CN113397941A

CN113397941A - Massage manipulator with front-mounted shaft seat and rotatable arm for collection

Info

Publication number: CN113397941A
Application number: CN202110756993.5A
Authority: CN
Inventors: 周志靖; 黄益和; 蔡尤铁
Original assignee: Haozhonghao Health Technology Co ltd
Current assignee: Haozhonghao Health Technology Co ltd
Priority date: 2021-07-05
Filing date: 2021-07-05
Publication date: 2021-09-17

Abstract

The invention relates to an arm rotatable and storable massage manipulator with a front-mounted shaft seat, which comprises a frame and a massage mechanism, wherein the massage mechanism also comprises a swing arm and a massage wheel, the massage wheel is arranged on the swing arm, one end of the frame is rotatably provided with a rotating shaft, the frame is provided with a kneading transmission mechanism for driving the rotating shaft to rotate, the swing arm is rotatably arranged on the rotating shaft, the rotating shaft can drive the swing arm and the massage wheel to do kneading action, the rotating shaft is rotatably provided with a rotating seat, the rotating seat is provided with a knocking transmission mechanism capable of driving the swing arm and the massage wheel to do knocking action, the frame is provided with a driving mechanism for driving the rotating seat to rotate around the rotating shaft, and the rotating seat can drive the swing arm to rotate around the rotating shaft while rotating around the rotating shaft, so that the swing arm can extend out and lie flat. By adopting the scheme, the massage mechanism on the massage device has the stretching and lying states, and the massage mechanism can be stored.

Description

Massage manipulator with front-mounted shaft seat and rotatable arm for collection

Technical Field

The invention relates to the technical field of massage manipulators, in particular to a massage manipulator with a front-mounted shaft seat and a rotatable arm for collection.

Background

The existing massage manipulator comprises a mounting seat, a massage mechanism for massaging a human body is mounted on the mounting seat, the massage mechanism further comprises a swing arm and a massage wheel, the massage wheel is mounted on the swing arm, a kneading transmission mechanism and a knocking transmission mechanism which drive the swing arm to move in a matched manner with the massage wheel are arranged on the mounting seat, and a walking mechanism for driving the mounting seat to move along an external massage chair guide rail is further arranged on the mounting seat.

However, the massage manipulator has the functions of kneading, knocking and walking, is large in size and thick as a whole, particularly has a high swing arm, needs a large installation space, and is not suitable for being used by some chairs with small installation spaces.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a massage manipulator with a front axle seat and a rotatable arm for collection, wherein a massage mechanism on the manipulator has an extending state and a lying state, and the massage mechanism can be collected.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a rotatable collection massage manipulator of axle bed forward type arm, includes frame and massage mechanism, and massage mechanism is still including swing arm and massage wheel, and the massage wheel is installed in the swing arm, the one end of frame is rotated and is provided with the rotation axis, is provided with drive rotation axis pivoted and kneads drive mechanism in the frame, and the swing arm rotates and sets up on the rotation axis, and the rotation axis can drive the swing arm and knead the action with the massage wheel, rotate and be provided with on the rotation axis and rotate the seat, rotate and be provided with on the seat and drive the swing arm and do the drive mechanism that strikes of action with the massage wheel, be provided with the drive in the frame and rotate the seat around rotation axis pivoted actuating mechanism, rotate the seat and can drive the swing arm and rotate around the rotation axis when rotating to realize stretching out and lying flat state of swing arm.

By adopting the scheme, the rotating seat can rotate around the rotating shaft and is arranged at the end part of the rack, the swing arm is arranged on the rotating shaft in a rotating mode, and the rotating shaft is also used as a kneading shaft, so that the rotating shaft can drive the swing arm and the massage wheel to do kneading action; when the massage is not needed, the driving mechanism can drive the rotating seat to rotate, so that the swing arm can be in a lying state, the massage mechanism can be stored, a person can sit and lean on the chair more comfortably, the rotating angle of the rotating seat can be adjusted, the swing arm and the massage wheel are in different angles, and different massage forces are realized.

The invention further provides that: the driving mechanism comprises a rotating motor, a rotating worm wheel and a rotating worm, the rotating motor is fixedly arranged on the rack, the rotating worm wheel is fixedly arranged on the rotating seat, the rotating worm is rotatably arranged on the rack, the rotating worm is perpendicular to the rotating shaft, the rotating worm wheel and the rotating worm are meshed with each other, and the rotating motor drives the rotating worm to rotate.

Through adopting above-mentioned scheme, rotatory worm wheel components of a whole that can function independently assembly is on rotating the seat, and rotatory worm cooperates with rotatory worm wheel, not only can play the switching-over effect, can also play the auto-lock effect when the rotating electrical machines stop the operation, through gear drive, the operation is more stable.

The invention further provides that: the detecting device is characterized in that a first detecting assembly for detecting the rotating angle of the rotating seat is arranged on the rack, the first detecting assembly comprises an inductor and a detecting block, the inductor is fixedly arranged on the rack, the detecting block is fixedly arranged on the rotating seat along the rotating track of the rotating seat or integrally arranged on the rotating seat, and the inductor can detect the detecting block.

By adopting the scheme, the sensor can detect the detection block, avoid the overlarge rotation angle of the rotation seat and play a certain protection role.

The invention further provides that: the swing arms and the massage wheels are symmetrically provided with two groups and are positioned on two sides of the rotating seat, the rotating shaft is fixedly provided with eccentric sleeves respectively at positions corresponding to the two swing arms, swing arm bearings are respectively arranged on the two swing arms, the swing arms are sleeved outside the corresponding eccentric sleeves through the swing arm bearings, and the rotating shaft drives the swing arms to swing.

By adopting the above scheme, the swing arm passes through swing arm bearing overcoat in the eccentric cover that corresponds, not only can realize that the swing arm rotates and sets up on the rotation axis, still does not influence the independent rotation of rotation axis, and the rotation axis drives the eccentric cover on it and does eccentric motion to drive the swing arm and do up-down, horizontal hunting, simple structure, the transmission is more stable.

The invention further provides that: the kneading transmission mechanism comprises a kneading motor and a transmission shaft, the kneading motor is fixedly arranged on the rack, an output shaft of the kneading motor is perpendicular to the rotation shaft, the transmission shaft is rotatably arranged on the rack, the transmission shaft is parallel to the rotation shaft, the kneading motor drives the transmission shaft to rotate, and the transmission shaft drives the rotation shaft to rotate.

Through adopting above-mentioned scheme, fixed or integrative being provided with the kneading worm on kneading motor's the output shaft, synchronous rotation is provided with the kneading worm wheel on the transmission shaft, the synchronous rotation of kneading worm wheel is provided with first drive gear, fixed or integrative being provided with on the rotation axis with the second drive gear of first drive gear looks interlock, the kneading worm cooperates with the kneading worm wheel, not only can play the switching-over effect, can also play the auto-lock effect when kneading motor stall, through gear drive, it is more stable.

The invention further provides that: the knocking transmission mechanism comprises a knocking shaft and a knocking motor, the knocking shaft is parallel to the rotating shaft, the knocking shaft is rotatably arranged on the rotating seat, the knocking motor is fixedly arranged on the rotating seat, an output shaft of the knocking motor drives the knocking shaft to rotate, an eccentric part is arranged on the knocking shaft and eccentrically moves along with a main body of the knocking shaft, a knocking bearing seat is sleeved outside the eccentric part of the knocking shaft and is in universal connection with the swing arm through a ball head connecting rod, and the knocking shaft drives the swing arm to perform knocking action.

Through adopting the above-mentioned scheme, the output shaft of knocking motor passes through the belt and the structure drive of belt pulley strikes the axle rotates, strike the eccentric portion that the axle drove on it and be eccentric motion, thereby drive and strike the bearing frame motion, strike the bearing frame and strike the axle cooperation, make the bulb connecting rod produce the vibration, thereby it realizes the action of striking to drive the swing arm vibration, the bulb connecting rod includes the body of rod and sets up the bulb at body of rod tip, be equipped with the spherical chamber with the bulb shape adaptation of bulb connecting rod in the swing arm, the articulated setting of one end that the bulb was kept away from to the body of rod is on striking the bearing frame, the bulb and the spherical chamber cooperation of bulb connecting rod, can avoid appearing the dead circumstances of lock, moreover, the steam generator is simple in structure, and reasonable design.

The invention further provides that: still be provided with running gear in the frame, running gear still includes walking motor and initiative walking axle, and the initiative walking axle is parallel to each other with the rotation axis, the both ends of initiative walking axle are equipped with initiative walking wheel respectively, and the both ends of initiative walking axle are the fixed running gear that is provided with still, and the both ends of rotation axis are equipped with driven walking wheel respectively, and the walking motor is fixed to be set up in the frame, and the output shaft perpendicular to of walking motor initiatively walks the axle, and the output shaft of walking motor drives initiative walking axle and rotates.

Through adopting above-mentioned scheme, whole manipulator can walk, fixed or integrative being provided with the walking worm on the output shaft of walking motor, it is provided with the walking worm wheel with the interlock of walking worm to rotate in the frame, it is provided with the second transmission worm to rotate in step on the walking worm wheel, the epaxial fixed or integrative second transmission worm wheel that is provided with the interlock of second transmission worm on the initiative walking, the walking worm cooperates with the walking worm wheel, not only can play the switching-over effect, can also play the auto-lock action when the walking motor stops moving, the rotation axis still can regard as passive walking axle, moreover, the steam generator is simple in structure, and reasonable design.

The invention further provides that: the output shaft of the rotating motor is perpendicular to the rotating shaft, a first transmission worm is fixedly or integrally arranged on the output shaft of the rotating motor, a first transmission worm wheel is synchronously and rotatably arranged on the rotation worm, and the first transmission worm is meshed with the first transmission worm wheel.

Through adopting above-mentioned scheme, first transmission worm and the cooperation of first transmission worm wheel not only can play the switching-over effect, can also play the auto-lock effect when the rotating electrical machines stop operating, move more stably.

The invention further provides that: the frame includes bottom and upper cover, bottom and upper cover fixed connection, knead motor, rotating electrical machines and walking motor respectively along the axial interval distribution of rotation axis on the bottom, be provided with the second detection element who detects the output shaft rotation number of turns of kneading the motor on the bottom, detect the third detection element that the output shaft rotation number of turns of rotating electrical machines and detect the fourth detection element that the output shaft rotation number of turns of walking motor.

Through adopting above-mentioned scheme, knead the motor, the position reasonable in design of rotating electrical machines and walking motor, make full use of installation space, knead the motor, rotating electrical machines and walking motor are dual output shaft motor respectively, the output shaft that the second detection component detected the motor of kneading rotates the number of turns, so that the time of massage is kneaded in control, the output shaft that the third detection component detected the rotating electrical machines rotates the number of turns, so that the control rotates a pivoted angle, the output shaft that the fourth detection component detected the walking motor rotates the number of turns, so that the walking position of the whole manipulator of control.

The invention is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention in an extended state;

FIG. 2 is a schematic view of an embodiment of the present invention in a lying position;

FIG. 3 is a schematic view of the rotational path of the massage mechanism;

FIG. 4 is a schematic view of the mounting structure of the components on the bottom cover;

FIG. 5 is a schematic view of the engagement structure of the driving mechanism and the rotating base;

FIG. 6 is a schematic view of the installation structure of each component on the rotary base;

fig. 7 is a schematic structural view of the massage mechanism;

FIG. 8 is a schematic view of the engagement structure of the kneading transmission mechanism and the rotating shaft;

FIG. 9 is a schematic view of the knocking transmission mechanism;

FIG. 10 is a schematic view of the structure of the walking motor and the driving walking shaft;

fig. 11 is a schematic structural view of the knocking shaft.

Detailed Description

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1-11, a shaft seat front-mounted arm-rotatable manipulator for storing massage, which comprises a frame 1 and a massage mechanism, the massage mechanism further comprises a swing arm 21 and a massage wheel 22, the massage wheel 22 is mounted on the swing arm 21, one end of the frame 1 is rotatably provided with a rotating shaft 31, the frame 1 is provided with a kneading transmission mechanism for driving the rotating shaft 31 to rotate, the swing arm 21 is rotatably arranged on the rotating shaft 31, the rotating shaft 31 can drive the swing arm 21 and the massage wheel 22 to knead, the rotating shaft 31 is rotatably provided with a rotating seat 4, the rotating seat 4 is provided with a knocking transmission mechanism for driving the swing arm 21 and the massage wheel 22 to knock, the frame 1 is provided with a driving mechanism for driving the rotating seat 4 to rotate around the rotating shaft 31, and the rotating seat 4 can drive the swing arm 21 to rotate around the rotating shaft 31 while rotating around the rotating shaft 31, thereby realizing the extending and lying states of the swing arm 21.

In this embodiment, the driving mechanism includes a rotating motor 51, a rotating worm wheel 52 and a rotating worm 53, the rotating motor 51 is fixedly disposed on the frame 1, the rotating worm wheel 52 is fixedly disposed on the rotating base 4, the rotating worm 53 is rotatably disposed on the frame 1 through a bearing, the rotating worm 53 is perpendicular to the rotating shaft 31, the rotating worm wheel 52 and the rotating worm 53 are engaged, the rotating motor 51 drives the rotating worm 53 to rotate, an output shaft of the rotating motor 51 is perpendicular to the rotating shaft 31, a first transmission worm 54 is fixedly or integrally disposed on the output shaft of the rotating motor 51, a first transmission worm wheel 55 is synchronously rotatably disposed on the rotating worm 53, and the first transmission worm 54 is engaged with the first transmission worm wheel 55. Of course, the rotary worm wheel can also be integrally arranged on the rotary seat.

In this embodiment, the frame 1 is provided with a first detection assembly for detecting the rotation angle of the rotating base 4, the first detection assembly includes an inductor 61 and a detection block 62, the inductor 61 is fixedly arranged on the frame 1, the detection block 62 is fixedly or integrally arranged on the rotating base 4 along the rotation track of the rotating base 4, and the inductor 61 can detect the detection block 62.

In this embodiment, two sets of swing arms 21 and massage wheels 22 are symmetrically disposed and located on two sides of the rotating base 4, the rotating shaft 31 is fixedly provided with an eccentric sleeve 32 at a position corresponding to each of the two swing arms 21, each of the two swing arms 21 is provided with a swing arm bearing 23, the swing arm 21 is sleeved on the corresponding eccentric sleeve 32 through the swing arm bearing 23, and the rotating shaft 31 drives the swing arm 21 to swing.

In this embodiment, the kneading transmission mechanism includes a kneading motor 33 and a transmission shaft 34, the kneading motor 33 is fixedly disposed on the frame 1, an output shaft of the kneading motor 33 is perpendicular to the rotating shaft 31, the transmission shaft 34 is rotatably disposed on the frame 1 through a bearing, the transmission shaft 34 is parallel to the rotating shaft 31, a kneading worm 35 is fixedly or integrally disposed on the output shaft of the kneading motor 33, a kneading worm wheel 36 is synchronously rotatably disposed on the transmission shaft 34, a first transmission gear 37 is synchronously rotatably disposed on the kneading worm wheel 36, a second transmission gear 38 engaged with the first transmission gear 37 is fixedly or integrally disposed on the rotating shaft 31, the kneading motor 33 drives the transmission shaft 34 to rotate, and the transmission shaft 34 drives the rotating shaft 31 to rotate.

In this embodiment, the knocking transmission mechanism includes a knocking shaft 71 and a knocking motor 72, the knocking shaft 71 and the rotating shaft 31 are parallel to each other, the knocking shaft 71 is rotatably disposed on the rotating seat 4 through a bearing, the knocking motor 72 is fixedly disposed on the rotating seat 4, a first belt pulley 73 is synchronously rotatably disposed on an output shaft of the knocking motor 72, a second belt pulley 74 is synchronously rotatably disposed on the knocking shaft 71, the first belt pulley 73 and the second belt pulley 74 are transmitted through a belt 75, the output shaft of the knocking motor 72 drives the knocking shaft 71 to rotate, an eccentric portion 711 is disposed on the knocking shaft 71, the eccentric portion 711 eccentrically moves with a main body of the knocking shaft 71, a knocking bearing seat 76 is sleeved outside an eccentric portion 711 of the knocking shaft 71, the knocking bearing seat 76 is universally connected with the swing arm 21 through a ball-end connecting rod 77, the ball-end connecting rod 77 includes a rod 771 and a ball cavity 211 disposed at an end of the rod 771, the swing arm 21 is provided with the ball cavity 772 of the ball-end connecting rod 77 in a shape adapted to the ball-end shape, one end of the rod 771, which is far away from the ball 772, is hinged to the knocking bearing seat 76, and the knocking shaft 71 drives the swing arm 21 to perform knocking action.

In this embodiment, the frame 1 is further provided with a traveling mechanism, the traveling mechanism further includes a traveling motor 81 and a driving traveling shaft 82, the driving traveling shaft 82 is parallel to the rotating shaft 31, two ends of the driving traveling shaft 82 are respectively provided with a driving traveling wheel 83, two ends of the driving traveling shaft 82 are further fixedly provided with a traveling gear 84, two ends of the rotating shaft 31 are respectively provided with a driven traveling wheel 85, the traveling motor 81 is fixedly disposed on the frame 1, an output shaft of the traveling motor 81 is perpendicular to the driving traveling shaft 82, an output shaft of the traveling motor 81 is fixedly or integrally provided with a traveling worm 86, the frame 1 is rotatably provided with a traveling worm wheel 87 engaged with the traveling worm 86, the traveling worm wheel 87 is synchronously rotatably provided with a second transmission worm 88, the driving traveling shaft 82 is fixedly or integrally provided with a second transmission worm wheel 89 engaged with the second transmission worm 88, and an output shaft of the traveling motor 81 drives the driving traveling shaft 82 to rotate.

In this embodiment, the machine frame 1 includes a bottom cover 11 and an upper cover 12, the bottom cover 11 and the upper cover 12 are fixedly connected, the kneading motor 33, the rotating motor 51 and the traveling motor 81 are respectively distributed on the bottom cover 11 along the axial direction of the rotating shaft 31 at intervals, and the bottom cover 11 is provided with a second detecting assembly 91 for detecting the number of turns of the output shaft of the kneading motor 33, a third detecting assembly 92 for detecting the number of turns of the output shaft of the rotating motor 51 and a fourth detecting assembly 93 for detecting the number of turns of the output shaft of the traveling motor 81.

The above embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims

1. The utility model provides a massage manipulator can be changeed to formula arm of axle bed forward, includes frame and massage mechanism, and massage mechanism is still including swing arm and massage wheel, and the massage wheel is installed on the swing arm, its characterized in that: the one end of frame is rotated and is provided with the rotation axis, is provided with drive rotation axis pivoted and kneads drive mechanism in the frame, and the swing arm rotates and sets up on the rotation axis, and the rotation axis can drive the swing arm and do the action of kneading with the massage wheel, it is provided with the rotation seat to rotate on the rotation axis, rotates to be provided with on the seat and to drive the swing arm and do the drive mechanism that strikes the action with the massage wheel, be provided with the drive in the frame and rotate the seat around rotation axis pivoted drive mechanism, rotate the seat and can drive the swing arm around the rotation axis rotation when rotating around the rotation axis pivoted to realize stretching out and the state of lying flat of swing arm.

2. The manipulator of claim 1, wherein the front-mounted shaft seat type arm-rotatable massage manipulator for collecting massage comprises: the driving mechanism comprises a rotating motor, a rotating worm wheel and a rotating worm, the rotating motor is fixedly arranged on the rack, the rotating worm wheel is fixedly arranged on the rotating seat, the rotating worm is rotatably arranged on the rack, the rotating worm is perpendicular to the rotating shaft, the rotating worm wheel and the rotating worm are meshed with each other, and the rotating motor drives the rotating worm to rotate.

3. The manipulator of claim 1 or 2, wherein the shaft seat front-mounted arm-rotatable collection massage manipulator is characterized in that: the detecting device is characterized in that a first detecting assembly for detecting the rotating angle of the rotating seat is arranged on the rack, the first detecting assembly comprises an inductor and a detecting block, the inductor is fixedly arranged on the rack, the detecting block is fixedly arranged on the rotating seat along the rotating track of the rotating seat or integrally arranged on the rotating seat, and the inductor can detect the detecting block.

4. The manipulator of claim 1 or 2, wherein the shaft seat front-mounted arm-rotatable collection massage manipulator is characterized in that: the swing arms and the massage wheels are symmetrically provided with two groups and are positioned on two sides of the rotating seat, the rotating shaft is fixedly provided with eccentric sleeves respectively at positions corresponding to the two swing arms, swing arm bearings are respectively arranged on the two swing arms, the swing arms are sleeved outside the corresponding eccentric sleeves through the swing arm bearings, and the rotating shaft drives the swing arms to swing.

5. The manipulator of claim 2, wherein the front-mounted shaft seat type arm-rotatable massage manipulator for collecting massage comprises: the kneading transmission mechanism comprises a kneading motor and a transmission shaft, the kneading motor is fixedly arranged on the rack, an output shaft of the kneading motor is perpendicular to the rotation shaft, the transmission shaft is rotatably arranged on the rack, the transmission shaft is parallel to the rotation shaft, the kneading motor drives the transmission shaft to rotate, and the transmission shaft drives the rotation shaft to rotate.

6. The manipulator of claim 1, 2 or 5, wherein the front-mounted shaft seat type arm-rotatable massage manipulator for storing massage is characterized in that: the knocking transmission mechanism comprises a knocking shaft and a knocking motor, the knocking shaft is parallel to the rotating shaft, the knocking shaft is rotatably arranged on the rotating seat, the knocking motor is fixedly arranged on the rotating seat, an output shaft of the knocking motor drives the knocking shaft to rotate, an eccentric part is arranged on the knocking shaft and eccentrically moves along with a main body of the knocking shaft, a knocking bearing seat is sleeved outside the eccentric part of the knocking shaft and is in universal connection with the swing arm through a ball head connecting rod, and the knocking shaft drives the swing arm to perform knocking action.

7. The manipulator of claim 2 or 5, wherein the front-mounted shaft seat type arm-rotatable massage manipulator for storing is characterized in that: still be provided with running gear in the frame, running gear still includes walking motor and initiative walking axle, and the initiative walking axle is parallel to each other with the rotation axis, the both ends of initiative walking axle are equipped with initiative walking wheel respectively, and the both ends of initiative walking axle are the fixed running gear that is provided with still, and the both ends of rotation axis are equipped with driven walking wheel respectively, and the walking motor is fixed to be set up in the frame, and the output shaft perpendicular to of walking motor initiatively walks the axle, and the output shaft of walking motor drives initiative walking axle and rotates.

8. The manipulator of claim 2 or 5, wherein the front-mounted shaft seat type arm-rotatable massage manipulator for storing is characterized in that: the output shaft of the rotating motor is perpendicular to the rotating shaft, a first transmission worm is fixedly or integrally arranged on the output shaft of the rotating motor, a first transmission worm wheel is synchronously and rotatably arranged on the rotation worm, and the first transmission worm is meshed with the first transmission worm wheel.

9. The manipulator of claim 7, wherein the front-mounted shaft seat type arm-rotatable massage manipulator for collecting massage comprises: the frame includes bottom and upper cover, bottom and upper cover fixed connection, knead motor, rotating electrical machines and walking motor respectively along the axial interval distribution of rotation axis on the bottom, be provided with the second detection element who detects the output shaft rotation number of turns of kneading the motor on the bottom, detect the third detection element that the output shaft rotation number of turns of rotating electrical machines and detect the fourth detection element that the output shaft rotation number of turns of walking motor.