CN105965497A - Intelligent robot drive device for hand massage - Google Patents
Intelligent robot drive device for hand massage Download PDFInfo
- Publication number
- CN105965497A CN105965497A CN201610463712.6A CN201610463712A CN105965497A CN 105965497 A CN105965497 A CN 105965497A CN 201610463712 A CN201610463712 A CN 201610463712A CN 105965497 A CN105965497 A CN 105965497A
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- Prior art keywords
- massage
- fixed
- vibration
- exciting
- hand
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0071—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers having built-in vibrating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to an intelligent robot drive device for hand massage. The intelligent robot drive device for hand massage comprises a transmission device and a vibration device, wherein the vibration device is located in front of the transmission device. According to the intelligent robot drive device for hand massage, which is disclosed by the invention, a massage roller is driven to generate rolling friction with fingers of a human hand through positive and reverse reciprocating rotations of the transmission device, thus a massage function is realized for the fingers of the human hand; moreover, a height of the transmission device can be accurately adjusted, thus effects of engagement transmission and disengagement cut-off can be realized; irregular vibration of the massage roller can be realized through the vibration device, vibration friction is generated between the massage roller and the fingers of the human hand, thus a massage function is realized for the fingers of the human hand; an adopted 3-SPS parallel mechanism is capable of realizing movements in directions of six degrees of freedom, comprising three translational degrees of freedom and three rotational degrees of freedom, in a space, the movements are flexible and rapid, and high bearing capacity and movement stability are achieved; and vibration effect of the vibration device is improved through the 3-SPS parallel mechanism, thus hand massage effect of the intelligent robot drive device for hand massage, which is disclosed by the invention, is improved.
Description
Technical field
The present invention relates to massage machine actuation techniques field, a kind of hand massage intelligent robot driving means.
Background technology
Massage is with the internal organs of the traditional Chinese medical science, theory of channels and collaterals as theoretical basis, and combines dissection and the pathological diagnosis of doctor trained in Western medicine, and uses maneuver
Or apparatus rubs back and forth, kneading or beat the specific part of body surface to regulate organism physiology, pathological condition, reaches physical therapy mesh
Method, in nature, it is the Therapeutic Method of a kind of physics, in the treatment of massage, can be divided into therapeutic massage, fortune
Dynamic massage and medical massage；For from position, massage can be divided into hand massage, head massage, neck massaging, waist massage,
The massage of back massage, buttocks, leg massage and foot massage etc..
Along with society's science and technology and economic fast development now, the pressure of people's work is the most increasing, and adjoint workload
The most day by day increasing, people can contact computer, beats keyboard number of times every day thousands of, and the time one is permanent,
Cause worker's hand fatigue；In addition, as operative employee, electronics work, porter or peasant workman, hand work is
Many, within one day, operate, all can feel that trick is ached or the phenomenon of some numbness of trick, thus cause feeling exhausted,
Strong influence emotion phychology and the work efficiency of work；Hand has six running course of channel, internal organs each with whole body, tissue, device
Official links up, and about nine nineteen acupuncture points can be reflected the health status of the whole body vital organs of the human body, massage or press these acupuncture points,
Almost can alleviate general disease；Healthy fingernail pink, glossy, thickness is moderate, soft or hard appropriateness, is not easily broken,
Smooth surface, fingernail root semilune, white；Often hand is massaged, is possible not only to increase hand blood circulation,
Promote hand muscle growth；And human-body fatigue can be eliminated, alleviate pressure.The current many employings of hand massage apparatus are unpowered
Formula masseur, the mode of massage uses beating and kneading, and massage effect is poor, expends muscle power, in consideration of it, the invention provides
A kind of hand massage intelligent robot driving means.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of hand massage intelligent robot driving means.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of hand massage intelligent robot driving means, including actuating device and vibrating device, vibrating device is positioned at actuating device
Front；Described actuating device includes fixing seat, elevating lever, tight locking button, lifter plate, height measuring mechanism, fixed mount, biography
Galvanic electricity machine, driving shaft, driving gear, driven gear and driven shaft；Described elevating lever upper end is connected with fixing seat bottom end face,
Elevating lever lower end is connected with lifter plate top end face by tight locking button, and elevating lever is evenly arranged in fixing seat and liter the most successively
Between fall plate, height measuring mechanism quantity is two, and height measuring mechanism is arranged in symmetrically along longitudinal center's axis of fixing seat
Fixing base rear end, driving motor is fixed on lifter plate by fixed mount, and is locked by bolt between fixed mount and lifter plate
Fastening, fixed mount upper end is in the y-type structure stood upside down, and fixed mount lower end is loop configuration, and driving motor is speed-adjustable stepping
Motor, driving shaft one end is connected with driving motor main shaft, is attached by key between the driving shaft other end and driving gear,
Driven gear is positioned at immediately below driving gear, and driven gear is positioned on same vertical with driving gear, and driven gear is with driven
Axle is fixedly connected by key between one end；During use, the height first passing through regulation elevating lever drives lifter plate down to move,
Driving gear and driven gear are meshed, then start driving motor, by the incomplete whole circle rotating band of driving motor
The positive and negative reciprocating rotation of dynamic driving shaft, thus drive the positive and negative reciprocating rotation of driving gear, due to driving gear and driven gear phase
Engagement, driven gear is also carried out positive and negative reciprocating rotation, and then the positive and negative reciprocating rotation of drive massage cylinder, when human body is by hand hands
Refer to be placed individually in massage cylinder, produce rolling friction between massage cylinder and human hands finger, serve human hands
Finger carries out the function massaged.
Further, described height measuring mechanism includes dip stick, clamping screw and spacing draw-in groove；Described dip stick is for standing upside down
L-type structure, the face, vertical component rear and front end of dip stick is evenly arranged with graduation mark the most successively, and dip stick upper end is passed through
Clamping screw is fixed on fixing seat, and dip stick lower end passes spacing draw-in groove, the trapezoidal frame structure of spacing draw-in groove, spacing draw-in groove
Being fixed on rear side of lifter plate on end face, spacing draw-in groove ensure that dip stick will not be subjected to displacement skew, serves spacing effect；
Height measuring mechanism is that the altitude mixture control of actuating device provides accurate-size reference, improves the transmission stability of actuating device.
Further, described vibrating device includes connecting plate, 3-SPS parallel institution, oscillating plate and exciting agency；Described company
The rectangular platy structure of fishplate bar, the quantity of 3-SPS parallel institution is three, 3-SPS parallel institution between connecting plate and oscillating plate,
3-SPS parallel institution upper end is connected with connecting plate, and 3-SPS parallel institution lower end is connected with oscillating plate, the quantity of exciting agency
Being five, exciting agency is evenly arranged in immediately below oscillating plate the most successively.
Further, described 3-SPS parallel institution includes fixed platform, moving platform, upper spherical hinge, miniature electromotive handspike, lower ball
Hinge, baffle ring and vibrating spring, and the quantity of upper spherical hinge, miniature electromotive handspike, lower spherical hinge, baffle ring and vibrating spring is equal
It is three；Described fixed platform and moving platform structure the most in the form of annular discs, and moving platform is positioned at immediately below fixed platform, moving platform with allocate
Platform is arranged in parallel, and miniature electromotive handspike is between fixed platform and moving platform, and miniature electromotive handspike is that equilateral triangle shape is arranged,
Miniature electromotive handspike bottom is connected with fixed platform by upper spherical hinge, by lower ball between miniature electromotive handspike top and moving platform
Hinge is connected, and baffle ring is positioned at miniature electromotive handspike top end, and by the side of threaded engagement between baffle ring and miniature electromotive handspike
Formula is attached, and vibrating spring is around being enclosed within miniature electromotive handspike, and vibrating spring one end is connected with baffle ring, and vibrating spring is another
One end is connected with miniature electromotive handspike；Driven the motion of moving platform by the stretching motion up and down of miniature electromotive handspike, thus carry
The vibration of dynamic exciting agency, and then achieve the random vibration of massage cylinder, when hand finger is placed individually into massage by human body
In cylinder, produce vibration friction between massage cylinder and human hands finger, serve the merit that human hands finger is massaged
Can, and 3-SPS parallel institution is capable of three translations three in space and rotates the motion in altogether six-freedom degree directions, motion is flexibly
Quickly, bearing capacity is big, and kinetic stability is strong；Added the vibrating effect of vibrating device by 3-SPS parallel institution, improve
The hand massage effect of the present invention.
Further, described exciting agency includes slide rail, top shoe, exciting vibration spring, sliding block and glidepath, and top shoe,
The quantity of exciting vibration spring and sliding block is three；Described top shoe is arranged on slide rail, and exciting vibration spring upper end is fixed on cunning
On block, exciting vibration spring lower end is fixed on sliding block, and sliding block is fixed on glidepath, and glidepath is connected with massage cylinder upper end
Connect；The spacing between exciting vibration spring and exciting vibration spring can be regulated by upper slide rail and top shoe and sliding block and glidepath
Locus, it is achieved that the adjustable function of vibratility of vibrating device, can use different frequency of vibration to carry out human hands
Massage, design more rationally hommization.
Compared with prior art, the invention have the advantages that
(1) present invention drives generation rolling between massage cylinder and human hands finger to rub by the positive and negative reciprocating rotation of actuating device
Wipe, serve the function that human hands finger is massaged, and actuating device height can precisely regulate, and can realize engaged transmission
Effect with separation cut.
(2) present invention can realize the random vibration of massage cylinder by vibrating device, between massage cylinder and human hands finger
Producing vibration friction, serve the function massaging human hands finger, the 3-SPS parallel institution that it uses is in space
Being capable of three translations three and rotate the motion in six-freedom degree direction altogether, the most quickly, bearing capacity is big, kinetic stability in motion
By force, added the vibrating effect of vibrating device by 3-SPS parallel institution, improve the hand massage effect of the present invention.
(3) present invention is by the spacing between exciting agency scalable exciting vibration spring and the locus of exciting vibration spring, it is achieved that
The adjustable function of vibratility of the present invention, can use different frequency of vibration to massage human hands, and it is more reasonable to design
Hommization.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of actuating device of the present invention；
Fig. 3 is the front view of actuating device of the present invention；
Fig. 4 is the perspective view of vibrating device of the present invention；
Fig. 5 is the perspective view of 3-SPS parallel institution of the present invention；
Fig. 6 is the perspective view of exciting agency of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of hand massage intelligent robot driving means, including actuating device 3 and vibrating device 4,
Vibrating device 4 is positioned at actuating device 3 front；Described actuating device 3 include fixing seat 31, elevating lever 32, tight locking button 33,
Lifter plate 34, height measuring mechanism 35, fixed mount 36, driving motor 37, driving shaft 38, driving gear 39, driven gear
310 and driven shaft 311；Described elevating lever 32 upper end is connected with fixing seat 31 bottom face, and elevating lever 32 lower end is by lock
Link closely and 33 be connected with lifter plate 34 top end face, and elevating lever 32 is evenly arranged in fixing seat 31 and lifter plate the most successively
Between 34, height measuring mechanism 35 quantity is two, and height measuring mechanism 35 is the most right along longitudinal center's axis of fixing seat 31
Claiming to be arranged in fixing seat 31 rear end, driving motor 37 is fixed on lifter plate 34 by fixed mount 36, and fixed mount 36 with rise
Being locked by bolt between fall plate 34, fixed mount 36 upper end is in the y-type structure stood upside down, and fixed mount 36 lower end is ring
Shape structure, driving motor 37 is speed-adjustable motor, and driving shaft 38 one end is connected, actively with driving motor 37 main shaft
Being attached by key between axle 38 other end and driving gear 39, driven gear 310 is positioned at immediately below driving gear 39, and
Driven gear 310 and driving gear 39 are positioned on same vertical, pass through key between driven gear 310 and driven shaft 311 one end
It is fixedly connected；During use, the height first passing through regulation elevating lever 32 drives lifter plate 34 down to move so that actively
Gear 39 and driven gear 310 are meshed, and then start driving motor 37, positive and negative by the incomplete whole circle of driving motor 37
Turn the positive and negative reciprocating rotation of drive driving shaft 38, thus drive the positive and negative reciprocating rotation of driving gear 310, due to driving gear
39 and driven gear 310 be meshed, driven gear 310 is also carried out positive and negative reciprocating rotation, and then drives the positive and negative of massage cylinder 5
Reciprocating rotation, when hand finger is placed individually in massage cylinder 5 by human body, produces between massage cylinder 5 and human hands finger
Raw rolling friction, serves the function massaging human hands finger.
As shown in Figures 2 and 3, described height measuring mechanism 35 includes dip stick 351, clamping screw 352 and spacing draw-in groove
353；Described dip stick 351 is the L-type structure stood upside down, and the face, vertical component rear and front end of dip stick 351 is the most equal
The even graduation mark that is provided with, dip stick 351 upper end is fixed on fixing seat 31 by clamping screw 352, and dip stick 351 lower end is worn
Crossing spacing draw-in groove 353, the spacing trapezoidal frame structure of draw-in groove 353, spacing draw-in groove 353 is fixed on rear side of lifter plate 34 on end face,
Spacing draw-in groove 353 ensure that dip stick 351 will not be subjected to displacement skew, serves spacing effect；Height measuring mechanism 35 is
The altitude mixture control of actuating device 3 provides accurate-size reference, improves the transmission stability of actuating device 3.
As shown in Figures 4 to 6, described vibrating device 4 includes connecting plate 41,3-SPS parallel institution 42, oscillating plate 43
With exciting agency 44；The described rectangular platy structure of connecting plate 41, the quantity of 3-SPS parallel institution 42 is three, 3-SPS
Parallel institution 42 is between connecting plate 41 and oscillating plate 43, and 3-SPS parallel institution 42 upper end is connected with connecting plate 41,
3-SPS parallel institution 42 lower end is connected with oscillating plate 43, and the quantity of exciting agency 44 is five, and exciting agency 44 is linearly
It is evenly arranged in successively immediately below oscillating plate 43.
As it is shown in figure 5, described 3-SPS parallel institution 42 include fixed platform 421, moving platform 422, upper spherical hinge 423,
Miniature electromotive handspike 424, lower spherical hinge 425, baffle ring 426 and vibrating spring 427, and upper spherical hinge 423, miniature electric push away
The quantity of bar 424, lower spherical hinge 425, baffle ring 426 and vibrating spring 427 is three；Described fixed platform 421 and moving platform
422 structures the most in the form of annular discs, and moving platform 422 is positioned at immediately below fixed platform 421, moving platform 422 is parallel with fixed platform 421
Arranging, miniature electromotive handspike 424 is between fixed platform 421 and moving platform 422, and miniature electromotive handspike 424 is in positive triangle
Arrangements, miniature electromotive handspike 424 bottom is connected with fixed platform 421 by upper spherical hinge 423, miniature electromotive handspike 424
Being connected by lower spherical hinge 425 between top with moving platform 422, baffle ring 426 is positioned at miniature electromotive handspike 424 top end,
And be attached by the way of threaded engagement between baffle ring 426 and miniature electromotive handspike 424, vibrating spring 427 is micro-around being enclosed within
On type electric pushrod 424, and vibrating spring 427 one end is connected with baffle ring 426, vibrating spring 427 other end and micro electric
Dynamic push rod 424 is connected；Driven the motion of moving platform 422 by the stretching motion up and down of miniature electromotive handspike 424, thus carry
The vibration of dynamic exciting agency 44, and then achieve the random vibration of massage cylinder 5, when hand finger is placed individually into by human body
In massage cylinder 5, produce vibration friction between massage cylinder 5 and human hands finger, serve and human hands finger is carried out
The function of massage, and 3-SPS parallel institution 42 is capable of three translations three in space and rotates the motion in altogether six-freedom degree directions,
The most quickly, bearing capacity is big, and kinetic stability is strong in motion；Shaking of vibrating device 4 is added by 3-SPS parallel institution 42
Dynamic effect, improves the hand massage effect of the present invention.
As shown in Figure 6, described exciting agency 44 includes slide rail 441, top shoe 442, exciting vibration spring 443, sliding block
444 and glidepath 445, and the quantity of top shoe 442, exciting vibration spring 443 and sliding block 444 is three；Described top shoe
442 are arranged on slide rail 441, and exciting vibration spring 443 upper end is fixed on top shoe 442, and exciting vibration spring 443 lower end is fixed
On sliding block 444, sliding block 444 is fixed on glidepath 445, and glidepath 445 is connected with massage cylinder 5 upper end；
Between can being regulated between exciting vibration spring 443 by upper slide rail 441 and top shoe 442 and sliding block 444 and glidepath 445
Away from and the locus of exciting vibration spring 443, it is achieved that the adjustable function of vibratility of vibrating device 44, can be to human hands
Different frequency of vibration is used to massage, design more rationally hommization.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (3)
1. a hand massage intelligent robot driving means, it is characterised in that: include actuating device and vibrating device, and vibration
Device is positioned at actuating device front, wherein:
Described actuating device includes fixing seat, elevating lever, tight locking button, lifter plate, height measuring mechanism, fixed mount, transmission
Motor, driving shaft, driving gear, driven gear and driven shaft；Described elevating lever upper end is connected with fixing seat bottom end face,
Elevating lever lower end is connected with lifter plate top end face by tight locking button, and elevating lever is evenly arranged in fixing seat and liter the most successively
Between fall plate, height measuring mechanism quantity is two, and height measuring mechanism is arranged in symmetrically along longitudinal center's axis of fixing seat
Fixing base rear end, driving motor is fixed on lifter plate by fixed mount, and is locked by bolt between fixed mount and lifter plate
Fastening, fixed mount upper end is in the y-type structure stood upside down, and fixed mount lower end is loop configuration, and driving motor is speed-adjustable stepping
Motor, driving shaft one end is connected with driving motor main shaft, is attached by key between the driving shaft other end and driving gear,
Driven gear is positioned at immediately below driving gear, and driven gear is positioned on same vertical with driving gear, and driven gear is with driven
Axle is fixedly connected by key between one end；
Described vibrating device includes connecting plate, 3-SPS parallel institution, oscillating plate and exciting agency；Described connecting plate is square
Shape platy structure, the quantity of 3-SPS parallel institution is three, 3-SPS parallel institution between connecting plate and oscillating plate, 3-SPS
Parallel institution upper end is connected with connecting plate, and 3-SPS parallel institution lower end is connected with oscillating plate, and the quantity of exciting agency is five,
Exciting agency is evenly arranged in immediately below oscillating plate the most successively；
Described 3-SPS parallel institution includes fixed platform, moving platform, upper spherical hinge, miniature electromotive handspike, lower spherical hinge, gear
Ring and vibrating spring, and the quantity of upper spherical hinge, miniature electromotive handspike, lower spherical hinge, baffle ring and vibrating spring is three；Institute
The fixed platform stated and moving platform structure the most in the form of annular discs, and moving platform is positioned at immediately below fixed platform, moving platform cloth parallel with fixed platform
Putting, miniature electromotive handspike is between fixed platform and moving platform, and miniature electromotive handspike is that equilateral triangle shape is arranged, miniature electric
Push rod bottom is connected with fixed platform by upper spherical hinge, is connected by lower spherical hinge between miniature electromotive handspike top and moving platform
Connecing, baffle ring is positioned at miniature electromotive handspike top end, and carries out by the way of threaded engagement between baffle ring and miniature electromotive handspike even
Connecing, vibrating spring is around being enclosed within miniature electromotive handspike, and vibrating spring one end is connected with baffle ring, and the vibrating spring other end is with micro-
Type electric pushrod is connected.
A kind of hand massage intelligent robot driving means the most according to claim 1, it is characterised in that: described height
Measuring mechanism includes dip stick, clamping screw and spacing draw-in groove；Described dip stick is the L-type structure stood upside down, hanging down of dip stick
Straight face, part rear and front end is evenly arranged with graduation mark the most successively, and dip stick upper end is fixed on fixing seat by clamping screw,
Dip stick lower end passes spacing draw-in groove, the trapezoidal frame structure of spacing draw-in groove, and spacing draw-in groove is fixed on rear side of lifter plate on end face.
A kind of hand massage intelligent robot driving means the most according to claim 1, it is characterised in that: described exciting
Mechanism includes slide rail, top shoe, exciting vibration spring, sliding block and glidepath, and the number of top shoe, exciting vibration spring and sliding block
Amount is three；Described top shoe is arranged on slide rail, and exciting vibration spring upper end is fixed on top shoe, and exciting vibration spring lower end is solid
Being scheduled on sliding block, sliding block is fixed on glidepath.
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| CN201610463712.6A CN105965497B (en) | 2016-06-23 | 2016-06-23 | A kind of hand massage intelligent robot drive device |
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| CN201610463712.6A CN105965497B (en) | 2016-06-23 | 2016-06-23 | A kind of hand massage intelligent robot drive device |
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| CN105965497B CN105965497B (en) | 2017-12-05 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334623A (en) * | 2017-08-17 | 2017-11-10 | 杨桂凤 | One kind is used for entire patient's automatic massage equipment |
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN108836754A (en) * | 2018-07-26 | 2018-11-20 | 陕西理工大学 | A kind of device of automatic movable finger |
| CN112618317A (en) * | 2021-01-05 | 2021-04-09 | 邓玉琼 | Intestines and stomach branch of academic or vocational study is massage equipment for supplementary digestion |
| CN113180997A (en) * | 2021-04-13 | 2021-07-30 | 万家有 | Recovered auxiliary assembly of limbs for psychiatric department |
| CN113855480A (en) * | 2021-09-28 | 2021-12-31 | 北京大学深圳医院 | Medical nursing rehabilitation exercise bed |
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Cited By (9)
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|---|---|---|---|---|
| CN107334623A (en) * | 2017-08-17 | 2017-11-10 | 杨桂凤 | One kind is used for entire patient's automatic massage equipment |
| CN107334623B (en) * | 2017-08-17 | 2019-11-05 | 青岛市中心医院 | One kind being used for entire patient's automatic massage equipment |
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN108836754A (en) * | 2018-07-26 | 2018-11-20 | 陕西理工大学 | A kind of device of automatic movable finger |
| CN112618317A (en) * | 2021-01-05 | 2021-04-09 | 邓玉琼 | Intestines and stomach branch of academic or vocational study is massage equipment for supplementary digestion |
| CN112618317B (en) * | 2021-01-05 | 2023-09-26 | 南京爱沃客信息科技有限公司 | A kind of massage equipment for gastroenterology auxiliary digestion |
| CN113180997A (en) * | 2021-04-13 | 2021-07-30 | 万家有 | Recovered auxiliary assembly of limbs for psychiatric department |
| CN113855480A (en) * | 2021-09-28 | 2021-12-31 | 北京大学深圳医院 | Medical nursing rehabilitation exercise bed |
| CN113855480B (en) * | 2021-09-28 | 2023-12-29 | 北京大学深圳医院 | Medical care rehabilitation exercise bed |
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