A mechanical arm with kneading function

Abstract

The present invention relates to a manipulator with a kneading function, comprising a mounting seat, on which two groups of massage wheel assemblies are arranged, each group of massage wheel assemblies respectively comprises a kneading arm and a first massage wheel and a second massage wheel, the first massage wheel and the second massage wheel are respectively arranged on the kneading arm through a first wheel frame and a second wheel frame, the mounting seat is also provided with a transmission mechanism for driving the kneading arm to move, the mounting seat is provided with a driving mechanism at the interval between the two kneading arms, the driving mechanism comprises a second motor, a transmission sleeve and two kneading arms, the transmission sleeve is connected to the transmission shaft in a rotatable manner, two kneading angle wheels are connected to the two ends of the transmission sleeve in a circumferential linkage, the two kneading arms are respectively connected to the corresponding kneading angle wheels in a rotatable manner, and the two kneading arms are respectively connected to the first wheel frame or the second wheel frame located on one side thereof through a connecting rod. By adopting the above scheme, the first massage wheel and the second massage wheel are individually controlled to perform kneading action, or kneading action is performed simultaneously, the structure is simple and the functions are rich.

Description

Technical Field

[0001] The invention relates to the technical field of massage chairs, in particular to a mechanical arm with a kneading function. Background Art

[0002] The existing massage chair includes a massage chair frame and a massage manipulator. The massage chair frame is provided with a guide rail. The massage manipulator includes a mounting seat. The mounting seat can slide up and down along the guide rail. The mounting seat is provided with a massage wheel assembly for massaging the human body, a kneading assembly for driving the massage wheel assembly for kneading, and a knocking assembly for driving the massage wheel assembly for knocking. A walking assembly for driving the mounting seat to move along the guide rail is provided between the mounting seat and the guide rail.

[0003] However, in this type of massage device, the massage wheel assembly includes a kneading arm and a first massage wheel and a second massage wheel. The first massage wheel and the second massage wheel are movably arranged on the kneading arm through a first wheel frame and a second wheel frame respectively. The first wheel frame and the second wheel frame can clamp each other. The kneading assembly can only drive the kneading arm to move, so the kneading action is carried out simultaneously. The first massage wheel and the second massage wheel cannot be controlled separately to perform the kneading action, and the function is relatively simple. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and provides a manipulator with a kneading function, which controls a first massage wheel and a second massage wheel to perform kneading action independently or to perform kneading action simultaneously, has a simple structure and rich functions.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a manipulator with a kneading function, comprising a mounting seat, on which two groups of massage wheel assemblies are arranged, each group of massage wheel assemblies respectively comprises a kneading arm and a first massage wheel and a second massage wheel, the two kneading arms are arranged at an interval, the first massage wheel and the second massage wheel are respectively arranged on the kneading arm through a first wheel frame and a second wheel frame, the first wheel frame and the second wheel frame can clamp each other, and the mounting seat is also provided with a transmission mechanism for driving the kneading arm to move, the transmission mechanism comprises a transmission shaft and a first motor, the transmission shaft is rotatably arranged on the mounting seat, the first motor drives the transmission shaft to rotate, and the transmission shaft is respectively circumferentially linked with two kneading angle wheels at the corresponding two kneading arms, and the two kneading arms are respectively connected with the corresponding kneading angle wheels in a rotatable manner. The mounting seat is provided with a driving mechanism at the interval between the two kneading and swinging arms, and the driving mechanism drives the first wheel frame or the second wheel frame on the two massage wheel assemblies to move. The driving mechanism comprises a second motor, a transmission sleeve and two kneading and swinging arms, the two kneading and swinging arms are located between the two kneading and swinging arms, the transmission sleeve is sleeved on the transmission shaft and is located between the two kneading and deflecting angle wheels, the transmission sleeve is rotatably connected to the transmission shaft, and the two ends of the transmission sleeve are circumferentially linked and connected with the two kneading and deflecting angle wheels at the corresponding two kneading and swinging arms, and the two kneading and swinging arms are respectively rotatably connected with the corresponding kneading and deflecting angle wheels. The second motor drives the transmission sleeve to rotate, and the two kneading and swinging arms are respectively connected to the first wheel frame or the second wheel frame located on one side thereof through a connecting rod, the first end of the connecting rod is movably arranged on the kneading and swinging arm, and the second end of the connecting rod is movably arranged on the first wheel frame or the second wheel frame.

[0006] By adopting the above scheme, two kneading and swinging arms are provided, and the two kneading and swinging arms are respectively provided with a first massage wheel and a second massage wheel, and the first massage wheel and the second massage wheel are respectively arranged on the kneading and swinging arms through a first wheel frame and a second wheel frame, wherein the first wheel frame and the second wheel frame can be rotatably arranged on the kneading and swinging arms, or the first wheel frame can be rotatably arranged on the kneading and swinging arms, and the second wheel frame can be fixedly arranged on the kneading and swinging arms, or the first wheel frame can be fixedly arranged on the kneading and swinging arms, and the second wheel frame can be rotatably arranged on the kneading and swinging arms, and the first wheel frame and the second wheel frame can be clamped with each other, that is, simulating the pinching action of two fingers, the first motor drives the transmission shaft to rotate, and the transmission shaft drives the kneading and deflection wheels to rotate, and the kneading and swinging arms are respectively connected to the kneading and deflection wheels through a bearing sleeve, thereby driving the kneading and swinging arms to move slightly, and the kneading action is realized by the massage wheels acting on the human body, because the transmission sleeve is rotatably arranged on the transmission shaft through the bearing Therefore, the rotation of the transmission shaft will not drive the transmission sleeve to rotate, and the transmission sleeve is only driven by the second motor. The second motor drives the transmission sleeve to rotate, and the transmission sleeve drives the kneading angle wheel to rotate. The kneading swing arm is arranged on the kneading angle wheel through the bearing sleeve, thereby driving the kneading swing arm to move slightly. The kneading swing arm is connected to the first wheel frame or the second wheel frame through a connecting rod, and the massage wheel acts on the human body to realize the kneading action. When the first motor is running and the second motor is not running, the kneading swing arm can drive the kneading swing arm to do the kneading action, and the kneading swing arm can drive the first massage wheel and the second massage wheel to do the kneading action; when the first motor is not running and the second motor is running, the kneading swing arm cannot drive the kneading swing arm to do the kneading action, and the kneading swing arm can drive the first massage wheel and the second massage wheel to do the kneading action. Therefore, it controls the first massage wheel and the second massage wheel to perform the kneading action separately, or performs the kneading action at the same time, with a simple structure and rich functions.

[0007] A further configuration of the present invention is that a first detection component for detecting the transmission shaft and controlling the first motor and a second detection component for detecting the transmission sleeve and controlling the second motor are provided on the mounting seat, and the first detection component and the second detection component respectively control the first motor and the second motor to achieve the same motion trajectory of the first end of the connecting rod and the second end of the connecting rod.

[0008] By adopting the above scheme, the first detection component and the second detection component can be Hall sensors or photoelectric sensors. When the first motor and the second motor are running at the same time, and the motion trajectory of the first end of the connecting rod is the same as that of the second end of the connecting rod, that is, the rotation speed of the kneading angle wheel and the pinching angle wheel is the same and there is no phase difference (that is, the deflection angles of the two deflection wheels are the same), the kneading arm can only perform kneading action, and the first massage wheel and the second massage wheel will not perform pinching action; when the first motor and the second motor are running at the same time, and the motion trajectory of the first end of the connecting rod and the second end of the connecting rod are different, the kneading arm performs kneading action, and the first massage wheel and the second massage wheel perform pinching action. The structure is simple and the control is convenient.

[0009] A further configuration of the present invention is that a first worm gear is fixed or integrally provided in the middle of the transmission sleeve, a first worm engaged with the first worm gear is fixed or integrally provided on the output shaft of the second motor, and the second motor is located in the middle of the two pinch swing arms.

[0010] By adopting the above scheme, the first worm is fixedly arranged on the output shaft of the second motor, and the second motor is located in the middle position of the two pinch swing arms. The position design is reasonable, the second motor drives the first worm to rotate, the first worm drives the first worm wheel to rotate, and the first worm wheel rotates synchronously with the transmission sleeve. The structure is simple and the transmission is stable.

[0011] A further configuration of the present invention is: the first wheel frame is rotatably arranged on the kneading arm through a first hinge shaft, the second wheel frame is rotatably arranged on the kneading arm through a second hinge shaft, a first spherical cavity is provided on the kneading arm, a second spherical cavity is provided on the first wheel frame, a first end of the connecting rod is provided with a first ball head, the second end of the connecting rod is provided with a second ball head, the first ball head of the connecting rod is inserted in the first spherical cavity, and the second ball head of the connecting rod is inserted in the second spherical cavity.

[0012] By adopting the above solution, the ball head of the connecting rod is inserted into the spherical cavity to achieve rolling cooperation between the two, which can avoid locking. The structure is simple and the design is reasonable.

[0013] A further configuration of the present invention is that a first bearing seat is fixed or integrally provided at the end of the kneading and swinging arm, the first bearing seat is connected to the kneading and deflecting angle wheel through a first bearing, and a second bearing seat is fixed or integrally provided at the end of the kneading and swinging arm, and the second bearing seat is connected to the kneading and deflecting angle wheel through a second bearing.

[0014] By adopting the above scheme, the first bearing seat is outermostly arranged on the first bearing, and the first bearing is outermostly arranged on the kneading and deflecting angle wheel, so that the kneading and deflecting angle wheel can rotate and drive the kneading and swinging arm to move. The second bearing seat is outermostly arranged on the second bearing, and the second bearing is outermostly arranged on the pinching and deflecting angle wheel, so that the pinching and deflecting angle wheel can rotate and drive the pinching and swinging arm to move. The structure is simple and the installation is stable.

[0015] A further configuration of the present invention is that: a guide block is provided on the first wheel frame, and an arc-shaped guide groove is provided on the second wheel frame, and the guide block is inserted into the arc-shaped guide groove and can slide along the arc-shaped guide groove.

[0016] By adopting the above scheme, when the first wheel frame or the second wheel frame swings, the guide block cooperates with the arc guide groove to drive the other wheel frame to move closer or farther away from each other to achieve a clamping action, with a simple structure and stable transmission.

[0017] A further configuration of the present invention is that a second worm gear is circumferentially linked to one end of the transmission shaft, and a second worm engaged with the second worm gear is fixed or integrally provided on the output shaft of the first motor.

[0018] By adopting the above scheme, the second worm is fixedly arranged on the output shaft of the first motor, the first motor is located at one end of the transmission shaft, the first motor drives the second worm to rotate, the second worm drives the second worm wheel to rotate, the second worm wheel rotates synchronously with the transmission shaft, the structure is simple, the transmission is stable, and the position design is reasonable.

[0019] The present invention will be further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the coordination structure of the kneading swing arm and the pinching swing arm;

[0022] Figure 3 This is a schematic diagram of the installation structure of various components on the kneading and swinging arm;

[0023] Figure 4 It is a schematic diagram of the installation structure of various components on the kneading swing arm;

[0024] Figure 5 is a schematic diagram of the cooperation between the first wheel frame and the second wheel frame;

[0025] Figure 6 is a schematic diagram of a driving structure of a first motor and a second motor;

[0026] Figure 7 It is a schematic diagram of the structure of the transmission sleeve;

[0027] Figure 8 is a structural schematic diagram of the connecting rod;

[0028] Fig. 9 It is a schematic diagram of the structure of the second detection component. DETAILED DESCRIPTION

[0029] like Figure 1-Figure 9As shown, a manipulator with kneading function comprises a mounting base 1, on which two groups of massage wheel assemblies are arranged, each group of massage wheel assemblies comprises a kneading arm 21 and a first massage wheel 22 and a second massage wheel 23, the two kneading arms 21 are arranged at intervals, the first massage wheel 22 and the second massage wheel 23 are arranged on the kneading arms through a first wheel frame 24 and a second wheel frame 25, respectively, wherein the first wheel frame 24 and the second wheel frame 25 can be rotatably arranged on the kneading arm 21, or the first wheel frame 24 can be rotatably arranged on the kneading arm 21 and the second wheel frame 25 can be fixedly arranged on the kneading arm 21, or the first wheel frame 24 can be fixedly arranged on the kneading arm 21 and the second wheel frame 25 can be rotatably arranged on the kneading arm 21, and the first wheel frame 24 and the second wheel frame 25 can be rotatably arranged on the kneading arm 21, and the first wheel frame 24 and the second wheel frame 25 can be fixedly ... second wheel frame 25 can be rotatably arranged on the kneading arm 21, and the first wheel frame 24 and the second wheel frame 25 can be fixedly arranged on the kneading arm 21, and the second wheel frame 25 can be rotatably arranged on the kneading arm 21, and the first wheel frame 24 and the second wheel frame 25 can be fixedly arranged on the kneading arm 21, and the The kneading arms 21 can be clamped with each other, that is, they can simulate the pinching action of two fingers. The mounting base 1 is also provided with a transmission mechanism for driving the kneading arms 21 to move. The transmission mechanism includes a transmission shaft 31 and a first motor 32. The transmission shaft 31 is rotatably arranged on the mounting base 1 through a bearing. The first motor 32 drives the transmission shaft 31 to rotate. The first motor 32 is fixedly arranged at the front or back position on the mounting base 1. Of course, it can also be fixedly arranged on an external frame. The transmission shaft 31 is respectively provided with two kneading angle wheels 33 in a circumferentially linked manner at the corresponding two kneading arms 21. The linkage can be achieved by tight-fitting insertion or external fastening or integrated arrangement. The two kneading arms 33 are respectively rotatably connected with the corresponding kneading angle wheels 33. The end of the kneading arm 21 is fixed or integrally provided with a first bearing seat 26. The seat 26 is rotatably arranged on the kneading angle wheel 33 through the first bearing 27, the first bearing seat 26 is sleeved on the first bearing 27, the first bearing 27 is sleeved on the kneading angle wheel 33, the mounting seat 1 is provided with a driving mechanism at the interval between the two kneading swing arms 21, the driving mechanism drives the first wheel frame 24 or the second wheel frame 25 on the two massage wheel assemblies to move, the driving mechanism includes a second motor 41, a transmission sleeve 42 and two kneading swing arms 43, the two kneading swing arms 21 are located between the two kneading swing arms 21, the transmission sleeve 42 is sleeved on the transmission shaft 31 and is located between the two kneading angle wheels 33, the transmission sleeve 42 is rotatably connected to the transmission shaft 31 through the third bearing 44, and the two ends of the transmission sleeve 42 are respectively circumferentially linked with two kneading angle wheels 45 at the corresponding two kneading swing arms 43. The movement can be realized by tight-fitting insertion or external fixing parts fastening or integrated setting. The two pinching swing arms 43 are respectively connected with the corresponding pinching deflection angle wheels 45 for rotation and cooperation. The pinching swing arm 43 is fixed or integrally provided with a second bearing seat 46. The second bearing seat 46 is rotatably set on the corresponding pinching deflection angle wheel 45 through a second bearing 47. The second bearing seat 46 is sleeved on the second bearing 47, and the second bearing 47 is sleeved on the pinching deflection angle wheel 45. The second motor 41 drives the transmission sleeve 42 to rotate. The second motor 41 is fixedly set at the front or back position of the mounting seat 1, and of course it can also be fixedly set on the external frame. The two pinching swing arms 43 are respectively connected with the first wheel frame 24 or the second wheel frame 25 located on one side thereof through a connecting rod 48. The first end 481 of the connecting rod 48 is movably set on the pinching swing arm 43.The second end 482 of the connecting rod 48 is movably disposed on the first wheel frame 24 or the second wheel frame 25.

[0030] In this embodiment, a first detection component 5 for detecting the transmission shaft 31 and controlling the first motor 32 and a second detection component 6 for detecting the transmission sleeve 42 and controlling the second motor 41 are provided on the mounting base 1. The first detection component 5 and the second detection component 6 respectively control the first motor 32 and the second motor 41 to achieve the same motion trajectory of the first end 481 of the connecting rod 48 and the second end 482 of the connecting rod 48.

[0031] In this embodiment, a first worm gear 49 is fixed or integrally provided in the middle of the transmission sleeve 42, a first worm 410 meshing with the first worm gear 49 is fixed or integrally provided on the output shaft of the second motor 41, and the second motor 41 is located in the middle of the two pinching swing arms 43, and the middle is located between the two pinching swing arms. Of course, the second motor 41 can also indirectly drive the first worm gear to rotate through a gear set.

[0032] In this embodiment, the first wheel frame 24 is rotatably set on the kneading arm 21 through the first hinge shaft 28, and the second wheel frame 25 is rotatably set on the kneading arm 21 through the second hinge shaft 29. A guide block 241 is fixed or integrally set on the first wheel frame 24, and an arc guide groove 251 is provided on the second wheel frame 25. The guide block 241 is inserted in the arc guide groove 251 and can slide along the arc guide groove 251. A first spherical cavity 431 is provided on the kneading arm 43, and a second spherical cavity 242 is provided on the first wheel frame 24. A first ball head is provided on the first end 481 of the connecting rod 48, and a second ball head is provided on the second end 482 of the connecting rod 48. The first ball head 481 of the connecting rod 48 is inserted in the first spherical cavity 431, and the second ball head 482 of the connecting rod 48 is inserted in the second spherical cavity 242.

[0033] In this embodiment, a second worm gear 34 is circumferentially linked to one end of the transmission shaft 31. The linkage can be achieved by tight-fitting insertion or fastening with an external fixing part or an integrated setting. A second worm 35 that meshes with the second worm gear 34 is fixed or integrated on the output shaft of the first motor 32.

[0034] The above embodiment is only one of the preferred specific embodiments of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention are all included in the protection scope of the present invention.

Claims

1. A manipulator with a kneading function, comprising a mounting seat, on which two groups of massage wheel assemblies are arranged, each group of massage wheel assemblies respectively comprises a kneading arm and a first massage wheel and a second massage wheel, the two kneading arms are arranged at intervals, the first massage wheel and the second massage wheel are respectively arranged on the kneading arm through a first wheel frame and a second wheel frame, the first wheel frame and the second wheel frame can clamp each other, the mounting seat is also provided with a transmission mechanism for driving the kneading arm to move, the transmission mechanism comprises a transmission shaft and a first motor, the transmission shaft is rotatably arranged on the mounting seat, the first motor drives the transmission shaft to rotate, the transmission shaft is respectively circumferentially linked with two kneading angle wheels at the corresponding two kneading arms, the two kneading arms are respectively connected with the corresponding kneading angle wheels in a rotatable manner, and the characteristics are: The mounting seat is provided with a driving mechanism at the interval between the two kneading and swinging arms, and the driving mechanism drives the first wheel frame or the second wheel frame on the two massage wheel assemblies to move, and the driving mechanism comprises a second motor, a transmission sleeve and two kneading and swinging arms, the two kneading and swinging arms are located between the two kneading and swinging arms, the transmission sleeve is sleeved on the transmission shaft and is located between the two kneading and deflecting angle wheels, the transmission sleeve is rotationally connected with the transmission shaft, and the two ends of the transmission sleeve are circumferentially linked and connected with the two kneading and deflecting angle wheels at the corresponding two kneading and swinging arms, and the two kneading and swinging arms are rotationally connected with the corresponding kneading and deflecting angle wheels, and the second motor drives the transmission sleeve to rotate, and the two kneading and swinging arms are respectively connected to the first wheel frame or the second wheel frame located on one side thereof through a connecting rod, the first end of the connecting rod is movably arranged on the kneading and swinging arm, and the second end of the connecting rod is movably arranged on the first wheel frame or the second wheel frame; the second motor is located in the middle of the two kneading and swinging arms; and a second worm gear is circumferentially linked and arranged at one end of the transmission shaft.

2. A manipulator with kneading function according to claim 1, characterized in that: The mounting seat is provided with a first detection component for detecting the transmission shaft and controlling the first motor and a second detection component for detecting the transmission sleeve and controlling the second motor. The first detection component and the second detection component respectively control the first motor and the second motor to achieve the same motion trajectory of the first end of the connecting rod and the second end of the connecting rod.

3. A manipulator with kneading function according to claim 1 or 2, characterized in that: A first worm gear is fixed or integrally arranged at the middle of the transmission sleeve, and a first worm gear meshing with the first worm gear is fixed or integrally arranged on the output shaft of the second motor.

4. A manipulator with kneading function according to claim 1 or 2, characterized in that: The first wheel frame is rotatably arranged on the kneading arm through a first hinge shaft, and the second wheel frame is rotatably arranged on the kneading arm through a second hinge shaft. A first spherical cavity is provided on the kneading arm, and a second spherical cavity is provided on the first wheel frame. A first ball head is provided on the first end of the connecting rod, and a second ball head is provided on the second end of the connecting rod. The first ball head of the connecting rod is inserted in the first spherical cavity, and the second ball head of the connecting rod is inserted in the second spherical cavity.

5. A manipulator with kneading function according to claim 1 or 2, characterized in that: A first bearing seat is fixed or integrally provided at the end of the kneading and swinging arm, and the first bearing seat is connected to the kneading and deflecting angle wheel through a first bearing. A second bearing seat is fixed or integrally provided at the end of the kneading and swinging arm, and the second bearing seat is connected to the kneading and deflecting angle wheel through a second bearing.

6. A manipulator with kneading function according to claim 1 or 2, characterized in that: The first wheel frame is provided with a guide block, the second wheel frame is provided with an arc-shaped guide groove, the guide block is inserted in the arc-shaped guide groove and can slide along the arc-shaped guide groove.

7. A manipulator with kneading function according to claim 1 or 2, characterized in that: A second worm gear meshing with a second worm wheel is fixed or integrally provided on the output shaft of the first motor.

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