Snake bone type bionic finger kneading massage structure and massage method

Abstract

The invention provides a snake bone type bionic finger kneading massage structure and a massage method, and the massage structure comprises massage fingers, a snake bone and a mounting plate which are sequentially connected along a Z direction; the mounting plate is connected with the bracket which is fixedly arranged; the second shaft is rotationally connected with the massage fingers, extends in the Z direction and is located in the area surrounded by the snake bone, and the end, away from the massage fingers, of the second shaft is connected with the first shaft; the first shaft extends in the Z direction, a distance is formed between the axis of the first shaft and the axis of the second shaft in the X direction, and the first shaft is rotationally connected with the mounting plate and extends out of the mounting plate; and the power unit is used for driving the shaft I to rotate, is connected with one end, extending out of the mounting plate, of the shaft I, and is arranged on the bracket. According to the invention, bionic finger massage is realized.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic massage technology, and in particular relates to a snake-bone biomimetic finger massage structure and massage method. Background Technology

[0002] With rising labor costs, the demand for service robots is increasing, and massage robots are one such example. However, current massage robots are relatively limited in type and can only perform simple massage movements, failing to meet the needs of individuals and the market. Therefore, this invention proposes a biomimetic finger-kneading massage structure that combines human massage techniques, effectively satisfying market demands. Summary of the Invention

[0003] The purpose of this invention is to provide a snake-bone biomimetic finger massage structure and method, achieving biomimetic finger massage. The technical solution adopted is as follows: A snake-bone-style biomimetic finger massage structure includes: Massage finger 3, snake bone 4 and mounting plate 6 are connected sequentially along the Z direction; the mounting plate 6 is connected to the bracket 7, and the bracket 7 is fixedly installed. Shaft 2, which is rotatably connected to massage finger 3, extends along the Z direction and is located in the area surrounded by snake bone 4, and its end away from massage finger 3 is connected to shaft 1. The first shaft 1 extends along the Z direction, and its axis along the X direction forms a gap with the axis of the second shaft 2. The first shaft 1 is rotatably connected to the mounting plate 6 and extends out of the mounting plate 6. A power unit for driving shaft 1 to rotate is provided, which is connected to one end of shaft 1 extending from mounting plate 6 and is mounted on bracket 7.

[0004] Preferably, the snake bone 4 is fixedly connected to the mounting plate 6; the snake bone 4 is fixedly connected to or embedded in the massage finger 3.

[0005] Preferably, the massage finger 3 includes: The massage finger body 30 has a first groove 301, a second groove 302 and a shaft mounting hole connected sequentially along the Z direction; the first groove 301 is oriented towards the snake bone 4 and its end face facing the snake bone 4 is open; the shaft mounting hole is engaged with the second shaft 2. And the massage finger plate 31, which is detachably connected to the massage finger body 30, and the area between it and the first groove 301 forms the installation area of ​​the bearing seat 5; The bearing seat 5 extends a massage finger plate 31 along the Z direction and is axially positioned by the step 200 and nut 10. It is detachably connected to the massage finger plate 31 and connected to the shaft 2. The nut 10 is threadedly connected to shaft 2 and is located in slot 302.

[0006] Preferably, the snake bone 4 comprises: The middle part of the snake bone 41 is rotatably connected to one end of the snake bone in the Z direction, and rotatably connected to the other end of the snake bone in the Z direction, which is also connected to the second snake bone connector 45. The snake bone part 42 is rotatably connected to the snake bone connector 45; and the snake tail 43, which is rotatably connected to the snake bone connector 44; A central axis 13 is formed between the snake tail portion 43 and the snake connector 44. A central axis 2 14 is formed between the middle part of the snake bone 41 and the first snake bone connector 44; a central axis 3 15 is formed between the first snake bone connector 44 and the second snake bone connector 45; and a central axis 4 16 is formed between the second snake bone connector 45 and the head of the snake bone 42. Central axis 2 14 is perpendicular to central axis 1 13, and central axis 3 15 is perpendicular to central axis 4 16; The snake tail 43 is connected to the mounting plate 6, and the snake head 42 is connected to the massage finger 3.

[0007] Preferably, the snake bone connector 44 is a ring structure, and four rotating shafts 46 are evenly provided on its outer wall; The middle part 41 of the snake bone has a rotating shaft hole 411 corresponding to two of the rotating shafts 46 at one end facing the snake bone connector 44; The rotating shaft hole 411 surrounds the corresponding rotating shaft 46, and the rotating shaft hole 411 and the corresponding rotating shaft 46 can rotate relative to each other and their centers coincide. The line connecting the centers of the two pivot holes 411 forms the central shaft 14.

[0008] Preferably, the shaft 1 is connected to the mounting plate 6 via a bearing 11; The bearing 11 is axially positioned by step 100 and positioning ring 12.

[0009] Preferably, the second shaft 2 and the first shaft 1 are connected as a whole by a transition plate 18, which extends along the X direction.

[0010] Preferably, a connecting post 17 is provided between the mounting plate 6 and the bracket 7. The connecting post 17 extends along the Z direction, and both ends of it are connected to the mounting plate 6 and the bracket 7 by fasteners.

[0011] A biomimetic finger massage method, based on a snake-bone biomimetic finger massage structure, includes the following steps: When axis 1 rotates, massage finger 3 revolves around the axis of axis 1; During the revolution, the snake bone 4 moves together with the massage finger 3, while restricting the rotation of the massage finger 3.

[0012] Compared with the prior art, the advantages of the present invention are: 1. The design of the massage finger trajectory is completed through snake bone transmission, which is simple in structure, low in cost and highly reliable. 2. The entire solution requires only one motor, which is low in cost and easy to maintain. 3. The massage fingers mimic the massage movements of a massage therapist, making it highly acceptable to the market. Attached Figure Description

[0013] Figure 1 A front view of a snake-bone biomimetic finger massage structure; Figure 2 A cross-sectional view along the AA direction of the snake-bone biomimetic finger massage structure; Figure 3 for Figure 2 A partial view; Figure 4 The distribution diagram is shown for central axes one through four. Figure 5 A three-dimensional diagram of a snake's skeleton; Figure 6 A three-dimensional view of the middle part of the snake's skeleton; Figure 7 A three-dimensional diagram of the snake's tail; Figure 8 This is a three-dimensional view of the snake-bone connector. Figure 9 A three-dimensional view of the snake-bone connector from various perspectives; Figure 10 This is a diagram showing the assembly relationship between the bearing housing and the massage finger plate; Figure 11 This is a three-dimensional view of the bearing housing; Figure 12 This is a structural diagram of the massage finger body; Figure 13 A diagram illustrating the connection relationship between axis one and axis two; Figure 14 This is a structural diagram of shaft one; Figure 15 This is a schematic diagram of the drive unit installation. Figure 16 This is a schematic diagram illustrating the installation method of the connecting column; Figure 17 This is a diagram illustrating the principle of keeping the direction of the massage fingers constant. Figure 18 for Figure 1 The corresponding 3D image; Figure 19 Another state diagram of the snake-bone biomimetic finger massage structure; Figure 20 This is a schematic diagram illustrating the application scenario of a snake-bone biomimetic finger massage structure.

[0014] Among them, 1-axis one, 100-step one, 2-Axis Two, 200-Step Two, 3-Massage finger, 30-Massage finger body, 31-Massage finger plate, 4-Snake bone, 41-Middle part of the snake bone, 411-Spindle hole, 42 - Snake head, 43 - Snake tail 44-Snake bone connector one, 45-Snake bone connector two, 46-Spindle, 5-Bearing housing, 51-Bearing mounting hole 6-Mounting plate, 7-Bracket, 8-Motor, 9-Coupling 10-Nut, 11-Bearing, 12-Locking ring, 13 - Central Axis One, 14 - Central Axis Two, 15 - Central Axis Three, 16 - Central Axis Four 17-Connecting column, 18-Transition plate. Detailed Implementation

[0015] The snake-bone biomimetic finger massage structure and massage method of the present invention will be described in more detail below with reference to the schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0016] like Figures 1-19 A snake-bone biomimetic finger massage structure includes: shaft 1, shaft 2, massage fingers 3, snake bone 4, mounting plate 6, bracket 7, and power unit.

[0017] Massage finger 3, snake bone 4 and mounting plate 6 are connected sequentially along the Z direction; mounting plate 6 is connected to bracket 7, and bracket 7 is fixedly installed. Shaft 2, which is rotatably connected to massage finger 3, extends along the Z direction and is located in the area surrounded by snake bone 4, and its end away from massage finger 3 is connected to shaft 1. Shaft 1 extends along the Z direction, and its axis along the X direction forms a gap with the axis of shaft 2. Shaft 1 is rotatably connected to mounting plate 6 and extends out of mounting plate 6. A power unit for driving shaft 1 to rotate, which is connected to one end of shaft 1 extending from mounting plate 6, and is mounted on bracket 7.

[0018] The snake bone 4 is fixedly connected to the mounting plate 6; specifically, the snake bone 4 and the mounting plate 6 are glued together.

[0019] The snake bone 4 is fixedly connected to or embedded in the massage finger plate 31 of the massage finger 3, such as... Figure 3 As shown.

[0020] Mounting plate 6 is made of metal such as aluminum or steel, snake bone 4 is made of nylon or metal, and massage finger 3 is made of silicone.

[0021] like Figure 3 As shown, the massage finger 3 includes: a massage finger body 30 and a massage finger plate 31.

[0022] The massage finger body 30 has a first groove 301, a second groove 302, and a shaft mounting hole that are sequentially connected along the Z direction; for example... Figure 12 The first slot 301 and the second slot 302 are displayed, but the shaft mounting holes are not shown.

[0023] The first slot 301 is oriented towards the snake bone 4, and its end face facing the snake bone 4 is open; the shaft mounting hole mates with the second shaft 2. "The shaft mounting hole mates with the second shaft 2" means that the second shaft 2 can rotate within the shaft mounting hole.

[0024] The massage finger plate 31 is detachably connected to the massage finger body 30, and together with the first groove 301, it forms the mounting area of ​​the bearing seat 5; specifically, the massage finger plate 31 is connected to the massage finger body 30 by fasteners.

[0025] The bearing housing 5 extends a massage finger plate 31 along the Z direction and is axially positioned by a step 200 and a nut 10. It is detachably connected to the massage finger plate 31.

[0026] like Figure 11 As shown, the bearing housing 5 has a bearing fixing hole 51, in which a fastener is installed, and the fastener is connected to the massage finger plate 31.

[0027] The bearing housing 5 is embedded in the shaft 2. Specifically, the bearing housing 5 is connected to the shaft 2. The shaft 2 can rotate within the bearing housing 5.

[0028] Bearing housing 5 is a standard part, model number FK06. Bearing housing 5 can also be a bearing.

[0029] like Figure 3 As shown, a Z-direction gap is left between bearing housing 5 and slot 301.

[0030] Nut 10, which is threaded to shaft 2, is located in groove 302 and abuts against bearing seat 5 to ensure axial position. Figure 2 As shown.

[0031] like Figure 13 As shown, the external thread on shaft 2 is not displayed.

[0032] Regarding the thread distribution on shaft 2: the section of shaft that mates with bearing housing 5 has no external threads.

[0033] like Figures 4-9 As shown, the snake bone 4 includes: a middle part 41, a head part 42, a tail part 43, a first snake bone connector 44, and a second snake bone connector 45.

[0034] The middle part of the snake bone 41 is rotatably connected to one end of the snake bone in the Z direction, and rotatably connected to the other end of the snake bone in the Z direction, which is also connected to the second snake bone connector 45. The snake bone part 42 is rotatably connected to the snake bone connector 45; and the snake tail 43, which is rotatably connected to the snake bone connector 44; Among them, a central axis 13 is formed between the snake tail 43 and the snake connector 44, a central axis 2 14 is formed between the snake middle 41 and the snake connector 44, a central axis 3 15 is formed between the snake connector 44 and the snake connector 2 45, and a central axis 4 16 is formed between the snake connector 2 45 and the snake head 42. Central axis 2 14 is perpendicular to central axis 1 13, and central axis 3 15 is perpendicular to central axis 4 16; The snake tail 43 is connected to the mounting plate 6, and the snake head 42 is connected to the massage finger 3.

[0035] Taking central axis 2.14 as an example, the specific explanation is as follows: The snake-bone connector 44 has a circular structure with four rotating shafts 46 evenly distributed on its outer wall; specifically, the rotating shafts 46 are integrally formed with the snake-bone connector 44.

[0036] The middle part 41 of the snake bone has a rotating shaft hole 411 corresponding to two of the rotating shafts 46 at one end facing the snake bone connector 44; the rotating shaft hole 411 is open at one end facing the snake bone connector 44.

[0037] The pivot hole 411 surrounds the corresponding pivot 46, and the pivot hole 411 and the corresponding pivot 46 can rotate relative to each other and their centers coincide; for example Figure 5 As shown, the pivot hole 411 covers more than half of the pivot 46. In other embodiments, the pivot hole 411 completely covers the pivot 46.

[0038] The line connecting the centers of the two pivot holes 411 forms the central axis 14.

[0039] Similarly, the concepts of the other three central axes (central axis 13, central axis 35, and central axis 416) are similar to those described above, and will not be repeated here.

[0040] contrast Figures 18-19The structure of the snake bone allows it to bend in any direction without twisting. The tail of the snake bone 43 is connected to the snake bone connector 44 and can rotate relative to the central axis 13. The second snake bone connector 45 is connected to the middle part 41 of the snake bone and can rotate relative to the central axis 14, thereby satisfying the rotational degrees of freedom of the structure in all directions.

[0041] Similar to the structure described above, another part can also rotate relative to the central axis 15 and the central axis 16 to satisfy the rotational degrees of freedom in each direction of this part.

[0042] When the two parts are combined, the translational degree of freedom of the snake head part 42 can be achieved, thus satisfying the structural characteristics required by the present invention.

[0043] Regarding the rotatable connection between shaft 1 and mounting plate 6: like Figure 2 , Figure 10 As shown, shaft 1 and mounting plate 6 are connected by bearing 11 and step 100; The bearing 11 is axially positioned by step 100 and positioning ring 12.

[0044] Regarding the connection method between shaft 2 and shaft 1: like Figure 13 As shown, shaft 2 and shaft 1 are connected as a single unit by a transition plate 18, which extends along the X direction. Furthermore, shaft 2, transition plate 18, and shaft 1 are integrally formed.

[0045] Regarding the installation method of mounting plate 6 and bracket 7: like Figures 15-16 As shown, a connecting post 17 is provided between the mounting plate 6 and the bracket 7. The connecting post 17 extends along the Z direction, and both ends of it are connected to the mounting plate 6 and the bracket 7 by fasteners.

[0046] like Figure 20 As shown, bracket 7 is fixed at the location where it needs to be installed, such as a robotic arm.

[0047] Figure 20 As an example of an application scenario of the present invention, the present invention can be installed on the robotic arm of a trolley, and the massage area can be changed by moving the robotic arm.

[0048] like Figure 2 As shown, the power unit includes: a motor 8 and a coupling connecting the output end of the motor 8 and shaft 1.

[0049] like Figure 15 As shown, the base of the motor 8 is mounted on the bracket 7 by fasteners.

[0050] In summary, regarding this massage structure: Motor 8 drives shaft 1 to rotate via coupling, and bearing 11 ensures the rotational position and Z-axis position of shaft 1.

[0051] Axis 1 and Axis 2 are fixed together. Axis 1 drives Axis 2 and the massage finger 3 connected to Axis 2 to perform a rotational motion centered on Axis 1.

[0052] The snake bone 4 connects the massage finger 3 to the mounting plate 6. The snake bone's own characteristics allow it to bend without twisting, thus enabling it to transmit torque.

[0053] The bearing housing 5 ensures the rotation axis position and Z-axis position of the massage finger 3.

[0054] When axis 1 rotates, the snake bone 4 restricts the rotation tendency of the massage finger 3 around axis 2, so that the final movement is that while the massage finger 3 rotates around axis 1, it does not rotate around axis 2, so that the relative direction between the massage finger 3 and axis 1 remains unchanged.

[0055] The snake bone used in this embodiment essentially utilizes its own property of being able to bend but not torsion. Therefore, any tubular structure that meets this property can be used as a substitute for this solution.

[0056] The working principle of the snake-bone bionic finger massage structure: When motor 8 drives shaft 1 to rotate, massage finger 3 will revolve around the axis of shaft 1.

[0057] During this process, the snake bone 4 moves together with the massage finger 3, adapting to its orbital trajectory through its own deformation. Figure 17 (The dotted line section) simultaneously restricts the rotation of the massage finger 3, keeping its orientation (direction) essentially unchanged, as shown in the reference section. Figure 17 .

[0058] This motion mode highly simulates the movement characteristics of real finger kneading, which can effectively reduce the risk of the massage fingers slipping on the muscles and tendons due to their rotation during revolution, thereby improving the massage effect of the finger kneading massage structure.

[0059] Therefore, this structure ensures that the direction of the massage fingers remains unchanged when they make circular motions. Through this movement, muscles and tendons can be massaged, relaxing the mind and body.

[0060] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A snake-bone biomimetic finger-kneading massage structure, characterized in that, include: Massage finger (3), snake bone (4) and mounting plate (6) are connected in sequence along the Z direction; the mounting plate (6) is connected to the bracket (7), and the bracket (7) is fixedly installed; Shaft 2 (2), which is rotatably connected to the massage finger (3), extends along the Z direction and is located in the area surrounded by the snake bone (4), and its end away from the massage finger (3) is connected to shaft 1 (1); The first shaft (1) extends along the Z direction, and its axis along the X direction forms a gap with the axis of the second shaft (2). The first shaft (1) is rotatably connected to the mounting plate (6) and extends out of the mounting plate (6). and a power unit for driving shaft one (1) to rotate, which is connected to one end of shaft one (1) extending out of mounting plate (6), which is disposed on the bracket (7).

2. The snake-bone biomimetic finger massage structure according to claim 1, characterized in that, The snake bone (4) is fixedly connected to the mounting plate (6); the snake bone (4) is fixedly connected to the massage finger (3) or embedded in the massage finger (3).

3. The snake-bone biomimetic finger massage structure according to claim 1, characterized in that, The massage finger (3) includes: The massage finger body (30) has a first groove (301), a second groove (302) and a shaft mounting hole connected sequentially along the Z direction; the first groove (301) is set towards the snake bone (4) and its end face facing the snake bone (4) is open; the shaft mounting hole is fitted with the second shaft (2); and massage finger plate (31), which is detachably connected to massage finger body (30), and together with slot 1 (301) form the mounting area of ​​bearing seat (5); The bearing seat (5) extends a massage finger plate (31) along the Z direction and is axially positioned by step two (200) and nut (10). It is detachably connected to the massage finger plate (31) and connected to shaft two (2). The nut (10) is threaded to shaft two (2) and is located in slot two (302).

4. The snake-bone biomimetic finger massage structure according to claim 1, characterized in that, The snake bone (4) includes: The middle part of the snake bone (41) is rotatably connected to one end along the Z direction with a snake bone connector (44), and the other end along the Z direction is rotatably connected to a snake bone connector (45). The snake head (42) is rotatably connected to the snake head connector (45); and the snake tail (43), which is rotatably connected to the snake connector (44); A central axis (13) is formed between the snake tail (43) and the snake connector (44). A central axis two (14) is formed between the middle part of the snake bone (41) and the first snake bone connector (44); a central axis three (15) is formed between the first snake bone connector (44) and the second snake bone connector (45); and a central axis four (16) is formed between the second snake bone connector (45) and the head of the snake bone (42). Central axis 2 (14) is perpendicular to central axis 1 (13), and central axis 3 (15) is perpendicular to central axis 4 (16). The snake tail (43) is connected to the mounting plate (6), and the snake head (42) is connected to the massage finger (3).

5. The snake-bone biomimetic finger massage structure according to claim 4, characterized in that, The snake bone connector (44) is a ring structure with four rotating shafts (46) evenly distributed on its outer wall. The middle part (41) of the snake bone has a rotating shaft hole (411) corresponding to two of the rotating shafts (46) at one end facing the snake bone connector (44). The pivot hole (411) surrounds the corresponding pivot (46), and the pivot hole (411) and the corresponding pivot (46) can rotate relative to each other and their centers coincide. The line connecting the centers of the two pivot holes (411) forms the second central axis (14).

6. The snake-bone biomimetic finger massage structure according to claim 1, characterized in that, The shaft (1) is connected to the mounting plate (6) by a bearing (11); The bearing (11) is axially positioned by step one (100) and positioning ring (12).

7. The snake-bone biomimetic finger massage structure according to claim 1, characterized in that, The second shaft (2) and the first shaft (1) are connected as one unit by a transition plate (18), which extends along the X direction.

8. The snake-bone biomimetic finger massage structure according to claim 1, characterized in that, A connecting post (17) is provided between the mounting plate (6) and the bracket (7). The connecting post (17) extends along the Z direction, and both ends are connected to the mounting plate (6) and the bracket (7) by fasteners.

9. A biomimetic finger-kneading massage method, based on the snake-bone biomimetic finger-kneading massage structure according to any one of claims 1 to 8, characterized in that, Includes the following steps: When axis one (1) rotates, the massage finger (3) revolves around the axis of axis one (1); During the revolution, the snake bone (4) moves together with the massage finger (3), while restricting the massage finger (3) from rotating.

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