space for massage execution, and low carrying capacity. And other problems, while the massage force produced by hip massage for different parts of the buttocks is all the same, but the strength required for different parts of the buttocks is different, causing people to feel uncomfortable when receiving buttocks massage. In view of the above circumstances, the present invention provides a special massage execution device for a buttocks massage intelligent robot.

Contents of the invention

In order to make up for the deficiencies of the prior art, the present invention provides a special massage execution device for a buttocks massage intelligent robot.

The technical problems to be solved by the present invention are realized by adopting the following technical solutions.

A special massage actuator for a buttocks massage intelligent robot, comprising a lower support plate, an upper support plate, left and right side plates, front and rear side plates, a six-degree-of-freedom massage actuator and a three-degree-of-freedom massage actuator, the left and right side plates and the front and rear side plates The number is two, and the number of six-degree-of-freedom massage actuators and three-degree-of-freedom massage actuators is four; the lower support plate is spliced by four rectangular plates into an arc-shaped structure, and the four rectangular plates are connected by hinges. Connection; the upper support plate is located directly above the lower support plate, the left and right side plates are located between the lower support plate and the upper support plate, the upper ends of the left and right side plates are connected with the upper support plate, and the lower ends of the left and right side plates are connected with the lower support plate , the front and rear side panels are respectively located directly in front of and behind the left and right side panels; the six degrees of freedom massage actuators are respectively symmetrically installed in the middle of the lower support plate; the three degrees of freedom massage actuators are respectively located in the six degrees of freedom massage actuators The left and right sides, and the three-degree-of-freedom massage actuator is connected with the lower support plate.

As a further improvement of the present invention, the six-degree-of-freedom massage actuator includes a No. 1 fixed platform, a No. 1 moving platform, a lower triangular seat, an upper triangular seat, a ball hinge, a sleeve, a telescopic rod, a No. 1 limit spring and No. 1 massage beads, the number of lower triangular seats and upper triangular seats is three, the number of ball hinges, sleeves and No. 1 limit springs is twelve, and the number of telescopic rods is six; said No. 1 fixed platform and a All moving platforms have a circular structure, the lower triangular seat is installed on the upper end surface of the No. 1 fixed platform, and the lower triangular seat is arranged in an equilateral triangle position on the No. 1 fixed platform, and the upper triangular seat is installed on the lower end surface of the No. 1 moving platform. , and the installation positions between the upper triangular seat and the lower triangular seat are staggered; the ball hinges are installed on the lower triangular seat and the upper triangular seat respectively, one end of the sleeve is connected with the ball hinge, and the other end of the sleeve is connected with the telescopic rod connected, the No. 1 limit spring is wrapped around the telescopic rod; the No. 1 massage beads are evenly arranged on the upper end surface of the No. 1 moving platform, and the No. 1 massage beads have a hemispherical structure, and the No. 1 massage beads are made of flexible material. Through the up and down two-way telescopic movement of the telescopic rod, the up and down reciprocating movement of the No. 1 moving platform is driven, and the vibration of the No. 1 moving platform is increased through the No. 1 limit spring, which improves the massage effect of the six-degree-of-freedom massage actuator. The degree of freedom massage actuator adopts 6-SPS Stewart parallel mechanism. Compared with the series mechanism, it has higher rigidity, stable structure, strong bearing capacity and high micro-motion precision. The six-degree-of-freedom massage actuator can perform three translations and three rotations in space. The movement in the direction of six degrees of freedom, and the movement space is small, the movement speed is fast, and the movement flexibility is good. The six degrees of freedom massage actuator is located at the center of the present invention. When in use, the six degrees of freedom massage actuator is in contact with the middle of the human buttock The contact not only plays the main load-bearing role, but also makes full use of the strong load-bearing capacity of the 6-SPS Stewart parallel mechanism, and has a large contact area with the buttocks, which has a good massage effect.

As a further improvement of the present invention, the three-degree-of-freedom massage actuator includes No. 2 fixed platform, No. 2 moving platform, lower ear seat, upper ear seat, rotating shaft, electric push rod, No. 2 limit spring and No. 2 massager Beads; the No. 2 fixed platform and the No. 2 moving platform are both in a circular shape structure, the lower ear seat is located on the upper end surface of the No. 2 fixed platform, and the installation angle between the lower ear seats is 60 degrees, and the upper ear seat is located On the lower end surface of the No. 2 moving platform, the upper ear seat and the lower ear seat correspond to each other; the bottom end of the electric push rod is installed on the lower ear seat through the rotating shaft, and the connection between the top end of the electric push rod and the upper ear seat is carried out through the rotating shaft. connection, the No. 2 limit spring is wrapped around the upper end of the electric push rod; the No. 2 massage beads are evenly arranged on the upper end surface of the No. 2 moving platform. The No. 2 massage beads have a spherical structure, and the No. 2 massage beads are made of flexible materials production. Through the up and down telescopic movement of the electric push rod, the up and down reciprocating movement of the No. 2 moving platform is driven, and the vibration of the No. 2 moving platform is increased through the No. 2 limit spring, which improves the massage effect of the three-degree-of-freedom massage actuator. The high-degree massage actuator adopts a 3-RPR parallel mechanism, which can move in three directions of freedom in one translation and two rotations in space, and has a compact structure, high rigidity, and good mobility. The three-degree-of-freedom massage actuator is located at the center of the invention The position is on both sides. When working, the three-degree-of-freedom massage actuator can fully contact the two sides of the human buttocks. Compared with the six-degree-of-freedom massage actuator, the massage force of the three-degree-of-freedom massage actuator is slightly lighter, which is more suitable for human buttocks Massage on both sides, the massage effect is good.

As a further improvement of the present invention, the upper support plate has an arc-shaped structure, and cylindrical horizontal bars are evenly arranged on the end surface of the upper support plate in sequence; the vertical cross-sections of the left and right side plates are in the shape of broken lines; The front and rear side plates have an incomplete ring structure, and rectangular grooves are evenly opened on the front and rear side plates, and the upper support plate, left and right side plates and front and rear side plates are all made of flexible materials; the upper support plate, left and right sides made of flexible materials The board and the front and rear side boards can complete the telescopic movement of the massage device as a whole, and have good flexibility, which improves the massage effect of the massage device.

As a further improvement of the present invention, the lower triangular seat has a regular triangular cylindrical structure, and the lower triangular seat is symmetrically provided with inclined surfaces along its vertical center line, and the inclined surfaces are provided with mounting threads that match the external threads at the lower end of the ball hinge. hole, and the structure of the upper triangular seat is the same as that of the lower triangular seat.

As a further improvement of the present invention, the telescopic rod is a two-way telescopic rod, and the telescopic rod is an electric drive push rod, a pneumatic push rod or a hydraulic rod. In the present invention, the telescopic rod preferably adopts an electric drive push rod with fast and convenient control.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention is shrinkable as a whole, has good softness, and takes up little space. It can massage the buttocks of the human body. The massage forces produced when massaging different parts of the buttocks are different, and the massage contact surface is comprehensive, the massage effect is obvious, and the buttocks massage is improved. comfort at the time.

(2) The six-degree-of-freedom massage actuator of the present invention adopts a 6-SPS Stewart parallel mechanism, which has strong bearing capacity and high fretting precision. The six-degree-of-freedom massage actuator can perform three translations and three rotations in a total of six degrees of freedom directions in space. The movement is small, the movement speed is fast, and the movement flexibility is good. The six-degree-of-freedom massage actuator is in contact with the middle of the human buttocks, which not only plays a major load-bearing role, but also makes full use of the 6-SPS Stewart parallel mechanism with strong load-bearing capacity. Features, and the large contact area with the buttocks, the massage effect is good.

(3) The three-degree-of-freedom massage actuator of the present invention adopts a 3-RPR parallel mechanism, which can perform a movement in three directions of freedom in one translation and two rotations in space, and has a compact structure and good mobility. The three-degree-of-freedom massage actuator It can fully contact with both sides of the human buttocks, and the massage force is slightly lighter, which is more suitable for massaging the two sides of the human buttocks, and the massage effect is good.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the schematic diagram of the three-dimensional structure of the present invention after removing the front and rear side panels;

Fig. 3 is a three-dimensional structural schematic diagram of a six-degree-of-freedom massage actuator of the present invention;

Fig. 4 is a three-dimensional structure diagram of the three-degree-of-freedom massage actuator of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

As shown in Figure 1 and Figure 2, a special massage actuator for a buttocks massage intelligent robot includes a lower support plate 1, an upper support plate 2, left and right side plates 3, front and rear side plates 4, a six-degree-of-freedom massage actuator 5 and three Degree of freedom massage actuator 6, the number of left and right side panels 3 and front and rear side panels 4 is two, the number of six degrees of freedom massage actuator 5 and three degrees of freedom massage actuator 6 is four; the lower support plate 1 Four rectangular plates are spliced into an arc structure, and the four rectangular plates are connected by hinges; the upper support plate 2 is located directly above the lower support plate 1, and the left and right side plates 3 are located between the lower support plate 1 and the upper support plate 2, the upper ends of the left and right side plates 3 are connected with the upper support plate 2, the lower ends of the left and right side plates 3 are connected with the lower support plate 1, and the front and rear side plates 4 are located directly in front and directly behind the left and right side plates 3 respectively; The three-degree-of-freedom massage actuators 5 are symmetrically installed in the middle of the lower support plate 1 respectively; Board 1 is connected.

As shown in Figure 3, the described six-degree-of-freedom massage actuator 5 includes a No. 1 fixed platform 51, a No. 1 moving platform 52, a lower triangular seat 53, an upper triangular seat 54, a ball hinge 55, a sleeve 56, and a telescopic rod 57. 1. No. 1 limit spring 58 and No. 1 massage ball 59, the number of lower triangle seat 53 and upper triangle seat 54 is three, the number of ball hinge 55, sleeve 56 and No. 1 limit spring 58 is twelve, and the telescopic rod The quantity of 57 is six; The No. 1 fixed platform 51 and the No. 1 moving platform 52 are all in a circular shape structure, and the lower triangular seat 53 is installed on the upper end face of the No. 1 fixed platform 51, and the lower triangular seat 53 is on the No. 1 fixed platform. The fixed platform 51 is arranged in an equilateral triangle position, the upper triangle seat 54 is installed on the lower end surface of the first moving platform 52, and the installation positions between the upper triangle seat 54 and the lower triangle seat 53 are staggered in pairs; the ball hinges 55 are respectively Installed on the lower triangle seat 53 and the upper triangle seat 54, one end of the sleeve 56 is connected with the ball hinge 55, the other end of the sleeve 56 is connected with the telescopic rod 57, and the No. 1 limit spring 58 is wrapped around the telescopic rod 57; The No. 1 massage beads 59 are evenly arranged on the upper end surface of the No. 1 moving platform 52. The No. 1 massage beads 59 are in a hemispherical structure, and the No. 1 massage beads 59 are made of flexible materials. The up and down two-way telescopic movement of the telescopic rod 57 drives the up and down reciprocating motion of the No. 1 moving platform 52, and the vibration of the No. 1 moving platform 52 is increased by the No. 1 limit spring 58, which improves the six-degree-of-freedom massage actuator 5 Massage effect, six degrees of freedom massage actuator 5 adopts 6-SPS Stewart parallel mechanism, compared with series mechanism, the rigidity is larger, the structure is stable, the bearing capacity is strong and the micro-motion precision is high, the six degrees of freedom massage actuator 5 is in the space It can carry out three-translation and three-rotation movements in a total of six degrees of freedom, and the movement space is small, the movement speed is fast, and the movement flexibility is good. The six-degree-of-freedom massage actuator 5 is located at the center of the present invention. When in use, the six-degree-of-freedom The massage actuator 5 is in contact with the middle of the buttocks of the human body, which not only plays a major load-bearing role, but also makes full use of the strong load-bearing capacity of the 6-SPS Stewart parallel mechanism, and has a large contact area with the buttocks, resulting in good massage effects.

As shown in Figure 4, the three-degree-of-freedom massage actuator 6 includes No. 2 fixed platform 61, No. 2 moving platform 62, lower ear seat 63, upper ear seat 64, rotating shaft 65, electric push rod 66, No. Position spring 67 and No. 2 massage beads 68; said No. 2 fixed platform 61 and No. 2 moving platform 62 are all in a circular shape structure, and the lower ear seat 63 is located on the upper end surface of No. 2 fixed platform 62, and the lower ear seat 63 The installation angle between them is 60 degrees, the upper ear seat 64 is located on the lower end surface of the second moving platform 62, and the upper ear seat 64 and the lower ear seat 63 correspond to each other respectively; the bottom end of the electric push rod 66 passes through the rotating shaft 65 Installed on the lower ear seat 63, the top of the electric push rod 66 is connected with the upper ear seat 63 through the rotating shaft 65, and the No. 2 limit spring 67 is wrapped around the upper end of the electric push rod 66; the No. 2 massage beads 68 are evenly arranged On the upper end surface of the No. 2 moving platform 62, the No. 2 massage beads 68 are in a spherical structure, and the No. 2 massage beads 68 are made of flexible materials. The up and down telescopic movement of the electric push rod 66 drives the No. 2 moving platform 62 to reciprocate up and down, and the vibration of the No. 2 moving platform 62 is increased through the No. 2 limit spring 67, which improves the performance of the three-degree-of-freedom massage actuator 6 Massage effect, three-degree-of-freedom massage actuator 6 adopts a 3-RPR parallel mechanism, which can perform one translation and two rotations in three directions of freedom in the space, and has a compact structure, high rigidity, and good mobility. Three-degree-of-freedom massage The actuator 6 is located on both sides of the central position of the present invention. When working, the three-degree-of-freedom massage actuator 6 can fully contact with both sides of the human buttocks. Compared with the six-degree-of-freedom massage actuator 5, the three-degree-of-freedom massage actuator 6 can massage The strength is slightly lighter, which is more suitable for massaging the sides of the human buttocks, and the massage effect is good.

As shown in Figures 1 and 2, the upper support plate 2 has an arc-shaped structure, and cylindrical horizontal bars are evenly arranged on the upper end surface of the upper support plate 2; the vertical cross-sections of the left and right side plates 3 are broken lines shape; the front and rear side plates 4 are incomplete ring structure, and the front and rear side plates 4 are uniformly provided with rectangular grooves, and the upper support plate 2, the left and right side plates 3 and the front and rear side plates 4 are all made of flexible materials; The upper support plate 2, the left and right side plates 3 and the front and rear side plates 4 made of materials can complete the overall telescopic movement of the present invention, have good flexibility, and improve the massage effect of the present invention.

As shown in Figure 3, the lower triangular seat 53 is in the shape of an equilateral triangular cylinder. The lower triangular seat 53 is symmetrically provided with inclined surfaces along its vertical center line, and the inclined surfaces are provided with external threads that cooperate with the lower end of the ball hinge 55. Threaded holes are installed, and the structure of the upper triangular seat 54 is the same as that of the lower triangular seat 53 .

As shown in Figure 3, the telescopic rod 57 is a two-way telescopic rod, and the telescopic rod 57 is an electric drive push rod, a pneumatic push rod or a hydraulic rod. pole.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the specification only illustrate the principles of the present invention, and without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. A special massage actuator for a hip massage intelligent robot, characterized in that it comprises a lower support plate, an upper support plate, left and right side panels, front and rear side panels, a six-degree-of-freedom massage actuator and a three-degree-of-freedom massage actuator. The number of plates and front and rear side plates is two, and the number of six-degree-of-freedom massage actuators and three-degree-of-freedom massage actuators is four; the lower support plate is spliced into an arc-shaped structure by four rectangular plates, and four rectangular plates The plates are connected by hinges; the upper support plate is located directly above the lower support plate, the left and right side plates are located between the lower support plate and the upper support plate, the upper ends of the left and right side plates are connected with the upper support plate, and the lower ends of the left and right side plates It is connected with the lower support plate, and the front and rear side plates are respectively located directly in front of and directly behind the left and right side plates; the six degrees of freedom massage actuators are symmetrically installed in the middle of the lower support plate; the three degrees of freedom massage actuators are respectively located at The left and right sides of the six-degree-of-freedom massage actuator, and the three-degree-of-freedom massage actuator is connected to the lower support plate; where: The six-degree-of-freedom massage actuator includes No. 1 fixed platform, No. 1 moving platform, lower triangular seat, upper triangular seat, ball hinge, sleeve, telescopic rod, No. 1 limit spring and No. 1 massage beads, and the lower triangular seat The number of seats and upper triangle seats is three, the number of ball hinges, sleeves and No. 1 limit springs is twelve, and the number of telescopic rods is six; the No. 1 fixed platform and No. 1 moving platform are all in a circular shape structure, the lower triangular seat is installed on the upper surface of the No. 1 fixed platform, and the lower triangular seat is arranged in an equilateral triangle position on the No. The installation positions between the triangular seats are staggered in pairs; the ball hinges are respectively installed on the lower triangular seat and the upper triangular seat, one end of the sleeve is connected with the ball hinge, and the other end of the sleeve is connected with the telescopic rod. The spring is wrapped around the telescopic rod; the No. 1 massage beads are evenly arranged on the upper end surface of the No. 1 moving platform, and the No. 1 massage beads have a hemispherical structure, and the No. 1 massage beads are made of flexible materials; The three-degree-of-freedom massage actuator includes No. 2 fixed platform, No. 2 moving platform, lower ear seat, upper ear seat, rotating shaft, electric push rod, No. 2 limit spring and No. 2 massage beads; Both the fixed platform and the No. 2 moving platform have a circular structure, the lower ear seat is located on the upper end surface of the No. 2 fixed platform, and the installation angle between the lower ear seats is 60 degrees, and the upper ear seat is located on the lower end surface of the No. 2 moving platform , and the upper ear seat and the lower ear seat are in one-to-one correspondence; the bottom end of the electric push rod is installed on the lower ear seat through the rotating shaft, and the top end of the electric push rod is connected with the upper ear seat through the rotating shaft. The second limit spring Wrapped around the upper end of the electric push rod; the No. 2 massage beads are evenly arranged on the upper end surface of the No. 2 moving platform. The No. 2 massage beads have a spherical structure, and the No. 2 massage beads are made of flexible materials. 2. A special massage actuator for a buttocks massage intelligent robot according to claim 1, characterized in that: the upper support plate has an arc-shaped structure, and cylindrical horizontal bars are evenly arranged on the end surface of the upper support plate; The vertical cross-sections of the left and right side plates are broken lines; the front and rear side plates have an incomplete ring structure, and rectangular grooves are evenly opened on the front and rear side plates, and the upper support plate, left and right side plates and front and rear side plates are all made of Made of flexible material. 3. A special massage actuator for buttocks massage intelligent robot according to claim 1, characterized in that: the lower triangular seat is in the shape of an equilateral triangular column structure, and the lower triangular seat is symmetrically provided with inclined surfaces along its vertical center line , the inclined surface is provided with an installation threaded hole matching with the outer thread of the lower end of the ball hinge, and the structure of the upper triangle seat is the same as that of the lower triangle seat. 4. A special massage actuator for buttocks massage intelligent robot according to claim 1, characterized in that: the telescopic rod is a two-way telescopic rod, and the telescopic rod is an electric drive push rod, a pneumatic push rod or a hydraulic rod.