Ageing-suitable plane kneading mechanical arm transmission mechanism with arm capable of being stored

Abstract

The invention discloses an arm-storable plane kneading manipulator transmission mechanism suitable for aging, which comprises an assembly frame, the assembly frame is provided with a kneading shaft, a kneading motor, a knocking shaft, a turnover frame, a turnover motor, a knocking motor and a transmission wheel, the kneading shaft is provided with a kneading arm and an inclined plane eccentric wheel, the knocking shaft is rotatably arranged on the turnover frame, and the inclined plane eccentric wheel is rotatably arranged on the transmission wheel. A ball head axially slides on the knocking shaft, a ball seat is arranged on the outer side of the ball head, a ball cavity is formed in the ball seat, a pin shaft is arranged at the position, corresponding to the ball seat, of the kneading arm, a shaft hole is formed in the ball seat, the driving wheel is arranged on the knocking shaft in a sleeving mode and synchronously rotates with the knocking shaft, and the driving wheel is in linkage fit with an output shaft of the knocking motor. The knocking shaft is provided with an eccentric section corresponding to the position of the ball head, the pin shaft is matched with the ball seat, so that the overturning frame can drive the kneading arm to overturn to be stored or extend out when driving the knocking shaft to overturn, and the ball seat can axially slide relative to the two pin shafts through the eccentric section on the knocking shaft, so that the lower end of the kneading arm is driven to swing around the eccentric section; and the knocking of the kneading arms is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of massagers, and in particular to an aging-friendly flat kneading manipulator transmission mechanism with storable arms. Background Art

[0002] In the prior art, the kneading arm of the massage movement is driven to perform the kneading action by the rotation of the inclined eccentric wheel, and currently on the market, the massage movement with the flip storage function cannot realize the tapping massage action, and the massage movement with the tapping massage action cannot realize the flip storage function, because most of the kneading arms on the market currently use the combination of guide rods and guide grooves or ball head shafts for combination, and due to the structural coordination relationship, the two functions cannot be performed at the same time. Summary of the Invention

[0003] The purpose of the present invention: In order to overcome the defects of the prior art, the present invention provides a transmission mechanism of an aging-friendly flat kneading robot with a retractable arm. The pin shaft and the ball seat are matched to make the turning frame drive the kneading arm to turn, retract or extend when driving the knocking shaft to turn, and the eccentric section on the knocking shaft enables the ball seat to slide axially relative to the two pin shafts, thereby driving the lower end of the kneading arm to swing around the eccentric section to achieve the knocking of the kneading arm.

[0004] The present invention discloses a transmission mechanism of an aging-friendly flat kneading robot with retractable arms, comprising an assembly frame, a kneading shaft and a kneading motor for driving the kneading shaft to rotate being rotatably provided on the assembly frame, two groups of kneading arms and an inclined eccentric wheel for driving each group of kneading arms to knead and swing being provided on the kneading shaft, a knocking shaft being provided on the assembly frame, the knocking shaft being provided in parallel with the kneading shaft, a turning frame provided on the kneading shaft and a turning motor provided on the assembly frame for driving the turning frame to rotate being characterized in that: the knocking shaft is rotatably provided on the turning frame, and A ball head is axially slidable on the knocking shaft, and also includes a ball seat arranged on the outside of the ball head, a ball cavity adapted to the ball head is provided on the ball seat, the ball head is located in the ball cavity, a pin is provided at the position corresponding to the ball seat on the kneading arm, an axial hole is provided at the position corresponding to the pin on the ball seat, the pin is inserted in the axial hole along the axial sliding direction, a knocking motor and a transmission wheel are also provided on the assembly frame, the transmission wheel is sleeved on the knocking shaft and rotates synchronously with the same, and the transmission wheel is linked to the output shaft of the knocking motor, and an eccentric section is provided at the position corresponding to the ball head on the knocking shaft.

[0005] The present invention is further configured as follows: the output shaft of the percussion motor is located on one side of the kneading shaft and is coaxially arranged therewith; the transmission wheel is linked to the output shaft of the percussion motor via a belt; and the distance between the center of the transmission wheel and the axis center of the output shaft of the percussion motor is R1, and the distance between the axis center of the percussion shaft and the axis center of the kneading shaft is R2, and R1=R2.

[0006] The present invention is further configured as follows: the turning frame is arranged in the middle of the assembly frame, the kneading arms are arranged on opposite sides of the turning frame, and the turning motor is also arranged in the middle of the assembly frame, and the kneading motor and the knocking motor are arranged on opposite sides of the kneading arms.

[0007] A further configuration of the present invention is that a first bearing sleeve is provided on the flip frame corresponding to the position of the knocking shaft, and the knocking shaft is rotatably passed through the first bearing sleeve. It also includes a pull rod provided on opposite sides of the flip frame, one end of the pull rod is sleeved on the kneading shaft, and the other end is sleeved on the knocking shaft.

[0008] A further configuration of the present invention is as follows: the ball seat includes two split-type splints, which are locked by a locking piece to form a ball seat, the middle part of the splint is arc-shaped to form a ball groove, the two ball grooves cooperate to form a ball cavity, and the two ends of the splint extend outward to form an extension plate, and the extension plate is penetrated by a through hole, and the through holes on the two splints are coaxial to form an axial hole.

[0009] The present invention is further configured as follows: the bevel eccentric wheel is provided with an inclined through-hole, the kneading shaft is passed through the through-hole, so that the bevel eccentric wheel is inclined, and a second bearing sleeve is sleeved on the bevel eccentric wheel, and the kneading arm is sleeved on the second bearing sleeve.

[0010] The present invention has the following beneficial effects: when in use, the flip motor drives the flip frame to rotate, which can drive the knocking shaft to swing. At the same time, because the pin shaft is inserted into the shaft hole of the ball seat, the ball seat will be equivalent to a shift block to shift the pin shaft, thereby driving the kneading arm to rotate and extend or rotate and retract. When the kneading arm is rotated and extended, the kneading motor works, and the kneading shaft can drive the inclined eccentric wheel to rotate. At this time, because the pin shaft of the kneading arm is inserted into the shaft hole, the kneading arm can be restricted from rotating around the kneading shaft, and the pin shaft can slide axially relative to the shaft hole, the ball head can slide axially along the eccentric section and the ball seat can rotate relative to the ball head, so that the kneading arm can perform kneading massage, and at the same time The percussion motor drives the percussion shaft to rotate, and the eccentric section drives the lower end of the kneading arm to perform eccentric movement through the ball head and the ball seat, thereby realizing the function of percussion massage. This solution combines the functions of driving the kneading arm to flip and driving the kneading arm to percuss on the percussion shaft, which not only overcomes the existing defects and adds some functions, but also simplifies the internal structure. In addition, in this way, the lower end of the kneading arm can swing relatively eccentrically, so that the kneading part of the kneading arm (the position with the massage wheel or massage ball) can have a kneading trajectory close to an arc-shaped flat swing motion. Compared with the traditional elliptical trajectory, the amplitude of its contact with the bone is smaller, which is suitable for the elderly and people with osteoporosis and has a wider applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the structure of the present invention when in a stored state; Figure 2This is a schematic structural diagram of the present invention in an extended state; Figure 3 for Figure 2 Another perspective structural diagram; Figure 4 It is a partial structural diagram of the present invention; Figure 5 A diagram showing the coordination of parts for realizing the kneading and knocking actions of the present invention; Figure 6 This is a diagram showing the coordination of the kneading shaft, kneading arm, and knocking shaft components of the present invention; Figure 7 This is a diagram showing the coordination of components on the kneading arm of the present invention; Figure 8 This is a cross-sectional view of the inclined eccentric wheel of the present invention; Figure 9 It is a schematic diagram of the ball seat structure of the present invention. DETAILED DESCRIPTION

[0012] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings: In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention.

[0013] The present invention discloses a transmission mechanism of an aging-friendly flat kneading robot with a retractable arm, comprising an assembly frame 1, on which a kneading shaft 2 and a kneading motor 3 for driving the kneading shaft 2 to rotate are rotatably provided, and preferably a massage wheel or a massage ball is rotatably installed on the top of the kneading arm 4, and two groups of kneading arms 4 and an inclined eccentric wheel 5 for driving each group of kneading arms 4 to knead and swing are provided on the kneading shaft 2, and the assembly frame 1 is also provided with a knocking shaft 6, which is arranged parallel to the kneading shaft 2, and further comprises a flip frame 7 rotatably sleeved on the kneading shaft 2 and a flip motor 8 arranged on the assembly frame for driving the flip frame 7 to rotate, in the embodiment of the present invention, the knocking shaft 6 is rotatably provided on the flip frame 7, and a ball head 9 is axially slidable on the knocking shaft 6, and further comprises a device A ball seat 10 is provided on the outside of the ball head 9, and a ball cavity 11 is provided on the ball seat 10 to match the ball head 9. The ball head 9 is located in the ball cavity 11, and a pin shaft 12 is provided on the kneading arm 4 at a position corresponding to the ball seat 10. An axial hole 13 is provided on the ball seat 10 at a position corresponding to the pin shaft 12. The pin shaft 12 is inserted into the axial hole 13 by axial sliding along the axial hole 13. A percussion motor 14 and a transmission wheel 15 are also provided on the assembly frame 1. The transmission wheel 15 is sleeved on the percussion shaft 6 and rotates synchronously with it, and the transmission wheel 15 is linked with the output shaft of the percussion motor 14, and an eccentric section 16 is provided on the percussion shaft 6 at a position corresponding to the ball head 9. The eccentric section 16 is most preferably a cylindrical shaft body, and the axis of the cylindrical shaft body is parallel to the rotation center line of the percussion shaft 6 and does not overlap.

[0014] With the above technical solution, when in use, the flip motor 8 drives the flip frame 7 to rotate, which can drive the knocking shaft 6 to swing. At the same time, because the pin shaft 12 is inserted in the shaft hole 13 of the ball seat 10, the ball seat 10 will be equivalent to a shift block to shift the pin shaft 12, thereby driving the kneading arm 4 to rotate and extend or rotate and store. When the kneading arm 4 is rotated and extended, the kneading motor 3 works, and the inclined eccentric wheel 5 can be driven to rotate through the kneading shaft 2. At this time, because the pin shaft 12 of the kneading arm 4 is inserted in the shaft hole 13, the kneading arm 4 can be restricted from rotating around the kneading shaft 2, and the pin shaft 12 can slide axially relative to the shaft hole 13, the ball head 9 can slide axially along the eccentric section 16 and the ball seat 10 can rotate relative to the ball head 9, so that the kneading arm 4 can be To perform kneading massage, the percussion motor 14 drives the percussion shaft 6 to rotate, and the eccentric section 16 drives the lower end of the kneading arm 4 to perform eccentric movement through the ball head 9 and the ball seat 10, thereby realizing the function of percussion massage. This solution combines the functions of driving the kneading arm 4 to flip and driving the kneading arm 4 to percuss on the percussion shaft 6, which not only overcomes the existing defects and adds some functions, but also simplifies the internal structure. In addition, in this way, the lower end of the kneading arm 4 can swing relatively eccentrically, so that the kneading part of the kneading arm 4 (the position with the massage wheel or massage ball) can have a kneading trajectory close to an arc-shaped flat swinging motion. Compared with the traditional elliptical trajectory, the amplitude of its resting on the bones is smaller, which is suitable for the elderly and people with osteoporosis and has a wider applicability.

[0015] The output shaft of the percussion motor 14 is located on one side of the kneading shaft 2 and is arranged coaxially therewith. The transmission wheel 15 is linked to the output shaft of the percussion motor 14 via a belt, and the distance between the center of the transmission wheel 15 and the axis center of the output shaft of the percussion motor 14 is R1, and the distance between the axis center of the percussion shaft 6 and the axis center of the kneading shaft 2 is R2, R1=R2, and the swing is an arc trajectory. Only when belt drive is used, ensuring that R1 is equal to R2 can prevent the belt from loosening or being too tight, thereby ensuring that the percussion shaft 6 can rotate and swing normally.

[0016] The flip frame 7 is arranged in the middle of the assembly frame 1, the kneading arms 4 are arranged on opposite sides of the flip frame 7, and the flip motor 8 is also arranged in the middle of the assembly frame 1, the kneading motor 3 and the percussion motor 14 are arranged on opposite sides of the kneading arm 4. The flip frame 7 and the flip motor 8 are arranged in the middle of the assembly frame 1, so that they are more stable when driving the percussion shaft 6 to rotate, and the kneading motor 3 is arranged on the side so that it can be equipped with a reduction gearbox, thereby reducing the rotation speed of the kneading shaft 2, slowing down the kneading speed, and increasing comfort.

[0017] A first bearing sleeve 20 is provided on the flip frame 7 at the position corresponding to the knocking shaft 6, and the knocking shaft 6 is rotatably passed through the first bearing sleeve 20. It also includes a pull rod 21 provided on opposite sides of the flip frame 7. One end of the pull rod 21 is sleeved on the kneading shaft 2, and the other end is sleeved on the knocking shaft 6. The first bearing sleeve 20 can reduce the friction of the rotation of the knocking shaft 6, making it easier to drive the knocking shaft 6 to rotate. The pull rod 21 can further increase the stability during flipping or use.

[0018] The ball seat 10 includes two split-type splints 101, and the two splints 101 are locked by a locking piece 102 to form the ball seat 10. The middle part of the splint 101 is arc-shaped to form a ball groove, and the two ball grooves cooperate to form a ball cavity 11, and the two ends of the splint 101 extend outward to form an extension plate 22, and the extension plate 22 is penetrated by a through hole, and the through holes on the two splints 101 are coaxial to form an axial hole 13. The split-type splint 101 makes it more convenient to assemble. The locking piece 102 is most preferably a bolt and a nut. Of course, the splint 101 can also be provided with a threaded hole, and the bolt and the threaded hole are matched. The pin shaft 12 is most preferably provided with two, and the axial hole 13 is relatively provided with two and is located on opposite sides of the ball cavity 11.

[0019] The bevel eccentric wheel 5 is provided with a through hole 51 arranged along an inclination, and the kneading shaft 2 is passed through the through hole 51 so that the bevel eccentric wheel 5 is arranged inclined, and the bevel eccentric wheel 5 is sleeved with a second bearing sleeve 23, and the kneading arm 4 is sleeved on the second bearing sleeve 23. Because the kneading arm 4 is driven to flip when the knocking shaft 6 flips, the second bearing sleeve 23 can reduce the resistance of the kneading arm 4 when flipping.

Claims

1. A transmission mechanism for an aging-friendly flat kneading manipulator with a retractable arm, comprising an assembly frame (1), a kneading shaft (2) and a kneading motor (3) for driving the kneading shaft (2) to rotate, the kneading shaft (2) being rotatably provided with two groups of kneading arms (4) and an inclined eccentric wheel (5) for driving each group of kneading arms (4) to knead and swing, the assembly frame (1) being further provided with a knocking shaft (6), the knocking shaft (6) being arranged parallel to the kneading shaft (2), a turning frame provided on the kneading shaft (2) and a turning motor (8) provided on the assembly frame (1) for driving the turning frame (7) to rotate, characterized in that: The knocking shaft (6) is rotatably arranged on the flip frame (7), and a ball head (9) is axially slidably provided on the knocking shaft (6), and a ball seat (10) is also provided on the outside of the ball head (9), a ball cavity (11) adapted to the ball head (9) is provided on the ball seat (10), and the ball head (9) is located in the ball cavity (11), a pin shaft (12) is provided on the kneading arm (4) at a position corresponding to the ball seat (10), and an axis hole (13) is provided on the ball seat (10) at a position corresponding to the pin shaft (12), and the pin shaft (12) is axially slidably inserted into the axis hole (13) along the axis hole (13), and the assembly frame (1) is also provided with a knocking motor (14) and a transmission wheel. (15), the transmission wheel (15) is sleeved on the knocking shaft (6) and rotates synchronously therewith, and the transmission wheel (15) is linked with the output shaft of the knocking motor (14), and an eccentric section (16) is provided on the knocking shaft (6) at a position corresponding to the ball head (9), the output shaft of the knocking motor (14) is located on one side of the kneading shaft (2) and is coaxially arranged therewith, the transmission wheel (15) is linked with the output shaft of the knocking motor (14) via a belt, and the distance between the center of the transmission wheel (15) and the axis center of the output shaft of the knocking motor (14) is R1, and the distance between the axis center of the knocking shaft (6) and the axis center of the kneading shaft (2) is R2, and R1=R2.

2. The transmission mechanism of the aging-friendly flat kneading robot with a stowable arm according to claim 1, characterized in that: The turning frame (7) is arranged at the middle position of the assembly frame (1), the kneading arms (4) are arranged on opposite sides of the turning frame (7), and the turning motor (8) is also arranged at the middle position of the assembly frame (1), and the kneading motor (3) and the knocking motor (14) are arranged on opposite sides of the kneading arms (4).

3. The transmission mechanism of the aging-friendly flat kneading robot with a stowable arm according to claim 1 or 2, characterized in that: The turning frame (7) is provided with a first bearing sleeve (20) at a position corresponding to the knocking shaft (6), and the knocking shaft (6) is rotatably inserted into the first bearing sleeve (20). The turning frame (7) also includes a pull rod (21) provided on opposite sides of the turning frame (7), one end of the pull rod (21) is sleeved on the kneading shaft (2), and the other end is sleeved on the knocking shaft (6).

4. The transmission mechanism of the aging-friendly flat kneading robot with a stowable arm according to claim 1, characterized in that: The ball seat (10) comprises two split-type clamping plates (101), the two clamping plates (101) are locked by a locking member (102) to form the ball seat (10), the middle portion of the clamping plates (101) is arc-shaped to form a ball groove, the two ball grooves cooperate to form a ball cavity (11), and both ends of the clamping plates (101) extend outward to form an extension plate (22), and the extension plate (22) is provided with a through hole, and the through holes on the two clamping plates (101) are coaxial to form an axial hole (13).

5. The transmission mechanism of the aging-friendly flat kneading robot with a stowable arm according to claim 1 is characterized by: The inclined eccentric wheel (5) is provided with an inclined through-hole (51) in the middle thereof, and the kneading shaft (2) is passed through the through-hole (51) so that the inclined eccentric wheel (5) is inclined, and a second bearing sleeve (23) is sleeved on the inclined eccentric wheel (5), and the kneading arm (4) is sleeved on the second bearing sleeve (23).

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