Abdomen massage robot

Abstract

The invention provides an abdomen massage robot, which comprises a support assembly, which comprises a plurality of brackets and is used for supporting the abdomen massage robot; the control unit is used for controlling the abdomen massage robot; the parallel massage assembly is used for being attached to the human body for massage, the parallel massage assembly is electrically connected with the control unit, and the control unit controls the parallel massage assembly to move through the chip; the inner adjusting assembly is connected with the parallel massage assembly and the supporting assembly, used for adjusting the position of the parallel massage assembly and electrically connected with the control unit, and the inner adjusting assembly is controlled to move through the control unit.

Description

Technical Field

[0001] The invention relates to the technical field of nursing robots, and in particular to an abdominal massage robot. Background Art

[0003] Nowadays, the fast pace of life has changed people's mindsets. As people's health awareness improves, the demand for abdominal massage is gradually increasing. Abdominal massage helps promote digestion, relieve gastrointestinal discomfort, reduce stress and improve blood circulation. Abdominal massage is considered a healthy practice. It can promote the functioning of the digestive system, reduce the occurrence of bloating and constipation, and help relieve indigestion and stomach discomfort. In addition, abdominal massage can also help relax tense abdominal muscles and relieve stress and anxiety.

[0004] In the medical field, abdominal massage is also often used as an auxiliary treatment method. For example, during the recovery period, abdominal massage can promote the functional recovery of the intestines and help patients recover faster. Abdominal massage is also recommended by medical professionals as a non-drug treatment method for certain digestive system diseases or recovery after surgery.

[0005] For ordinary people, abdominal massage can be used as part of daily health management. In modern life, long periods of sitting, high-pressure work and poor eating habits may lead to digestive disorders and abdominal discomfort. Regular abdominal massage can help improve digestive function, reduce discomfort, and help maintain overall health.

[0006] Common massage techniques include pressing, vibrating, pushing, kneading, and pinching. Pressing refers to applying moderate pressure and friction to the skin with the palm or the hand to stimulate acupuncture points or meridians, promote blood circulation and the flow of qi and blood; Vibration refers to the use of rapid and rhythmic hand vibrations to act on the body surface to stimulate nerve endings and muscles, promote blood and lymph flow, and accelerate the removal of metabolic waste; Pushing refers to the use of palm pressing, pushing or rotating techniques to directly act on the skin and muscle tissue to adjust the flow of qi and blood and reconcile the balance of yin and yang; Kneading refers to the continuous light pressure and rolling of muscle tissue with the palm or fingers to enhance local blood circulation, promote lymph flow, accelerate metabolism and waste discharge. Pinching refers to the use of fingers to gently press the skin and muscle tissue to achieve the effect of promoting blood circulation, relieving muscle tension and improving physical health.

[0007] However, the above massage techniques require great strength and are usually performed manually, which is expensive and the techniques are not uniform when performed manually. Summary of the invention

[0008] The present invention is made to solve the above-mentioned problems, and its purpose is to provide an abdominal massage robot to replace manual abdominal massage.

[0009] The present invention provides an abdominal massage robot having the following characteristics, including: a support component, including a plurality of brackets, for supporting the abdominal massage robot; a control unit, for controlling the abdominal massage robot; a parallel massage component, for massaging in contact with the human body, the parallel massage component being electrically connected to the control unit, and the control unit controlling the movement of the parallel massage component through a chip; and an internal adjustment component, connected to the parallel massage component and the support component, for adjusting the position of the parallel massage component, electrically connected to the control unit, and controlling the movement of the internal adjustment component through the control unit.

[0010] The abdominal massage robot provided by the present invention may also have the following features: wherein, the control unit is a chip, the bracket includes a basic fixing frame and a chip frame, the basic fixing frame is used to fix the internal adjustment component and the parallel massage component, the chip frame is used to load the chip, the basic fixing frame includes a base plate and two vertical ear plates arranged vertically, two holes are respectively provided at corresponding positions of the two vertical ear plates, a penetrating U-shaped notch is provided on the base plate, and a U-shaped rack corresponding to the U-shaped notch is provided at the bottom of the base plate.

[0011] The abdominal massage robot provided by the present invention may also have the following features: wherein, non-through grooves parallel to the U-shaped notch are provided on the upper and lower sides thereof for placing balls, thereby reducing the friction between the base plate and the inner adjustment assembly.

[0012] The abdominal massage robot provided by the present invention may also have the following features: an external component is also included for externally connecting a hospital bed, and the external component includes two connecting rods and a connecting center, and the two connecting rods are respectively connected to the connecting center through holes.

[0013] The abdominal massage robot provided by the present invention may also have the following features: wherein, the internal adjustment component includes a DC motor mechanism, a push rod motor mechanism and a guide rail mechanism, the DC motor mechanism is used to drive the internal adjustment component to move, the guide rail mechanism is used to connect the push rod motor mechanism, and the guide rail mechanism is connected to the parallel massage component, thereby driving the parallel massage component to move.

[0014] The abdominal massage robot provided by the present invention may also have the following features: wherein, the DC motor mechanism includes a DC motor arranged above the basic fixing frame, a DC motor fixing part fixed to the bottom of the DC motor, a DC motor transmission shaft passing through the U-shaped groove, and a DC motor gear meshing with the U-shaped rack, and the DC motor drives the DC motor gear to rotate through the DC motor transmission shaft, thereby driving the DC motor mechanism to move.

[0015] In the abdominal massage robot provided by the present invention, it can also have the following characteristics: wherein, the push rod motor mechanism includes a first push rod motor unit and a second push rod motor unit, the first push rod motor unit is fixed on the basic fixing frame, and the second push rod motor unit moves along the U-shaped groove, the first push rod motor unit and the second push rod motor unit respectively include a push rod motor arranged above the basic fixing frame, a push rod motor transmission shaft passing through the basic fixing frame, and a push rod motor connecting piece arranged below the basic fixing frame, the second push rod motor unit also includes a push rod motor fixing piece, the push rod motor fixing piece is arranged at the bottom of the push rod motor, the push rod motor fixing piece is connected to the DC motor fixing piece, thereby pushing the second push rod motor unit to move with the DC motor mechanism, and the push rod motor connecting piece is rotationally connected to the push rod motor through the push rod motor transmission shaft.

[0016] The abdominal massage robot provided by the present invention may also have the following features: wherein, the guide rail mechanism includes an inner guide rail and an outer guide rail mounted on the outside of the inner guide rail, the inner guide rail can slide relatively inside the outer guide rail, thereby adjusting the length of the guide rail mechanism, the inner guide rail and the outer guide rail are respectively connected to the push rod motor connectors of the first push rod motor unit and the second push rod motor unit, and an outer guide rail connector is arranged on the outside of the outer guide rail.

[0017] The abdominal massage robot provided by the present invention may also have the following features: wherein the parallel massage component includes a massage motor, a massage motor fixing part, a crank slider unit, a plurality of massage heads, a bevel gear box and a first massage head unit, the plurality of massage heads include a first massage head, a second massage head, a third massage head, a fourth massage head and a fifth massage head, the upper side of the massage motor fixing part is connected to the outer guide rail connecting part, the right side of the massage motor fixing part is connected to the massage motor, the left side of the massage motor fixing part is connected to the bevel gear box, the lower side of the massage motor fixing part is connected to the crank slider unit, the bevel gear box includes a first bevel gear, a second bevel gear and a third bevel gear that mesh with each other, the massage motor drives the first bevel gear to move through the massage motor transmission shaft, and the first bevel gear drives the second bevel gear The second bevel gear drives the crank to rotate through the second bevel gear transmission shaft, and the crank is connected to the second massage head and the third massage head, so that the second massage head and the third massage head can rotate and massage, and the crank drives the gear slider to slide on the slide rail, and the gear slider is meshed with the fourth massage head gear and the fifth massage head gear. The massage motor fixing part is respectively connected to the fourth massage head gear and the fifth massage head gear through the fourth massage head gear transmission shaft and the fifth massage head gear transmission shaft, so that the fourth massage head gear and the fifth massage head gear can rotate with the gear slider, and the fourth massage head gear and the fifth massage head gear are respectively connected to the fourth massage head and the fifth massage head, so as to drive the fourth massage head and the fifth massage head to move.

[0018] The abdominal massage robot provided by the present invention may also have the following features: wherein, the first massage head unit includes a first rotating block, a second rotating block and a first massage head connecting rod, the second bevel gear drives the third bevel gear to move, the third bevel gear is connected to the first rotating block, driving the first rotating block to rotate, the first rotating block is also connected to the second rotating block, driving the second rotating block to move, the second rotating block is also connected to the first massage head connecting rod, driving the first massage head connecting rod to move, and a first massage head connecting rod fixing piece is fixed on the left side of the bevel gear box, which is used to limit the movement of the first massage head connecting rod in the horizontal direction, so that the first massage head connecting rod drives the first massage head to reciprocate in the vertical direction.

[0019] Functions and Effects of the Invention

[0020] According to the abdominal massage robot involved in the present invention, the action position of the parallel massage component is controlled by the internal adjustment component, so that the abdominal massage robot can massage at the appropriate position of the human body; the massage head of the present invention can perform multiple techniques such as pressing, vibrating, pushing, kneading and pinching at the same time, which can well imitate manual labor, stimulate acupuncture points or meridians, promote blood circulation and blood circulation, and reduce the labor cost during the massage process; the movement of the abdominal massage robot is controlled by the control unit, and customized movements can be performed according to the body shape, height, symptoms, etc. of different people. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a side perspective view of an abdominal massage robot in an embodiment of the present invention;

[0022] Figure 2 is a top perspective view of an abdominal massage robot in an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of the cooperation between the basic fixing frame and the human abdomen in an embodiment of the present invention;

[0024] Figure 4 is a top perspective view of an inner adjustment assembly in an embodiment of the present invention;

[0025] Figure 5 is a bottom perspective view of the inner adjustment assembly in an embodiment of the present invention;

[0026] Figure 6 is a partial perspective view of an inner adjustment assembly in an embodiment of the present invention;

[0027] Figure 7 is an overall stereogram of a parallel massage assembly in an embodiment of the present invention;

[0028] Figure 8 is a partial perspective view of a parallel massage assembly in an embodiment of the present invention; and

[0029] Fig. 9 1 is a perspective view of a slider crank unit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate the abdominal massage robot of the present invention.

[0032] Figure 1 It is a side stereoscopic view of the abdominal massage robot in an embodiment of the present invention. Figure 2 It is a top perspective view of the abdominal massage robot in an embodiment of the present invention. Figure 3 It is a schematic diagram of the cooperation between the basic fixing frame and the human abdomen in an embodiment of the present invention.

[0033] like Figure 1-3 As shown, the abdominal massage robot 100 in this embodiment includes a support component 10, a control unit 30, a parallel massage component 60, an internal adjustment component 40 and an external component 20.

[0034] The control unit 30 is a chip used to control the abdominal massage robot 100 . The chip is electrically connected to the parallel massage component 60 and the internal adjustment component 40 to control the activities of the parallel massage component 60 and the internal adjustment component 40 .

[0035] The support assembly 10 includes a plurality of brackets for supporting the abdominal massage robot 100, wherein the brackets include a basic fixing frame 11 and a chip frame 12. The basic fixing frame 11 is used to fix the internal adjustment assembly 40 and the parallel massage assembly 60, and the chip frame 12 is used to load the chip. The basic fixing frame 11 includes a base plate 16 and two vertical ear plates 13 arranged vertically. Two holes are respectively provided at corresponding positions of the two vertical ear plates 13. A penetrating U-shaped notch 14 is provided on the base plate 16, and a U-shaped rack 23 corresponding to the U-shaped notch 14 is provided at the bottom of the base plate 16.

[0036] Non-through grooves 15 parallel to the U-shaped notch 14 are respectively provided on the upper and lower sides of the U-shaped notch 14 for accommodating balls, thereby reducing the friction between the bottom plate 16 and the inner adjustment assembly 40 .

[0037] The overall size of the basic fixing frame 11 is designed according to the human abdominal size in GB / T 10000-2023. In addition, the center point of the basic fixing frame 11 is based on the human navel position. When each structure moves in a specified path, it can reasonably cover all abdominal areas of the human body to meet the abdominal massage needs.

[0038] The external component 20 is used for externally connecting a hospital bed. The external component 20 includes two connecting rods 21 and a connecting center 22. The two connecting rods 21 pass through holes and are connected to the connecting center 22 respectively.

[0039] The inner adjustment component 40 is connected to the parallel massage component 60 and the support component 10, and is used to adjust the position of the parallel massage component 60. It is electrically connected to the control unit 30, and the movement of the inner adjustment component 40 is controlled by the control unit 30.

[0040] Figure 4 1 is a top perspective view of the inner adjustment assembly in an embodiment of the present invention. Figure 5 It is a bottom perspective view of the inner adjustment component in an embodiment of the present invention. Figure 6 It is a partial stereoscopic view of the inner adjustment component in an embodiment of the present invention.

[0041] like Figure 4-6 As shown, the internal adjustment component 40 includes a DC motor mechanism 41, a push rod motor mechanism 42 and a guide rail mechanism 43. The DC motor mechanism 41 is used to drive the internal adjustment component 40 to move. The guide rail mechanism 43 is used to connect the push rod motor mechanism 42. The guide rail mechanism 43 is connected to the parallel massage component 60, thereby driving the parallel massage component 60 to move.

[0042] The DC motor mechanism 41 includes a DC motor 44 arranged above the base fixing frame 11, a DC motor fixing part 45 fixed to the bottom of the DC motor 44, a DC motor 44 transmission shaft passing through the U-shaped notch 14, and a DC motor gear 46 meshing with the U-shaped rack 23. The DC motor 44 drives the DC motor gear 46 to rotate through the DC motor 44 transmission shaft, thereby driving the DC motor mechanism 41 to move.

[0043] The push rod motor mechanism 42 includes a first push rod motor unit 47 and a second push rod motor unit 48. The first push rod motor unit 47 is fixed on the base fixing frame 11, and the second push rod motor unit 48 moves along the U-shaped groove 14. The first push rod motor unit 47 and the second push rod motor unit 48 respectively include a push rod motor 49 arranged above the base fixing frame 11, a push rod motor 49 transmission shaft passing through the base fixing frame 11, and a push rod motor connecting member 51 arranged below the base fixing frame 11. The second push rod motor unit 48 also includes a push rod motor fixing member 50. The push rod motor fixing member 50 is arranged at the bottom of the push rod motor 49. The push rod motor fixing member 50 is connected to the DC motor fixing member 45, thereby pushing the second push rod motor unit 48 to move with the DC motor mechanism 41. The push rod motor connecting member 51 is rotationally connected to the push rod motor 49 through the push rod motor 49 transmission shaft.

[0044] The guide rail mechanism 43 includes an inner guide rail 54 and an outer guide rail 53 sleeved on the outside of the inner guide rail 54. The inner guide rail 54 can slide relatively inside the outer guide rail 53 to adjust the length of the guide rail mechanism 43. The inner guide rail 54 and the outer guide rail 53 are respectively connected to the push rod motor connecting piece 51 of the first push rod motor unit 47 and the second push rod motor unit 48. An outer guide rail connecting piece 52 is arranged on the outside of the outer guide rail 53.

[0045] Figure 7 It is an overall stereogram of the parallel massage assembly in an embodiment of the present invention. Figure 8 It is a partial stereoscopic diagram of a parallel massage assembly in an embodiment of the present invention. Fig. 9 1 is a perspective view of a slider crank unit according to an embodiment of the present invention.

[0046] like Figure 7-9 As shown, the parallel massage component 60 is used to fit the human body for massage. The parallel massage component 60 is electrically connected to the control unit 30, and the control unit 30 controls the activities of the parallel massage component 60 through a chip.

[0047] The parallel massage assembly 60 includes a massage motor 61 , a massage motor fixing member 62 , a crank slider unit 69 , a plurality of massage heads, a bevel gear box 63 and a first massage head unit 83 .

[0048] The plurality of massage heads include a first massage head 64, a second massage head 65, a third massage head 66, a fourth massage head 67 and a fifth massage head 68. The massage heads are detachable massage heads, including a flat palm-like detachable massage head, a semicircular finger-like detachable massage head and a cylindrical finger-like detachable massage head. Each massage head is provided with a pressure sensor. The first massage head 64 adopts a flat palm-like detachable massage head and adds a convex point structure at the end to increase the comfort of the massage. The second massage head 65 adopts a semicircular finger-like structure to realize the kneading method in the massage technique. The third massage head 66 adopts a small cylindrical finger-like structure to realize the pinching method in the massage technique.

[0049] The upper side of the massage motor fixing part 62 is connected to the outer guide rail connecting part 52, the right side of the massage motor fixing part 62 is connected to the massage motor 61, the left side of the massage motor fixing part 62 is connected to the bevel gear box 63, and the lower side of the massage motor fixing part 62 is connected to the crank slider unit 69.

[0050] The bevel gear box 63 includes a first bevel gear 70, a second bevel gear 71 and a third bevel gear 72 that mesh with each other. The massage motor 61 drives the first bevel gear 70 to move through the massage motor 61 transmission shaft, and the first bevel gear 70 drives the second bevel gear 71 to move. The crank slider unit 69 includes a crank 78, a gear slider 73 and a slide rail 74. The second bevel gear 71 drives the crank 78 to rotate through the second bevel gear transmission shaft 77. The crank 78 is eccentrically connected to the second massage head 65 and the third massage head 66, so that the second massage head 65 and the third massage head 66 rotate for massage. The crank 78 drives the gear slider 73 and the slide rail 74. The gear slider 73 is meshed with the fourth massage head gear 75 and the fifth massage head gear 76, and the massage motor fixing member 62 is rotatably connected with the fourth massage head gear 75 and the fifth massage head gear 76 through the transmission shaft of the fourth massage head gear 75 and the transmission shaft of the fifth massage head gear 76, so that the fourth massage head gear 75 and the fifth massage head gear 76 can rotate with the gear slider 73, and the fourth massage head gear 75 and the fifth massage head gear 76 are connected with the fourth massage head 67 and the fifth massage head 68, respectively, so as to drive the fourth massage head 67 and the fifth massage head 68 to move.

[0051] The first massage head unit 83 includes a first rotating block 82, a second rotating block 79 and a first massage head connecting rod 80. The second bevel gear 71 drives the third bevel gear 72 to move. The third bevel gear 72 is connected to the first rotating block 82, driving the first rotating block 82 to rotate. The first rotating block 82 is also connected to the second rotating block 79, driving the second rotating block 79 to move. The second rotating block 79 is also connected to the first massage head connecting rod 80, driving the first massage head connecting rod 80 to move. A first massage head connecting rod fixing part 81 is fixed on the left side of the bevel gear box 63, which is used to limit the movement of the first massage head connecting rod 80 in the horizontal direction, so that the first massage head connecting rod 80 drives the first massage head 64 to reciprocate in the vertical direction.

[0052] The method of use of the present invention is as follows:

[0053] The abdomen massage robot 100 is placed at the abdomen position, and the DC motor 44 drives the DC motor gear 46 to rotate, thereby driving the first push rod motor unit 47 to move.

[0054] As the first push rod motor unit 47 moves, the guide rail mechanism 43 as a whole also moves accordingly, thereby driving the parallel massage assembly 60 connected to the guide rail mechanism 43 to move, so that it finally moves to the position where massage is required.

[0055] The massage motor 61 in the parallel massage assembly 60 drives the five massage heads to move slightly through the three bevel gears in the bevel gear box 63. The movement of the massage heads imitates the pressing, vibrating, pushing, kneading and pinching techniques in the massage technique, and finally achieves abdominal massage.

[0056] Functions and Effects of the Embodiments

[0057] According to the abdominal massage robot involved in the present invention, the action position of the parallel massage component is controlled by the internal adjustment component, so that the abdominal massage robot can massage at the appropriate position of the human body; the massage head of the present invention can perform multiple techniques such as pressing, vibrating, pushing, kneading and pinching at the same time, which can well imitate manual labor, stimulate acupuncture points or meridians, promote blood circulation and blood circulation, and reduce the labor cost during the massage process; the movement of the abdominal massage robot is controlled by the control unit, and customized movements can be performed according to the body shape, height, symptoms, etc. of different people.

[0058] In the present invention, the parallel massage assembly is driven to move as a whole by the internal adjustment assembly, and combined with the movement of each massage head on the parallel massage assembly, the force is transmitted to the abdomen of the human body, thereby realizing the pushing in the massage technique.

[0059] The present invention drives the DC motor gear to move within the U-shaped notch through a DC motor mechanism, so that the inner adjustment component can move on the bottom plate of the fixed bracket, and at the same time, combined with the movement of the inner and outer guide rails, the parallel massage component can move according to the needs of the user.

[0060] The first massage head adopts a flat palm-type structure, and a convex point structure is added at the end to increase the comfort of massage, stimulate acupoints and realize the vibration method in massage techniques.

[0061] The second massage head adopts a semicircular finger-type structure, which performs a bionic simulation of the contact between the base of the palm and the abdomen when in contact with the abdomen of the human body. The displacement generated can realize the kneading method in the massage technique.

[0062] The third massage head adopts a small cylindrical finger-type structure to realize the kneading method in the massage technique.

[0063] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An abdominal massage robot, characterized in that: include: A support assembly, including a plurality of brackets, for supporting the abdominal massage robot; A control unit, used for controlling the abdominal massage robot; A parallel massage component is used for massaging a human body in close contact with the parallel massage component, the parallel massage component is electrically connected to the control unit, and the control unit controls the activity of the parallel massage component through the chip; as well as The inner adjustment component is connected to the parallel massage component and the support component, and is used to adjust the position of the parallel massage component. The inner adjustment component is electrically connected to the control unit, and the movement of the inner adjustment component is controlled by the control unit.

2. The abdominal massage robot according to claim 1, characterized in that: in, The control unit is a chip, and the bracket includes a basic fixing frame and a chip frame. The basic fixing frame is used to fix the internal adjustment component and the parallel massage component, and the chip frame is used to load the chip. The basic fixing frame includes a base plate and two vertical ear plates, and two holes are respectively provided at corresponding positions of the two vertical ear plates. A penetrating U-shaped notch is provided on the base plate, and a U-shaped rack corresponding to the U-shaped notch is provided at the bottom of the base plate.

3. The abdominal massage robot according to claim 2, characterized in that: in, The upper and lower sides of the U-shaped notch are respectively provided with non-through grooves parallel to the U-shaped notch for accommodating balls, thereby reducing the friction between the bottom plate and the inner adjustment component.

4. The abdominal massage robot according to claim 3, characterized in that: in, It also includes an external component for externally connecting a hospital bed, wherein the external component includes two connecting rods and a connecting center, and the two connecting rods pass through the holes respectively and are connected to the connecting center.

5. The abdominal massage robot according to claim 2, characterized in that: in, The internal adjustment component includes a DC motor mechanism, a push rod motor mechanism and a guide rail mechanism. The DC motor mechanism is used to drive the internal adjustment component to move. The guide rail mechanism is used to connect the push rod motor mechanism. The guide rail mechanism is connected to the parallel massage component, thereby driving the parallel massage component to move.

6. The abdominal massage robot according to claim 5, characterized in that: in, The DC motor mechanism includes a DC motor arranged above the basic fixing frame, a DC motor fixing part fixed to the bottom of the DC motor, a DC motor transmission shaft passing through the U-shaped notch, and a DC motor gear meshing with the U-shaped rack. The DC motor drives the DC motor gear to rotate through the DC motor transmission shaft, thereby driving the DC motor mechanism to move.

7. The abdominal massage robot according to claim 6, characterized in that: in, The push rod motor mechanism includes a first push rod motor unit and a second push rod motor unit, the first push rod motor unit is fixed on the basic fixing frame, and the second push rod motor unit moves along the U-shaped groove, the first push rod motor unit and the second push rod motor unit respectively include a push rod motor arranged above the basic fixing frame, a push rod motor transmission shaft passing through the basic fixing frame, and a push rod motor connecting piece arranged below the basic fixing frame, the second push rod motor unit also includes a push rod motor fixing piece, the push rod motor fixing piece is arranged at the bottom of the push rod motor, the push rod motor fixing piece is connected to the DC motor fixing piece, thereby pushing the second push rod motor unit to move with the DC motor mechanism, and the push rod motor connecting piece is rotationally connected to the push rod motor through the push rod motor transmission shaft.

8. The abdominal massage robot according to claim 7, characterized in that: in, The guide rail mechanism includes an inner guide rail and an outer guide rail sleeved on the outside of the inner guide rail. The inner guide rail can slide relatively inside the outer guide rail to adjust the length of the guide rail mechanism. The inner guide rail and the outer guide rail are respectively connected to the push rod motor connecting parts of the first push rod motor unit and the second push rod motor unit. An outer guide rail connecting part is arranged on the outside of the outer guide rail.

9. The abdominal massage robot according to claim 8, characterized in that: in, The parallel massage component includes a massage motor, a massage motor fixing part, a crank slider unit, a plurality of massage heads, a bevel gear box and a first massage head unit, the plurality of massage heads include a first massage head, a second massage head, a third massage head, a fourth massage head and a fifth massage head, the upper side of the massage motor fixing part is connected to the outer guide rail connecting part, the right side of the massage motor fixing part is connected to the massage motor, the left side of the massage motor fixing part is connected to the bevel gear box, the lower side of the massage motor fixing part is connected to the crank slider unit, the bevel gear box includes a first bevel gear, a second bevel gear and a third bevel gear that mesh with each other, the massage motor drives the first bevel gear to move through the massage motor transmission shaft, the first bevel gear drives the second bevel gear to move, the crank slider unit includes a crank The second bevel gear drives the crank to rotate through the second bevel gear transmission shaft, and the crank is connected to the second massage head and the third massage head, so that the second massage head and the third massage head can rotate and massage, and the crank drives the gear slider to slide on the slide rail, and the gear slider is meshed with the fourth massage head gear and the fifth massage head gear. The massage motor fixing part is rotatably connected with the fourth massage head gear and the fifth massage head gear through the fourth massage head gear transmission shaft and the fifth massage head gear transmission shaft, so that the fourth massage head gear and the fifth massage head gear can rotate with the gear slider, and the fourth massage head gear and the fifth massage head gear are respectively connected to the fourth massage head and the fifth massage head, so as to drive the fourth massage head and the fifth massage head to move.

10. The abdominal massage robot according to claim 9, characterized in that: in, The first massage head unit includes a first rotating block, a second rotating block and a first massage head connecting rod. The second bevel gear drives the third bevel gear to move. The third bevel gear is connected to the first rotating block to drive the first rotating block to rotate. The first rotating block is also connected to the second rotating block to drive the second rotating block to move. The second rotating block is also connected to the first massage head connecting rod to drive the first massage head connecting rod to move. A first massage head connecting rod fixing piece is fixed on the left side of the bevel gear box for limiting the movement of the first massage head connecting rod in the horizontal direction, so that the first massage head connecting rod drives the first massage head to reciprocate in the vertical direction.

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