Four-wheel manipulator with synchronous knocking and independent kneading actions of upper and lower arms

Abstract

The utility model discloses a four-wheel manipulator with synchronous knocking and independent kneading actions of upper and lower arms, which comprises a massage frame, an upper kneading component and a lower kneading component, the upper kneading component comprises an upper swing arm and an upper kneading shaft, the upper kneading shaft is provided with an upper eccentric part, the lower kneading component comprises a lower swing arm and a lower kneading shaft, the lower kneading shaft is provided with a lower eccentric part, and the lower eccentric part is provided with a lower eccentric part. The knocking assembly is located between the upper kneading assembly and the lower kneading assembly and comprises a knocking bearing seat, a transmission shaft and a knocking motor for driving the transmission shaft to rotate forwards and backwards, and the two ends of the knocking bearing seat are movably connected with an upper ball head connecting rod and a lower ball head connecting rod which are in linkage with the upper swing arm and the lower swing arm; the upper swing arm and the lower swing arm can be synchronously driven to knock through the knocking assembly, the upper swing arm and the lower swing arm are matched with kneading of the upper swing arm and the lower swing arm, the functions are multiple, and practicability is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of massagers, in particular to a four-wheeled manipulator with upper and lower arms that perform synchronous knocking and independent kneading actions. Background Art

[0002] The massage chair includes a massage chair frame and a massage manipulator, the massage chair frame is provided with a guide rail, the massage manipulator includes a mounting frame, the mounting frame can slide up and down along the guide rail, the mounting frame is provided with a massage component for massaging the human body, and a walking component for driving the mounting frame to move along the guide rail. The existing massage component includes an upper swing arm and a lower swing arm, which only has the function of kneading, has a relatively simple function, and is relatively poor in practicality. Utility Model Content

[0003] The utility model aims to overcome the shortcomings and deficiencies of the prior art and to provide a four-wheel manipulator with upper and lower arms that can perform synchronous knocking and independent kneading actions.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a four-wheeled manipulator with synchronous knocking and independent kneading actions of upper and lower arms, comprising a massage frame, wherein the massage frame is provided with an upper kneading component and a lower kneading component at intervals along the length direction, wherein the upper kneading component comprises an upper swing arm for supporting a treatment piece and an upper kneading shaft passing through the upper swing arm, wherein the upper kneading shaft is provided with an upper eccentric piece for driving the upper swing arm to knead and swing, wherein the lower kneading component comprises a lower swing arm for supporting a treatment piece and a lower kneading shaft passing through the lower swing arm, wherein the lower kneading shaft is provided with an upper eccentric piece for driving the lower swing arm to knead and swing The lower eccentric piece for pinching and swinging also includes a knocking component located between the upper kneading component and the lower kneading component, the knocking component includes a knocking bearing seat, a transmission shaft and a knocking motor for driving the transmission shaft to rotate forward and reversely, the transmission shaft is rotatably installed on the massage frame and the transmission shaft passes through the knocking bearing seat, the two ends of the knocking bearing seat are movably connected with an upper ball head connecting rod and a lower ball head connecting rod linked to the upper swing arm and the lower swing arm, a knocking eccentric piece located in the knocking bearing seat is provided on the transmission shaft, and the knocking bearing seat drives the upper ball head connecting rod and the lower ball head connecting rod to knock synchronously to realize the knocking action of the upper swing arm and the lower swing arm.

[0005] As a preferred technical solution of the utility model, the upper swing arm and the lower swing arm are provided with a ball socket on one side facing the striking assembly, and the upper ball head connecting rod and the lower ball head connecting rod are provided with a ball head connecting part at one end corresponding to the ball socket.

[0006] As a preferred technical solution of the utility model, ball sockets are provided at both ends of the knocking bearing seat, and a ball head connecting part is provided at one end of the upper ball head connecting rod and the lower ball head connecting rod corresponding to the ball socket of the knocking bearing seat.

[0007] As a preferred technical solution of the utility model, a connecting groove is provided at one end of the knocking bearing seat, a ball socket is provided at the other end of the knocking bearing seat, one end of the upper swing arm is located in the connecting groove and is hinged to the knocking bearing seat through a pin shaft, and a ball head connecting part is provided at one end of the lower swing arm corresponding to the ball socket of the knocking bearing seat.

[0008] As a preferred technical solution of the utility model, a bearing sleeved on the outside of the striking eccentric piece is arranged in the striking bearing seat, and the outer ring of the bearing is in contact with the inner ring of the striking bearing seat.

[0009] As a preferred technical solution of the utility model, the upper swing arms are provided with two and are symmetrically arranged on the upper kneading shaft, the upper eccentric pieces are provided with two and correspond to the two upper swing arms; the lower swing arms are provided with two and are symmetrically arranged on the lower kneading shaft, the lower eccentric pieces are provided with two and correspond to the two lower swing arms.

[0010] As a preferred technical solution of the utility model, two knocking bearing seats are provided and are symmetrically arranged on the transmission shaft, two knocking eccentric pieces are provided and correspond to the two knocking bearing seats, and the two knocking eccentric pieces are relatively staggered.

[0011] As a preferred technical solution of the utility model, the transmission shaft includes a middle section, a first shaft section and a second shaft section, the first shaft section and the second shaft section are arranged at both ends of the middle section and the two shaft sections are coaxially arranged with the middle section, the knocking eccentric piece is fixed or integrally formed between the first shaft section and the middle section, and the knocking eccentric piece is fixed or integrally formed between the second shaft section and the middle section.

[0012] As a preferred technical solution of the utility model, the percussion motor is fixed to the massage frame and a driving wheel is arranged on the motor shaft of the percussion motor, a driven wheel is arranged on the transmission shaft, and the driving wheel and the driven wheel are linked by a belt.

[0013] In summary, the utility model has the following beneficial effects: a knocking assembly is installed between the upper kneading assembly and the lower kneading assembly, the knocking motor drives the transmission shaft to rotate through the reduction mechanism, the knocking bearing seat drives the upper ball head connecting rod and the lower ball head connecting rod to knock synchronously, the upper ball head connecting rod and the lower ball head connecting rod are universally connected to the upper swing arm and the lower swing arm respectively, so as to realize the knocking action of the upper swing arm and the lower swing arm. The upper swing arm and the lower swing arm knead independently, and the manipulator has both kneading and knocking functions, without the need to set up multiple sets of knocking assemblies, and the upper swing arm and the lower swing arm are driven to do knocking movements synchronously through a set of knocking assemblies, with compact structure, diverse functions and high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the utility model without the lower kneading component;

[0016] Figure 3 This is a schematic diagram of the structure of the utility model without the upper kneading component;

[0017] Figure 4 It is a structural schematic diagram of the striking component in the utility model;

[0018] Figure 5 It is a structural schematic diagram of the upper kneading component in the utility model;

[0019] Figure 6 It is a structural schematic diagram of the transmission shaft in the utility model.

[0020] 1. Massage frame; 2. Upper kneading assembly; 21. Upper swing arm; 22. Upper kneading shaft; 23. Upper eccentric piece; 24. Upper kneading motor; 3. Lower kneading assembly; 31. Lower swing arm; 32. Lower kneading shaft; 33. Lower eccentric piece; 34. Lower kneading motor; 4. Treatment piece; 5. Knocking assembly; 51. Knocking bearing seat; 52. Transmission shaft; 521. Middle section; 522. First shaft section; 523. Second shaft section; 524. Driven wheel; 53. Knocking motor; 531. Driving wheel; 54. Upper ball head connecting rod; 55. Lower ball head connecting rod; 56. Ball socket; 57. Connecting groove; 58. Knocking eccentric piece; 6. Ball head connecting part; 7. Belt. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments and drawings, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0022] The specific embodiments of the present utility model are described below in conjunction with the accompanying drawings.

[0023] like Figures 1 to 6The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms shown in the figure comprises a massage frame 1, wherein the massage frame 1 is provided with an upper kneading component 2 and a lower kneading component 3 at intervals along the length direction, wherein the upper kneading component 2 comprises an upper swing arm 21 for supporting a treatment piece 4 and an upper kneading shaft 22 passing through the upper swing arm 21, wherein the upper kneading shaft 22 is provided with an upper eccentric piece 23 for driving the upper swing arm 21 to knead and swing, wherein the lower kneading component 3 comprises a lower swing arm 31 for supporting a treatment piece 4 and a lower kneading shaft 32 passing through the lower swing arm 31, wherein the lower kneading shaft 32 is provided with a lower eccentric piece 33 for driving the lower swing arm 31 to knead and swing, and further comprises a knocking component 5 located between the upper kneading component 2 and the lower kneading component 3, wherein the knocking component 5 comprises a knocking bearing seat 51, a transmission shaft 52 and a knocking motor 53 for driving the transmission shaft 52 to rotate forward and reversely, wherein the transmission shaft 52 is rotatably mounted on the massage frame 1 and the transmission shaft 52 passes through the knocking bearing seat 51, wherein the knocking motor 53 is provided ... The bearing seat 51, the two ends of the knocking bearing seat 51 are movably connected with an upper ball head connecting rod 54 and a lower ball head connecting rod 55 which are linked with the upper swing arm 21 and the lower swing arm 31, the transmission shaft 52 is provided with a knocking eccentric piece 58 located in the knocking bearing seat 51, and the knocking bearing seat 51 drives the upper ball head connecting rod 54 and the lower ball head connecting rod 55 to knock synchronously to realize the knocking action of the upper swing arm 21 and the lower swing arm 31. In this embodiment, the upper kneading shaft 22 and the lower kneading shaft 32 are driven by independent upper kneading motors 24 and lower kneading motors 34 (not directly driven, with a reduction mechanism in the middle, worm gear transmission, not numbered in the figure), the upper eccentric piece 23 and the lower eccentric piece 33 are preferably eccentric wheels, and the eccentric wheels are fixed or integrally arranged on the corresponding kneading shafts; the treatment piece 4 is preferably a massage ball, and the grasping and kneading function is realized by the upper and lower massage balls independently moving and cooperating with each other to approximate elliptical trajectory movement and the change of the distance between the upper and lower massage balls.

[0024] A knocking assembly 5 is installed between the upper kneading assembly 2 and the lower kneading assembly 3. The knocking motor 53 drives the transmission shaft 52 to rotate through the speed reduction mechanism, and the knocking bearing seat 51 drives the upper ball head connecting rod 54 and the lower ball head connecting rod 55 to knock synchronously. The upper ball head connecting rod 54 and the lower ball head connecting rod 55 are universally connected to the upper swing arm 21 and the lower swing arm 31, respectively, so as to realize the knocking action of the upper swing arm 21 and the lower swing arm 31. The upper swing arm 21 and the lower swing arm 31 are kneaded independently, and the manipulator has the kneading and knocking functions at the same time. There is no need to set up multiple sets of knocking assemblies 5. A set of knocking assemblies drives the upper swing arm 21 and the lower swing arm 31 to do knocking movements synchronously, with a compact structure, diverse functions and high practicality.

[0025] A ball socket 56 is provided on the side of the upper swing arm 21 and the lower swing arm 31 facing the knocking assembly 5 (this ball socket 56 has the same function as the ball socket 56 on the knocking bearing seat 51 to achieve universal connection), and a ball head connecting part 6 is provided on one end of the upper ball head connecting rod 54 and the lower ball head connecting rod 55 corresponding to the ball socket 56.

[0026] Ball sockets 56 are provided at both ends of the knocking bearing seat 51, and the upper ball head connecting rod 54 and the lower ball head connecting rod 55 are provided with ball head connecting parts 6 at one end corresponding to the ball sockets 56 of the knocking bearing seat 51. Alternatively, a connecting groove 57 is provided at one end of the knocking bearing seat 51, and a ball socket 56 is provided at the other end of the knocking bearing seat 51, one end of the upper swing arm 21 is located in the connecting groove 57 and is hinged to the knocking bearing seat 51 through a pin shaft, and a ball head connecting part 6 is provided at one end of the lower swing arm 31 corresponding to the ball socket 56 of the knocking bearing seat 51.

[0027] A bearing (not shown in the figure) is provided inside the striking bearing seat 51 and is sleeved outside the striking eccentric member 58 . The outer ring of the bearing fits with the inner ring of the striking bearing seat 51 .

[0028] Two upper swing arms 21 are provided and symmetrically arranged on the upper kneading shaft 22, and two upper eccentric pieces 23 are provided and correspond to the two upper swing arms 21; two lower swing arms 31 are provided and symmetrically arranged on the lower kneading shaft 32, and two lower eccentric pieces 33 are provided and correspond to the two lower swing arms 31. Two knocking bearing seats 51 are provided and symmetrically arranged on the transmission shaft 52, and two knocking eccentric pieces 58 are provided and correspond to the two knocking bearing seats 51, and the two knocking eccentric pieces 58 are relatively staggered.

[0029] The transmission shaft 52 includes a middle section 521, a first shaft section 522 and a second shaft section 523. The first shaft section 522 and the second shaft section 523 are arranged at both ends of the middle section 521 and the two shaft sections are coaxially arranged with the middle section 521. The knocking eccentric piece 58 is fixed or integrally formed between the first shaft section 522 and the middle section 521, and the knocking eccentric piece 58 is fixed or integrally formed between the second shaft section 523 and the middle section 521. The knocking eccentric piece 58 can be an eccentric wheel.

[0030] The knocking motor 53 is fixed to the massage frame 1 , and a driving wheel 531 is arranged on the motor shaft of the knocking motor 53 , and a driven wheel is arranged on the transmission shaft 52 . The driving wheel 531 and the driven wheel 524 are linked by a belt 7 .

[0031] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the utility model, and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected, and the scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A four-wheeled manipulator with upper and lower arms that can perform synchronous knocking and independent kneading actions, comprising a massage frame (1), wherein the massage frame (1) is provided with an upper kneading component (2) and a lower kneading component (3) spaced apart along the length direction, wherein the upper kneading component (2) comprises an upper swing arm (21) for supporting a treatment piece (4) and an upper kneading shaft (22) passing through the upper swing arm (21), wherein the upper kneading shaft (22) is provided with an upper eccentric piece (23) for driving the upper swing arm (21) to knead and swing, and wherein the lower kneading component (3) comprises a lower swing arm (31) for supporting a treatment piece (4) and a lower kneading shaft (32) passing through the lower swing arm (31), wherein the lower kneading shaft (32) is provided with a lower eccentric piece (33) for driving the lower swing arm (31) to knead and swing, characterized in that: The massage apparatus further comprises a knocking assembly (5) located between the upper kneading assembly (2) and the lower kneading assembly (3), wherein the knocking assembly (5) comprises a knocking bearing seat (51), a transmission shaft (52), and a knocking motor (53) for driving the transmission shaft (52) to rotate forward and reversely, wherein the transmission shaft (52) is rotatably mounted on the massage frame (1) and passes through the knocking bearing seat (51), wherein the two ends of the knocking bearing seat (51) are movably connected with an upper ball head connecting rod (54) and a lower ball head connecting rod (55) which are linked to the upper swing arm (21) and the lower swing arm (31), wherein the transmission shaft (52) is provided with a knocking eccentric piece (58) located in the knocking bearing seat (51), and the knocking bearing seat (51) drives the upper ball head connecting rod (54) and the lower ball head connecting rod (55) to knock synchronously to realize the knocking action of the upper swing arm (21) and the lower swing arm (31).

2. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to claim 1 is characterized in that: A ball socket (56) is provided on one side of the upper swing arm (21) and the lower swing arm (31) facing the striking assembly (5), and a ball head connecting portion (6) is provided on one end of the upper ball head connecting rod (54) and the lower ball head connecting rod (55) corresponding to the ball socket (56).

3. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to claim 2 is characterized in that: Ball sockets (56) are provided at both ends of the knocking bearing seat (51), and ball head connecting parts (6) are provided at one end of the upper ball head connecting rod (54) and the lower ball head connecting rod (55) corresponding to the ball sockets (56) of the knocking bearing seat (51).

4. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to claim 2 is characterized in that: One end of the knocking bearing seat (51) is provided with a connecting groove (57), and the other end of the knocking bearing seat (51) is provided with a ball socket (56). One end of the upper swing arm (21) is located in the connecting groove (57) and is hinged to the knocking bearing seat (51) through a pin shaft. One end of the lower swing arm (31) corresponding to the ball socket (56) of the knocking bearing seat (51) is provided with a ball head connecting portion (6).

5. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to any one of claims 1 to 4, characterized in that: A bearing sleeved on the outside of the striking eccentric piece (58) is arranged in the striking bearing seat (51), and the outer ring of the bearing is in contact with the inner ring of the striking bearing seat (51).

6. A four-wheeled manipulator with synchronous knocking and independent kneading actions of upper and lower arms according to any one of claims 1 to 4, characterized in that: The upper swing arms (21) are provided with two and are symmetrically arranged on the upper kneading shaft (22), and the upper eccentric pieces (23) are provided with two and correspond to the two upper swing arms (21); the lower swing arms (31) are provided with two and are symmetrically arranged on the lower kneading shaft (32), and the lower eccentric pieces (33) are provided with two and correspond to the two lower swing arms (31).

7. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to claim 6 is characterized in that: Two knocking bearing seats (51) are provided and are symmetrically arranged on the transmission shaft (52); two knocking eccentric pieces (58) are provided and correspond to the two knocking bearing seats (51); and the two knocking eccentric pieces (58) are relatively staggered.

8. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to claim 7 is characterized in that: The transmission shaft (52) comprises a middle section (521), a first shaft section (522) and a second shaft section (523); the first shaft section (522) and the second shaft section (523) are arranged at two ends of the middle section (521) and the two shaft sections are coaxially arranged with the middle section (521); the striking eccentric piece (58) is fixed or integrally formed between the first shaft section (522) and the middle section (521); and the striking eccentric piece (58) is fixed or integrally formed between the second shaft section (523) and the middle section (521).

9. The four-wheeled manipulator with synchronous knocking and independent kneading actions of the upper and lower arms according to claim 1, characterized in that: The knocking motor (53) is fixed to the massage frame (1), and a driving wheel (531) is arranged on the motor shaft of the knocking motor (53), and a driven wheel is arranged on the transmission shaft (52), and the driving wheel (531) and the driven wheel (524) are linked via a belt (7).

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