A traditional Chinese medicine massage robot combining rectangular coordinates and joints
A Cartesian coordinate, articulated technology, used in kneading massage appliances, roller massage, vibration massage, etc., can solve the problems of complex control, poor flexibility, poor rigidity, etc., to achieve flexible movement, high positioning accuracy, and good rigidity. Effect
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[0032] Below, with reference to the accompanying drawings, specific embodiments of the present invention are given, and its structure is further described.
[0033] The traditional Chinese medicine massage robot that the Cartesian coordinate type of the present invention combines and joint type refers to Figure 1-14 . figure 1Shown is the overall structure diagram of the present invention. It mainly includes a bed body 1, a support frame 2, a mechanical arm 3 and a massage device 4. The bed body 1 is mainly composed of a bed frame fixing mechanism 5, a connecting support mechanism 6, a bed frame lifting mechanism 7 and a lifting drive mechanism 8. One end of the connecting support mechanism 6 is fixed on the bed frame fixing mechanism 5 through the fixing mechanism bearing 15 and the fixing mechanism pin 16, and can rotate around the fixing mechanism pin 16. The other end of the connection support mechanism 6 is to be connected with the bed frame lifting mechanism 7 by the...
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