Massage device for hip massage robot based on redundant drive double parallel mechanisms

[0021] In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific drawings.

[0022] Such as figure 1 with figure 2 As shown, a massage device for a hip massage robot based on a redundant drive dual parallel mechanism 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-freedom The number of massage actuators 6, the left and right side plates 3 and the front and rear side plates 4 are both two, the numbers of the six-degree-of-freedom massage actuators 5 and the three-degree-of-freedom massage actuators 6 are both four; the lower support plate 1 is The four rectangular plates are spliced ​​into an arc structure, and the four rectangular plates are connected by hinges. The lower support plate 1 can be adjusted to different arc angles according to the specific situation, so that people with different hip sizes can use it; the upper support The plate 2 is located directly above the lower support plate 1, 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, and the lower ends of the left and right side plates 3 are connected to the lower support plate 1. Connected, the front and rear side plates 4 are located directly in front of and directly behind the left and right side plates 3; the six-degree-of-freedom massage actuators 5 are symmetrically installed at the middle of the lower support plate 1; the three-degree-of-freedom massage actuators 6 are respectively Located on the left and right sides of the six-degree-of-freedom massage actuator 5, and the three-degree-of-freedom massage actuator 6 is connected to the lower support plate 1.

[0023] Such as image 3 As shown, the six-degree-of-freedom massage actuator 5 includes a fixed platform 51, a movable platform 52, a lower triangle seat 53, an upper triangle seat 54, a ball hinge 55, a sleeve 56, a telescopic rod 57, and a 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 number of telescopic rod 57 The number one fixed platform 51 and the number one movable platform 52 are both circular structures, the lower triangle seat 53 is installed on the upper end surface of the number one fixed platform 51, and the lower triangle seat 53 is the first fixed platform 51 The upper part is arranged in an equilateral triangle position, the upper triangular base 54 is installed on the lower end surface of the No. 1 moving platform 52, and the installation positions between the upper triangular base 54 and the lower triangular base 53 are staggered, and the lower triangular base 53 is in a equilateral triangular column structure. The lower triangle seat 53 is respectively provided with inclined surfaces symmetrically along its vertical center line, and the inclined surface is provided with mounting threaded holes matching the lower end external threads of the ball hinge 55, and the structure of the upper triangle seat 54 is the same as that of the lower triangle seat 53 The ball hinge 55 is installed on the lower triangle seat 53 and the upper triangle seat 54 respectively, 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 first limit spring 58 is wound Set on the telescopic rod 57, the telescopic rod 57 is a two-way telescopic rod, the telescopic rod 57 is an electric push rod, a pneumatic push rod or a hydraulic rod; the No. 1 massage beads 59 are evenly arranged on the upper end surface of the No. 1 moving platform 52 , No. 1 massage bead 59 is a hemispherical structure, and No. 1 massage bead 59 is made of flexible material. The up and down bidirectional telescopic movement of the telescopic rod 57 drives the up and down movement of the No. 1 moving platform 52, and the No. 1 limit spring 58 increases the jitter of the No. 1 moving platform 52, which improves the six-degree-of-freedom massage actuator 5. The six-degree-of-freedom massage actuator 5 uses the 6-SPS Stewart parallel mechanism. Compared with the series mechanism, the stiffness is large, the structure is stable, the load capacity is strong, and the micro-motion precision is high. The six-degree-of-freedom massage actuator 5 is in space It can perform three-translational and three-rotation movements in six degrees of freedom, with small movement space, fast movement speed and good movement flexibility. The six-degree-of-freedom massage actuator 5 is located at the center of the present invention. When in use, six degrees of freedom The massage actuator 5 is in contact with the middle part of the human buttocks, which not only plays a major load-bearing role, but also makes full use of the strong load-bearing characteristics of the Stewart parallel mechanism of 6-SPS, and the contact area with the buttocks is large, and the massage effect is good.

[0024] Such as Figure 4 As shown, the three-degree-of-freedom massage actuator 6 includes a second fixed platform 61, a second movable platform 62, a lower ear seat 63, an upper ear seat 64, a rotating shaft 65, a lower connecting rod 66, an upper connecting rod 67, and a drive Shaft 68, No. 2 limit spring 69, No. 2 massage ball 610 and driving device 611, the number of lower ear seat 63, upper ear seat 64, lower link 66, upper link 67 and No. 2 limit spring 69 are all Fourth, the number of rotating shafts 65 is eight, and the number of driving shafts 68 is two; the second fixed platform 61 and the second movable platform 62 both have a square structure, and the second fixed platform 61 and the second movable platform 62 are vertically symmetrical The lower ear seats 63 are respectively located at the four top corners of the upper end of the No. 2 fixed platform 61, the upper ear seats 64 are respectively located at the four top corners of the lower end of the No. 2 moving platform 62, and the lower ear seats 63 and the upper ears The seat 64 is located on the same straight line; one end of the lower connecting rod 66 is connected to the lower ear seat 63 through a rotating shaft 65, and the other end of the lower connecting rod 66 is connected to one end of the upper connecting rod 67 through a drive shaft 68, and the upper connecting rod The other end of the rod 67 is connected to the upper ear seat 64 through the rotating shaft 65; the upper end of the second limit spring 69 is connected to the middle position of the upper connecting rod 67, and the other end of the second limit spring 69 is connected to the middle position of the lower connecting rod 66. The massage beads 610 are evenly arranged on the upper end surface of the second movable platform 62, and the second massage beads 610 have a hemispherical structure, and the second massage beads 610 are made of flexible materials; the driving device 611 is located at the center position of the upper end surface of the second fixed platform 61, and the driving device 611 is fixedly connected with the second fixed platform 61; the driving device 611 includes a driving motor 611a, a motor seat 611b, a driving gear 611c and a driven Gear 611d, and the number of driven gears 611d is two; the driving motor 611a is fixed at the center position of the upper end surface of the second fixed platform 61 through the motor seat 611b, and the driving motor 611a and the driving shaft 68 are installed side by side in parallel, and the driving motor 611a adopts an adjustable speed stepping reduction motor; the driving gear 611c is located at the front end of the driving motor 611a, and the driving gear 611c is connected with the main shaft of the driving motor 611a through a key. The driving gear 611c is a symmetrical incomplete gear. 611c is meshed with the driven gear 611d, and the driven gear 611d is fixed at the middle position of the drive shaft 68; the rotation of the driving motor 611a drives the rotation of the driving gear 611c, and the driving gear 611c meshes with the driven gear 611d, The gear 611d is coaxially and fixedly connected to the drive shaft 68, thereby driving the upper link 67 to rotate with the drive shaft 68 as the center of rotation, and the intermittent rotation of the driven gear 611d is realized through the driving gear 611c as a symmetrical incomplete gear, thereby achieving The effect of the up and down shaking of the No. 2 moving platform 62 is achieved. At the same time, the synchronous movement of each upper link 67 is realized by the driving device 611. The overall movement is more stable and orderly, and the No. 2 movement is increased by the No. 2 limit spring 69. The jitter of the platform 62 improves the three-self The massage effect of Yodo massage actuator 6; the three-degree-of-freedom massage actuator 6 adopts 4-RRR redundant parallel mechanism, which can realize three-rotation movement in three directions of freedom in space, and 4-RRR redundant parallel mechanism The three-degree-of-freedom massage actuator 6 of the mechanism is an over-drive mechanism, which effectively alleviates and eliminates the force singularity problem of ordinary parallel mechanisms through the use of over-drive technology, realizes the dynamic control of the operating stiffness of the parallel mechanism, and improves the force operation performance of the system , So that the force of the three-degree-of-freedom massage actuator 6 is more even and stable when massaging the buttocks, which effectively improves the effect of the present invention when massaging the buttocks; the three-degree-of-freedom massage actuator 6 is located on both sides of the central position of the present invention. The three-degree-of-freedom massage actuator 6 can fully contact both sides of the human buttocks. Compared with the six-degree-of-freedom massage actuator 5, the three-degree-of-freedom massage actuator 6 has a slightly lighter and smoother massage force, which is more suitable for massaging both sides of the human buttocks. , The massage effect is good.

[0025] Such as figure 1 As shown, the upper support plate 2 has an arc-shaped structure, and the upper end surface of the upper support plate 2 is uniformly arranged with cylindrical horizontal strips in sequence; the vertical cross-sections of the left and right side plates 3 are in the shape of a broken line; The side plate 4 is in an incomplete ring structure. The front and rear side plates 4 are evenly 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 supports are made of flexible materials The board 2, the left and right side boards 3, and the front and rear side boards 4 can complete the overall telescopic movement of the massage device, which has good flexibility and improves the massage effect of the massage device.

[0026] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the description in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements, and these changes and improvements fall within the scope of the claimed invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.