A human body massage machine cabin

Abstract

The present invention discloses a human body massage machine warehouse, including a warehouse body, a mobile massage device and an annular tentacle massage device; the mobile massage device is installed on the top of the warehouse body through two electric slides, and the annular tentacle massage device is installed in the warehouse body through a slide groove. The mobile massage device includes a truss, a mobile mechanism and a multi-degree-of-freedom mechanical arm, the two ends of the truss are respectively fixedly installed on the two electric slides, the mobile mechanism is installed on the top of the truss, the multi-degree-of-freedom mechanical arm is fixedly installed at the lower end of the mobile mechanism, and the annular tentacle massage device includes two arm massage rings and two leg massage rings, and the two arm massage rings and the two leg massage rings are respectively installed in the slide grooves at the positions of the arms and legs of the warehouse body. The present invention massages arms, legs and other parts through the mobile massage device and the annular tentacle massage device, and the operation is intelligent, flexible and convenient, and can accurately position and massage parts of the human body, and meet the massage and health care needs of customers through a variety of massage methods.

Description

Technical Field

[0001] The invention relates to the technical field of human body massage equipment, in particular to a human body massage machine cabin. Background Art

[0002] With the accelerated pace of life, people are very busy with work and life, which increases the burden on their bodies. Many people often stay up late to work overtime, which leads to increased physical fatigue. In addition, the aging situation is getting worse, and many middle-aged and elderly people also pay great attention to health preservation. However, manual massage is insufficient and the cost is rising. Therefore, massage machines will gradually enter people's lives. In addition, the massage mechanism of the existing massage bed on the market adopts a fixed height climbing track (plastic parts) to make the massage parts massage the human body with a fixed motion trajectory. This method has many disadvantages, such as limited massage intensity and rhythm adjustment. For example, the existing massage bed can only massage a certain part and cannot achieve full-body massage. People have fat and thin bodies and ages. There is a need for an intelligent massage robot that can adapt to the massage intensity of different groups of people, convenient rhythm adjustment, intelligent and flexible operation, and can accurately locate various parts of the human body. Summary of the invention

[0003] The purpose of the present invention is to provide a human body massage machine chamber to basically solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a human body massage machine warehouse, comprising a warehouse body, and also comprising a mobile massage device and an annular tentacle massage device; the mobile massage device is installed on the top of the warehouse body through two electric slides, and the annular tentacle massage device is installed in the warehouse body through a slide groove, and the two electric slides are respectively fixedly installed on both sides of the top of the warehouse body along the width direction of the warehouse body, the mobile massage device comprises a truss, a mobile mechanism and a multi-degree-of-freedom mechanical arm, the two ends of the truss are respectively fixedly installed on the two electric slides, the mobile mechanism is installed on the top of the truss, and the multi-degree-of-freedom mechanical arm is fixedly installed at the lower end of the mobile mechanism, and the annular tentacle massage device comprises two arm massage rings and two leg massage rings, the arm massage ring and the leg massage ring have the same structure, and the two arm massage rings and the two leg massage rings are respectively installed in the slide grooves at the positions of the arms and legs of the warehouse body.

[0005] Preferably, the moving mechanism includes a horizontal electric slide rail and a vertical electric slide rail, the horizontal electric slide rail is fixedly mounted on one side of the truss, the vertical electric slide rail is mounted on the horizontal electric slide rail through a horizontal slide, the multi-degree-of-freedom robotic arm is fixedly mounted on the vertical electric slide rail through a vertical slide, the horizontal slide is slidably connected to the horizontal electric slide rail, and the vertical slide is slidably connected to the vertical electric slide rail.

[0006] Preferably, each of the arm massage ring and leg massage ring has the same structure and includes a micro motor, a fixed sleeve, a fixed ring and an iris-like tensioning mechanism. The fixed ring is fixedly mounted on the fixed sleeve, the fixed sleeve is slidably connected to the corresponding slide groove, the iris-like tensioning mechanism is mounted on the fixed ring, and the micro motor is fixedly mounted on the top of the fixed sleeve.

[0007] Preferably, the iris-like tensioning mechanism includes a driving gear ring, a plurality of massage heads and a plurality of hinged rods. The driving gear ring is slidably connected to the fixed ring, and all the massage heads are evenly distributed along the circumferential direction of the fixed ring through the support ring. The two ends of all the massage heads are respectively hinged to the support ring and a corresponding hinged rod, and the ends of all the hinged rods away from the massage heads are hinged to the driving gear ring. The micro motor is connected to the driving gear ring through a gear transmission, and each massage head is fixedly connected to the driving gear ring through a tensioning spring.

[0008] Preferably, the bottom of the fixing sleeve at the arm position and the bottom of the fixing sleeve at the leg position are each fixedly connected to a push rod, each push rod is transmission-connected to an electric screw assembly, and the two electric screw assemblies are respectively installed at both ends of the bin body.

[0009] Preferably, the output end of the multi-degree-of-freedom robotic arm is detachably connected to a massage palm, and the massage surface of the massage palm is an air cushion layer or a rubber cushion layer.

[0010] Preferably, the output end of the multi-degree-of-freedom robotic arm is detachably connected to a massage elbow, which is a vibration component with adjustable frequency.

[0011] Preferably, the output end of the multi-degree-of-freedom robotic arm is detachably connected with a massage fist, which includes a reversing wheel, a fist tube and a plurality of single fists. The reversing wheel is a cam-like structure, and all single fists are sleeved in the fist tube through a guide tube. All guide tubes are installed in the fist tube through an end plate and a support plate. The end plate is movably connected to one end of the fist tube, the reversing wheel is installed at the other end of the fist tube, and the support plate is slidably connected in the fist tube. All single fists are transmission-connected to the reversing wheel, and the reversing wheel is transmission-connected to the motor at the output end of the multi-degree-of-freedom robotic arm.

[0012] Preferably, all of the single fists include massage contacts and guide rods, all of the guide rods are connected to the reversing wheel through a planetary gear set, the main gear of the planetary gear set is fixedly connected to the reversing wheel, one of the guide rods is hinged to the main gear, and the remaining guide rods are respectively hinged to the driven gears of the planetary gear set, all of the guide rods have their ends away from the planetary gear set respectively sleeved in the guide cylinders, and all of the guide rods have their ends away from the planetary gear set connected to the massage contacts through telescopic springs.

[0013] Preferably, the massage head is covered with a rolling massage ring, and a plurality of convex points are arranged on the rolling massage ring.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the present invention massages the arms, legs, neck, shoulders, back and other parts of the human body through a mobile mechanical arm massage device and a ring-shaped tentacle massage device, the operation is intelligent, flexible and convenient, and can perform precise positioning massage on various parts of the human body, and meet massage needs through various methods such as fist, palm, elbow pressure, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0016] Figure 2 It is the front view of the present invention.

[0017] Figure 3 The internal structure of the present invention is shown in FIG. Figure 1 .

[0018] Figure 4 The internal structure of the present invention is shown in FIG. Figure 2

[0019] Figure 5 A schematic diagram of the partial structure of the annular tentacle massage device Figure 1 .

[0020] Figure 6 It is a schematic diagram of the local structure of the moving mechanism.

[0021] Figure 7 Illustration of the local structure of the massage fist Figure 1 .

[0022] Figure 8 Illustration of the local structure of the massage fist Figure 2 .

[0023] Fig. 9 This is an exploded view of the local structure of the massage fist.

[0024] Fig.10 This is a diagram of the structure of the massage palm.

[0025] Fig.11 This is a diagram of the layers of the massage palm.

[0026] Fig.12 It is a schematic diagram of the structure of the massage elbow in use.

[0027] Fig.13 This is one of the partially enlarged structural diagrams of the massage elbow.

[0028] Fig.14 This is the second schematic diagram of the partially enlarged structure of the massage elbow.

[0029] In the figure: warehouse 1, mobile massage device 2, annular tentacle massage device 3, electric slide 4, truss 201, mobile mechanism 202, multi-degree-of-freedom mechanical arm 203, vertical electric slide 204, horizontal slide 205, vertical slide 206, massage palm 207, massage fist 208, horizontal electric slide 209, massage elbow 2010, arm massage ring 301, leg massage ring 302, micro motor 303, fixed sleeve 304, fixed ring 305, iris-like Tensioning mechanism 306, push rod 307, electric screw assembly 308, telescopic spring 2080, reversing wheel 2081, fist tube 2082, single fist 2083, guide tube 2084, end plate 2085, support plate 2086, massage contact 2087, guide rod 2088, planetary gear set 2089, drive gear ring 3061, massage head 3062, hinged rod 3063, support ring 3064, tensioning spring 3065, rolling massage ring 3066. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figures 1 to 14 The present invention provides a technical solution: a human body massage machine warehouse, comprising a warehouse body 1, and also comprising a mobile mechanical arm massage device 2 and an annular tentacle massage device 3, wherein the mobile mechanical arm massage device 2 is installed on the top of the warehouse body 1 through two electric slides 4, and the annular tentacle massage device 3 is installed in the warehouse body 1 through a slide groove, and the two electric slides 4 are respectively fixedly installed on both sides of the top of the warehouse body 1 along the width direction of the warehouse body 1; the mobile mechanical arm massage device 2 comprises a truss 201, a moving mechanism 202 and a multi-degree-of-freedom mechanical arm 203, the two ends of the truss 201 are respectively fixedly installed on the two electric slides 4, the moving mechanism 202 is installed on the top of the truss 201, and the multi-degree-of-freedom mechanical arm 203 is fixedly installed at the lower end of the moving mechanism 202; the annular tentacle massage device 3 comprises two arm massage rings 301 and two leg massage rings 302, the arm massage ring 301 and the leg massage ring 302 have the same structure, and the two arm massage rings 301 and the two leg massage rings 302 are respectively installed in the slide grooves at the positions of the arms and legs of the warehouse body 1.

[0032] The moving mechanism 202 includes a horizontal electric slide 209 and a vertical electric slide 204. The horizontal electric slide 209 is fixedly mounted on one side of the truss 201. The vertical electric slide 204 is mounted on the horizontal electric slide 209 through a horizontal slide 205. The multi-degree-of-freedom manipulator 203 is fixedly mounted on the vertical electric slide 204 through a vertical slide 206. The horizontal slide 205 is slidably connected to the horizontal electric slide 209, and the vertical slide 206 is slidably connected to the vertical electric slide 204. During operation, the electric slide 4 drives the truss 201 to move along the length direction of the warehouse body 1, so that the multi-degree-of-freedom manipulator 203 can move to a designated position. The horizontal electric slide 209 drives the horizontal slide 205 and the vertical electric slide 204 to move along the length direction of the truss 201. The vertical electric slide 204 pushes the vertical slide 206, thereby driving the multi-degree-of-freedom manipulator 203 to move, thereby facilitating the multi-degree-of-freedom manipulator 203 to work at a designated position.

[0033] Each of the arm massage rings 301 and leg massage rings 302 has the same structure and includes a micro motor 303, a fixing sleeve 304, a fixing ring 305 and an iris-like tensioning mechanism 306. The fixing ring 305 is fixedly mounted on the fixing sleeve 304, the fixing sleeve 304 is slidably connected to the corresponding slide groove, the iris-like tensioning mechanism 306 is mounted on the fixing ring 305, and the micro motor 303 is fixedly mounted on the top of the fixing sleeve 304. When massaging the legs and arms, firstly, the legs and arms are extended into the fixing ring 305 and the iris-like tensioning mechanism 306 on the corresponding fixing sleeve 304, and the micro motor 303 drives the iris-like tensioning mechanism 306 to massage the arms and legs.

[0034] The iris-like tensioning mechanism 306 includes a driving gear ring 3061, a plurality of massage heads 3062 and a plurality of hinged rods 3063. The driving gear ring 3061 is slidably connected to the fixed ring 305. All massage heads 3062 are evenly distributed along the circumferential direction of the fixed ring 305 through the support ring 3064. Both ends of all massage heads 3062 are respectively hinged to the support ring 3064 and a corresponding hinged rod 3063. One end of all hinged rods 3063 away from the massage head 3062 is hinged to the driving gear ring 3061. The micro motor 303 is connected to the driving gear ring 3061 through a gear transmission. Each massage head 3062 is fixedly connected to the driving gear ring 3061 through a tensioning spring 3065. The micro motor 303 drives the driving gear ring 3061 to rotate on the fixing sleeve 304, thereby pushing all the hinge rods 3063 to rotate, thereby pushing the corresponding massage heads 3062 to contact the arms and legs, and the tensioning spring 3065 makes the massage heads 3062 always contact the arms or legs and maintain a certain pressure.

[0035] The massage head 3062 is sleeved with a rolling massage ring 3066 , and the rolling massage ring 3066 is provided with a plurality of protrusions.

[0036] The bottom of the fixing sleeve 304 at the arm position and the fixing sleeve 304 at the leg position are each fixedly connected to a push rod 307, and each push rod 307 is respectively connected to an electric screw assembly 308, and the two electric screw assemblies 308 are respectively installed at the two ends of the warehouse body 1. The corresponding fixing sleeve 304 is driven to move by the electric screw assembly 308, thereby pushing the massage head 3062 to massage along the length direction of the leg and arm.

[0037] The output end of the multi-degree-of-freedom mechanical arm 203 is detachably connected to a massage palm 207 , and the massage surface of the massage palm 207 is an air cushion layer or a rubber cushion layer.

[0038] The output end of the multi-degree-of-freedom mechanical arm 203 is detachably connected with a massage fist 208, which includes a reversing wheel 2081, a fist tube 2082 and a plurality of single fists 2083. The reversing wheel 2081 is a cam-like structure. All single fists 2083 are sleeved in the fist tube 2082 through a guide tube 2084. All guide tubes 2084 are installed in the fist tube 2082 through an end plate 2085 and a support plate 2086. The end plate 2085 is movably connected to one end of the fist tube 2082, the reversing wheel 2081 is installed at the other end of the fist tube 2082, and the support plate 2086 is slidably connected in the fist tube 2082. All single fists 2083 are transmission-connected to the reversing wheel 2081, and the reversing wheel 2081 is transmission-connected to the motor at the output end of the multi-degree-of-freedom mechanical arm 203. The motor of the multi-degree-of-freedom robotic arm 203 drives the reversing wheel 2081 to rotate, thereby driving each single fist 2083 to rotate in the fist tube 2082 and reciprocate in the guide tube 2084.

[0039] All of the single fists 2083 include massage contacts 2087 and guide rods 2088. All of the guide rods 2088 are connected to the reversing wheel 2081 through a planetary gear set 2089. The main gear of the planetary gear set 2089 is fixedly connected to the reversing wheel 2081. One of the guide rods 2088 is hinged to the main gear, and the remaining guide rods 2088 are respectively hinged to the driven gears of the planetary gear set 2089. All of the guide rods 2088 are respectively sleeved in the guide cylinder 2084 at one end away from the planetary gear set 2089. All of the guide rods 2088 are connected to the massage contacts 2087 at one end away from the planetary gear set 2089 through a telescopic spring 2080. The rotation of the reversing wheel 2081 drives the planetary gear set 2089 to move, and then drives the main gear and each driven gear to rotate, thereby pushing each guide rod 2088 to reciprocate in the guide cylinder 2084, so that the massage contact 2087 presses the body part under the push of the telescopic spring 2080 and the guide rod 2088.

[0040] Working principle: When working, the electric slide 4 drives the truss 201 to move along the length direction of the warehouse body 1, so that the multi-degree-of-freedom mechanical arm 203 can move to the specified position, the horizontal electric slide 209 drives the horizontal slide 205 and the vertical electric slide 204 to move along the length direction of the truss 201, and the vertical electric slide 204 pushes the vertical slide 206, thereby driving the multi-degree-of-freedom mechanical arm 203 to move, so as to facilitate the multi-degree-of-freedom mechanical arm 203 to work at the specified position; when massaging the legs and arms, first extend the legs and arms into the fixed ring 305 and the iris-like tensioning mechanism 306 on the corresponding fixed sleeve 304, and the micro motor 303 drives the iris-like tensioning mechanism 306 to massage the arms and legs. The corresponding fixed sleeve 304 is driven to move by the electric screw assembly 308, thereby pushing the massage head 3062 to massage along the length direction of the legs and arms. The micro motor 303 drives the driving gear ring 3061 to rotate on the fixed sleeve 304, thereby driving all the hinged rods 3063 to rotate, thereby driving the corresponding massage heads 3062 to contact the arms and legs, and the tension spring 3065 makes the massage heads 3062 always contact the arms or legs and maintain a certain pressure; when the multi-degree-of-freedom mechanical arm 203 is used for fist massage, the motor of 203 drives the reversing wheel 2081 of the fist massager to rotate, thereby driving each single fist 2083 to rotate in the fist tube 2082 and reciprocate in the guide tube 2084. The rotation of the reversing wheel 2081 drives the planetary gear set 2089 to move, thereby driving the main gear and each driven gear to rotate, thereby driving each guide rod 2088 to reciprocate in the guide tube 2084, so that the massage contact 2087 presses the body parts under the push of the telescopic spring 2080 and the guide rod 2088. When the multi-degree-of-freedom robotic arm 203 is used for palm massage, the massage palm 207 is installed at the output end of the multi-degree-of-freedom robotic arm 203, and the massage palm 207 presses various parts of the body by controlling the movement of the multi-degree-of-freedom robotic arm 203.

[0041] The output end of the multi-degree-of-freedom mechanical arm is detachably connected with a massage elbow 2010, which is a vibration component with adjustable frequency. When the multi-degree-of-freedom mechanical arm 203 is used for elbow massage, the massage elbow 2010 is installed at the output end of the multi-degree-of-freedom mechanical arm 203, and the movement of the multi-degree-of-freedom mechanical arm 203 is controlled so that the massage elbow 2010 presses various parts of the body; the structure of the massage elbow 2010 is shown in the figure below. Figure 12 to Figure 14 shown.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A human body massage chamber, comprising a chamber body (1), characterized in that: The invention also comprises a mobile massage device (2) and an annular tentacle massage device (3), wherein the mobile massage device (2) is installed on the top of the warehouse body (1) via two electric slides (4), and the annular tentacle massage device (3) is installed in the warehouse body (1) via a slide groove, and the two electric slides (4) are respectively fixedly installed on both sides of the top of the warehouse body (1) along the width direction of the warehouse body (1), and the mobile massage device (2) comprises a truss (201), a mobile mechanism (202) and a multi-degree-of-freedom mechanical arm (203), and the two ends of the truss (201) are respectively fixedly installed On the two electric slides (4), the moving mechanism (202) is installed on the top of the truss (201), the multi-degree-of-freedom mechanical arm (203) is fixedly installed on the lower end of the moving mechanism (202), and the annular tentacle massage device (3) comprises two arm massage rings (301) and two leg massage rings (302), the arm massage rings (301) and the leg massage rings (302) have the same structure, and the two arm massage rings (301) and the two leg massage rings (302) are respectively installed in the slide grooves at the positions of the arms and legs of the warehouse body (1); Each of the arm massage rings (301) and leg massage rings (302) has the same structure and comprises a micro motor (303), a fixing sleeve (304), a fixing ring (305) and an iris-like tensioning mechanism (306); the fixing ring (305) is fixedly mounted on the fixing sleeve (304); the fixing sleeve (304) is slidably connected to a corresponding slide groove; the iris-like tensioning mechanism (306) is mounted on the fixing ring (305); and the micro motor (303) is fixedly mounted on the top of the fixing sleeve (304); The iris-like tensioning mechanism (306) comprises a driving gear ring (3061), a plurality of massage heads (3062) and a plurality of hinged rods (3063); the driving gear ring (3061) is slidably connected to the fixed ring (305); all the massage heads (3062) are evenly distributed along the circumference of the fixed ring (305) via a support ring (3064); both ends of all the massage heads (3062) are respectively hinged to the support ring (3064) and a corresponding hinged rod (3063); the ends of all the hinged rods (3063) away from the massage heads (3062) are hinged to the driving gear ring (3061); the micro motor (303) and the driving gear ring (3061) are connected via a gear transmission; each massage head (3062) is fixedly connected to the driving gear ring (3061) via a tensioning spring (3065); The output end of the multi-degree-of-freedom mechanical arm (203) is detachably connected to a massage palm (207); the massage surface of the massage palm (207) is an air cushion layer or a rubber cushion layer covered on a frame.

2. A human body massage machine cabin according to claim 1, characterized in that: The moving mechanism (202) comprises a horizontal electric slide rail (209) and a vertical electric slide rail (204); the horizontal electric slide rail (209) is fixedly mounted on one side of the truss (201); the vertical electric slide rail (204) is mounted on the horizontal electric slide rail (209) via a horizontal slide table (205); the multi-degree-of-freedom mechanical arm (203) is fixedly mounted on the vertical electric slide rail (204) via a vertical slide table (206); the horizontal slide table (205) is slidably connected to the horizontal electric slide rail (209); and the vertical slide table (206) is slidably connected to the vertical electric slide rail (204).

3. The human body massage chamber according to claim 1, characterized in that: The bottom of the fixing sleeve (304) at the arm position and the leg position is fixedly connected to a push rod (307), each push rod (307) is transmission-connected to an electric screw assembly (308), and the two electric screw assemblies (308) are respectively mounted at two ends of the bin body (1).

4. The human body massage chamber according to claim 1, characterized in that: The output end of the multi-degree-of-freedom mechanical arm (203) is detachably connected to a massage fist (208); the massage fist (208) comprises a reversing wheel (2081), a fist tube (2082), and a plurality of single fists (2083); the reversing wheel (2081) is a cam-like structure; all the single fists (2083) are sleeved in the fist tube (2082) via a guide tube (2084); all the guide tubes (2084) are connected via an end plate (2085) and a support The plate (2086) is installed in the fist tube (2082), the end plate (2085) is movably connected to one end of the fist tube (2082), the reversing wheel (2081) is installed at the other end of the fist tube (2082), the support plate (2086) is slidably connected in the fist tube (2082), all single fists (2083) are transmission-connected to the reversing wheel (2081), and the reversing wheel (2081) is transmission-connected to the motor at the output end of the multi-degree-of-freedom mechanical arm (203).

5. The human body massage machine cabin according to claim 4, characterized in that: All the single fists (2083) include massage contacts (2087) and guide rods (2088); all the guide rods (2088) are connected to the reversing wheel (2081) through a planetary gear set (2089); the main gear of the planetary gear set (2089) is fixedly connected to the reversing wheel (2081); one of the guide rods (2088) is hinged to the main gear; the remaining guide rods (2088) are respectively hinged to the driven gears of the planetary gear set (2089); the ends of all the guide rods (2088) away from the planetary gear set (2089) are respectively sleeved in the guide cylinder (2084); and the ends of all the guide rods (2088) away from the planetary gear set (2089) are connected to the massage contacts (2087) through a telescopic spring (2080).

6. The human body massage chamber according to claim 1, characterized in that: The massage head (3062) is sleeved with a rolling massage ring (3066), and the rolling massage ring (3066) is provided with a plurality of convex points.

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