Hammering and flapping robot

Abstract

The utility model belongs to the field of massage equipment, and particularly relates to a hammering and flapping robot which comprises a base, an installation frame is arranged on the upper surface of the base, an arm rod A and an arm rod B are arranged at the positions, close to the top end, of the installation frame, the movable ends of the arm rod A and the arm rod B are connected with massage palms respectively, and the other ends of the arm rod A and the arm rod B are connected with a swing driving mechanism. The swing driving mechanism comprises a horizontal rotating shaft A and a horizontal rotating shaft B which are fixedly connected with the arm rod A and the arm rod B. The horizontal rotating shaft A and the horizontal rotating shaft B are rotationally connected to the mounting frame and fixedly connected with a driven bevel gear A and a driven bevel gear B correspondingly. The driven bevel gear A and the driven bevel gear B are in meshed connection with a driving bevel gear, the driving bevel gear is fixedly connected to a vertical shaft, the driven bevel gear A and the driven bevel gear B are symmetrically arranged on the left side and the right side of the vertical shaft, and a reciprocating rotation driving mechanism is connected to the vertical shaft; the structural design is reasonable, and the use comfort is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of massage equipment, and particularly relates to a hammering and patting robot. Background Art

[0002] Since there are abundant spinal nerves in the human back, patting the back can enhance the endocrine function through nerve conduction by stimulating the skin and subcutaneous tissues, and has a certain adjuvant therapeutic effect on chronic pulmonary diseases of the middle-aged and elderly, and can also achieve a certain expectorant effect; for the existing back-beating mechanism, the hammer head of the existing back-beating machine lacks a buffer structure, resulting in a hard impact force when the hammer head hits the user's back, and since the two hammer heads move synchronously, that is, up and down together, the comfort of using the back-beating mechanism is relatively low. Content of the Utility Model

[0003] The purpose of the utility model is to solve the problems in the prior art, and thus provide a hammering and patting robot with reasonable structural design and high use comfort.

[0004] The purpose of the utility model is realized as follows: a hammering and patting robot includes a base, a moving mechanism is connected to the lower surface of the base, a mounting frame is arranged on the upper surface of the base, a lever A and a lever B are arranged at a position near the top of the mounting frame, massage palms are respectively connected to the movable ends of the lever A and the lever B, the other ends of the lever A and the lever B are connected to a swing driving mechanism, the swing driving mechanism includes a horizontal rotating shaft A and a horizontal rotating shaft B fixedly connected to the lever A and the lever B respectively, the horizontal rotating shaft A and the horizontal rotating shaft B are rotatably connected to the mounting frame, a driven bevel gear A and a driven bevel gear B are respectively fixedly connected to the horizontal rotating shaft A and the horizontal rotating shaft B, the driven bevel gear A and the driven bevel gear B are respectively meshed and connected with a driving bevel gear, the driving bevel gear is fixedly connected to a vertical shaft, the driven bevel gear A and the driven bevel gear B are symmetrically arranged on the left and right sides of the vertical shaft, and a reciprocating rotation driving mechanism is connected to the vertical shaft.

[0005] Further, the reciprocating rotation driving mechanism includes a driving arm fixedly connected to the vertical shaft, a driving groove is arranged on the driving arm, a driving rod is slidably arranged in the driving groove, the driving rod is fixed on a driving disk, the driving disk is connected to the output shaft of a driving motor, the driving rod is eccentrically arranged on the driving disk, the driving motor drives the driving disk to rotate, under the pushing action of the driving rod on the driving disk, the driving arm swings reciprocally on both sides of the output shaft of the driving motor, so that the vertical shaft rotates reciprocally within a certain angle range, and further drives the horizontal rotating shaft A and the horizontal rotating shaft B to rotate synchronously and reversely through the meshing connection between the driving bevel gear and the driven bevel gear A and the driven bevel gear B, and further drives the lever A and the lever B to alternately pat and massage the human body.

[0006] Furthermore, a hammering swing amplitude adjusting mechanism is connected to the horizontal rotating shaft A and the horizontal rotating shaft B. Through the hammering swing amplitude adjusting mechanism, the rotation amplitude of the arm A and the arm B can be adjusted as needed, so as to achieve the purpose of adjusting the beating force of the arm A and the arm B.

[0007] Furthermore, the hammering swing amplitude adjusting mechanism includes an adjusting guide rail arranged on the driving disc. A locking adjusting block is slidably arranged in the adjusting guide rail. An adjusting locking screw is connected to the locking adjusting block by a thread. The adjusting locking screw is rotatably connected to the driving disc. The driving rod is fixed on the locking adjusting block. By rotating the adjusting locking screw to drive the locking adjusting block to move along the adjusting guide rail, the distance between the driving rod and the center of the driving disc can be adjusted, so as to achieve the purpose of adjusting the swing amplitude and the beating force of the arm A and the arm B.

[0008] Furthermore, a swing arm spacing adjusting mechanism is connected between the arm A and the arm B. Through the swing arm spacing adjusting mechanism, the distance between the arm A and the arm B can be adjusted as needed.

[0009] Furthermore, the swing arm spacing adjusting mechanism includes horizontal guide grooves arranged on the horizontal rotating shaft A and the horizontal rotating shaft B. The horizontal guide grooves are arranged along the axial directions of the horizontal rotating shaft A and the horizontal rotating shaft B. A horizontal guide block is slidably arranged left and right in the horizontal guide grooves. The horizontal guide block is fixed on the inner side surface of the guide ring. The guide ring is slidably arranged left and right on the horizontal rotating shaft A or the horizontal rotating shaft B. The arm A and the arm B are fixed on the guide ring. A locking nut is connected to the guide ring. Move the guide ring connected to the arm A / arm B along the axial direction of the horizontal rotating shaft A / horizontal rotating shaft B, and then fix the guide ring and the horizontal rotating shaft A / horizontal rotating shaft B through the locking nut, so as to achieve the purpose of adjusting the distance between the massage palms on the arm A and the arm B. The sliding connection between the horizontal guide groove and the horizontal guide block can lock the rotation angle between the arm A / arm B and the horizontal rotating shaft A / horizontal rotating shaft B, preventing the angle between the arm A and the arm B and the horizontal plane from changing when adjusting the position of the guide ring on the horizontal rotating shaft A and the horizontal rotating shaft B, so as not to affect the swing angles of the arm A / arm B above and below the horizontal plane.

[0010] Furthermore, a buffer mechanism is arranged between the massage palms and the arm A and the arm B. Through the buffer mechanism, not only the comfort of the beating massage can be increased, but also the situation of over-massage or under-massage caused by the incomplete consistency of the heights of the two massage points can be avoided within a certain range.

[0011] Further, the buffer mechanism includes a buffer spring disposed between the massage palm and the arm rod A and the arm rod B. A guide rod is connected to the upper surface of the massage palm, and the guide rod is slidably disposed up and down in a guide hole on the arm rod A or the arm rod B. The buffer spring can provide a buffering effect on the massage palm, avoiding rigid collision between the massage palm and the human body, and increasing the comfort of the patting massage.

[0012] Further, the guide rod includes an adjusting screw and a guide sleeve. The bottom end of the adjusting screw is rotatably connected to the upper surface of the massage palm. The adjusting screw is connected to the guide sleeve by a thread. The guide sleeve is slidably connected to the arm rod A and the arm rod B up and down. By rotating the adjusting screw, the guide sleeve can be driven to move up and down along the axis of the adjusting screw relative to the massage palm, so as to adjust the distance between the end of the guide sleeve and the massage palm, and achieve the purpose of adjusting the buffering effect of the buffer spring.

[0013] Advantages of the present utility model:

[0014] 1. The present utility model can realize that two massage palms alternately pat and massage a specified position on the human body. Compared with the situation where two massage palms simultaneously pat and massage the human body, its comfort is higher.

[0015] 2. The present utility model is provided with a buffer mechanism between the massage palm and the arm rod A / arm rod B. This can not only increase the comfort of the patting massage, but also avoid the situation of over-massage or under-massage caused by the incomplete consistency of the heights of the two massage points within a certain range.

[0016] 3. The present utility model is respectively connected with a hammering swing amplitude adjusting mechanism on the arm rod A and the arm rod B. Through the hammering swing amplitude adjusting mechanism, the rotation amplitude of the arm rod A and the arm rod B can be adjusted according to needs, and further the purpose of adjusting the patting force of the arm rod A and the arm rod B can be achieved. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments of the present utility model or the description of the prior art. Obviously, the following described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a structural schematic diagram of a hammering and patting robot of the present utility model.

[0019] Figure 2 is a structural schematic diagram of the arm rod A and the arm rod B in a hammering and patting robot of the present utility model.

[0020] Figure 3 It is a top view structural schematic diagram of a reciprocating rotation driving mechanism of a hammering and patting robot of the present utility model.

[0021] Explanation of reference numerals in the drawings:

[0022] 1. Base; 2. Moving mechanism; 3. Mounting frame; 4. Arm rod A / Arm rod B; 5. Massage palm; 6. Horizontal rotating shaft A; 7. Horizontal rotating shaft B; 8. Driven bevel gear A; 9. Driven bevel gear B; 10. Driving bevel gear; 11. Vertical shaft; 12. Driving arm; 13. Driving groove; 14. Driving rod; 15. Driving disc; 16. Driving motor; 17. Adjusting guide rail; 18. Locking adjusting block; 19. Adjusting locking screw; 20. Horizontal guiding groove; 21. Horizontal guiding block; 22. Guide ring; 23. Locking nut; 24. Buffer spring; 25. Adjusting screw; 26. Guide sleeve. Specific embodiments

[0023] The embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present utility model and should not be construed as limiting the present utility model.

[0024] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

[0025] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality" means two or more unless otherwise specifically defined.

[0026] In the present utility model, unless otherwise clearly specified and defined, terms such as "installation", "connection", "attachment", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0027] In order to make the objectives, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] In one embodiment of the present utility model, as Figure 1 and Figure 2 shown, a hammering and patting robot includes a base 1. A moving mechanism 2 is connected to the lower surface of the base 1. An installation frame 3 is provided on the upper surface of the base 1. A lever A 4 and a lever B 4 are provided at a position near the top of the installation frame 3. Massage palms 5 are respectively connected to the movable ends of the lever A 4 and the lever B 4. The other ends of the lever A 4 and the lever B 4 are connected to a swing driving mechanism. The swing driving mechanism includes a horizontal rotating shaft A 6 and a horizontal rotating shaft B 7 respectively fixedly connected to the lever A 4 and the lever B 4. The horizontal rotating shaft A 6 and the horizontal rotating shaft B 7 are rotatably connected to the installation frame 3. A driven bevel gear A 8 and a driven bevel gear B 9 are respectively fixedly connected to the horizontal rotating shaft A 6 and the horizontal rotating shaft B 7. The driven bevel gear A 8 and the driven bevel gear B 9 are respectively meshed and connected to a driving bevel gear 10. The driving bevel gear 10 is fixedly connected to a vertical shaft 11. The driven bevel gear A 8 and the driven bevel gear B 9 are symmetrically arranged on the left and right sides of the vertical shaft 11. A reciprocating rotation driving mechanism is connected to the vertical shaft 11.

[0029] When the present utility model is in use, the reciprocating rotation driving mechanism drives the vertical shaft 11 to reciprocally rotate. Through the meshing connection between the driving bevel gear 10 and the driven bevel gear A 8 and the driven bevel gear B, the reciprocating rotation of the vertical shaft 11 is transmitted to the horizontal rotating shaft A 6 and the horizontal rotating shaft B 7. The driven bevel gear A 8 and the driven bevel gear B 9 have the same shape and size and are symmetrically arranged on the left and right sides of the vertical shaft 11, so that the horizontal rotating shaft A 6 and the horizontal rotating shaft B 7 rotate synchronously and reciprocally in opposite directions, thereby realizing that the massage palms 5 on the lever A 4 and the lever B 4 alternately pat and massage the human body downward.

[0030] In one embodiment of the present utility model, as Figure 1 and Figure 2As shown, the reciprocating rotary drive mechanism includes a drive arm 12 fixedly connected to the vertical shaft 11. A drive groove 13 is provided on the drive arm 12, and a drive rod 14 is slidably arranged in the drive groove 13. The drive rod 14 is fixed on a drive disk 15, and the drive disk 15 is connected to the output shaft of a drive motor 16. The drive rod 14 is eccentrically arranged on the drive disk 15. The drive motor 16 drives the drive disk 15 to rotate. Under the pushing action of the drive rod 14 on the drive disk 15, the drive arm 12 swings reciprocally on both sides of the output shaft of the drive motor 16, causing the vertical shaft 14 to rotate reciprocally within a certain angle range. Furthermore, the meshing connection between the driving bevel gear 10 and the driven bevel gears A8 and B9 drives the horizontal shafts A6 and B7 to rotate synchronously and reversely, further driving the arm rods A4 and B4 to alternately pat and massage the human body.

[0031] In one embodiment of the present invention, as Figure 1 and Figure 3 shown, a hammering swing amplitude adjustment mechanism is connected to the horizontal shafts A6 and B7. The swing amplitude of the drive arm 12 can be adjusted through the hammering swing amplitude adjustment mechanism, and then the swing amplitude of the arm rods A4 and B4 swinging up and down can be adjusted as needed, thereby achieving the purpose of adjusting the patting force of the arm rods A4 and B4.

[0032] In one embodiment of the present invention, as Figure 1 and Figure 3 shown, the hammering swing amplitude adjustment mechanism includes an adjustment guide rail 17 provided on the drive disk 15. A locking adjustment block 18 is slidably arranged in the adjustment guide rail 17. An adjustment locking screw 19 is threadedly connected to the locking adjustment block 18, and the adjustment locking screw 19 is rotatably connected to the drive disk 15. The drive rod 14 is fixed on the locking adjustment block 18. By rotating the adjustment locking screw 19 to drive the locking adjustment block 18 to move along the adjustment guide rail 17, the distance between the drive rod 14 and the center of the drive disk 15 can be adjusted, thereby achieving the purpose of adjusting the swing amplitude and patting force of the arm rods A4 and B4.

[0033] In one embodiment of the present invention, as Figure 1 and Figure 2 shown, a swing arm spacing adjustment mechanism is connected between the arm rods A4 and B4. The distance between the two arm rods can be adjusted as needed through the swing arm spacing adjustment mechanism.

[0034] In one embodiment of the present invention, as Figure 1 and Figure 2As shown in the figure, the swing arm spacing adjustment mechanism includes a horizontal guide groove 20 provided on a horizontal rotating shaft A6 and a horizontal rotating shaft B7. The horizontal guide groove 20 is arranged along the axial direction of the horizontal rotating shaft A6 and the horizontal rotating shaft B7. A horizontal guide block 21 is slidably arranged left and right in the horizontal guide groove 20. The horizontal guide block 21 is fixed on the inner side surface of a guide ring 22. The guide ring 22 is slidably arranged left and right on the horizontal rotating shaft A6 or the horizontal rotating shaft B7. An arm rod A4 and an arm rod B4 are fixed on the guide ring 22. A locking nut 23 is connected to the guide ring 22. The guide ring 22 connected to the arm rod A / arm rod B4 is moved along the axial direction of the horizontal rotating shaft A6 / horizontal rotating shaft B7, and then the guide ring 22 is fixed to the horizontal rotating shaft A6 / horizontal rotating shaft B7 through the locking nut 23, so as to achieve the purpose of adjusting the distance between the massage palms 5 on the arm rod A4 and the arm rod B4. The sliding connection between the horizontal guide groove 20 and the horizontal guide block 21 can lock the rotation angle between the arm rod A / arm rod B4 and the horizontal rotating shaft A6 / horizontal rotating shaft B7, preventing the angle between the arm rod A4 and the arm rod B4 and the horizontal plane from changing when adjusting the position of the guide ring 22 on the horizontal rotating shafts A6 and B7, thus affecting the swing angles of the arm rod A / arm rod B4 above and below the horizontal plane.

[0035] In one embodiment of the present invention, scale lines are provided on the horizontal rotating shaft A6 and the horizontal rotating shaft B7, and through the scale lines, it is convenient to adjust and control the position of the guide ring 22 connected to the arm rod A4 and the arm rod B4.

[0036] In one embodiment of the present invention, as Figure 2 shown, a buffer mechanism is provided between the massage palm 5 and the arm rod A4 and the arm rod B5. Through the buffer mechanism, not only the comfort of the patting massage 5 can be increased, but also the situation of over-massage or under-massage caused by the incomplete consistency of the heights of the two massage points can be avoided within a certain range.

[0037] In one embodiment of the present invention, as Figure 2 shown, the buffer mechanism includes a buffer spring 24. The buffer spring 24 is arranged between the massage palm 5 and the arm rod A4 and the arm rod B4. A guide rod is connected to the upper surface of the massage palm. The guide rod is slidably arranged up and down in a guide hole on the arm rod A4 or the arm rod B4. The buffer spring 24 can provide a buffering effect on the massage palm 5, avoiding rigid collision between the massage palm 5 and the human body and increasing the comfort of the patting massage.

[0038] In one embodiment of the present invention, as Figure 2As shown, the guide rod includes an adjusting screw 25 and a guide sleeve 26. The bottom end of the adjusting screw 25 is rotatably connected to the upper surface of the massage palm 5. The adjusting screw 25 and the guide sleeve 26 are connected by a thread. The guide sleeve 26 is slidably connected to the arm A4 and the arm B4 up and down. By rotating the adjusting screw 25, the guide sleeve 26 can be driven to move up and down along the axis direction of the adjusting screw 25 relative to the massage palm, thereby adjusting the distance between the end of the guide sleeve 26 and the massage palm 5 to achieve the purpose of adjusting the buffering effect of the buffer spring.

[0039] In one embodiment of the utility model, a lifting and lowering adjustment mechanism is provided between the base and the shell, so as to adjust the slapping massage height of the massage palm according to needs.

[0040] The above are only preferred embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for the purpose of explaining the principles of the present invention, and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanation here, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other specific implementation methods of the present invention that can be associated with by technicians in this field without creative labor, should be included in the scope of protection of the present invention.

Claims

1. A hammering and slapping robot, comprising a base, a moving mechanism connected to the lower surface of the base, a mounting frame provided on the upper surface of the base, an arm A and an arm B provided near the top of the mounting frame, the movable ends of the arm A and the arm B are respectively connected to massage palms, and the other ends of the arm A and the arm B are connected to a swing driving mechanism, characterized in that: The swing drive mechanism includes a horizontal rotating shaft A and a horizontal rotating shaft B which are respectively fixedly connected to the arm A and the arm B, and the horizontal rotating shaft A and the horizontal rotating shaft B are rotatably connected to the mounting frame, and the horizontal rotating shaft A and the horizontal rotating shaft B are respectively fixedly connected with a driven bevel gear A and a driven bevel gear B, and the driven bevel gear A and the driven bevel gear B are respectively meshed and connected with the driving bevel gear, and the driving bevel gear is fixedly connected to the vertical shaft, and the driven bevel gear A and the driven bevel gear B are symmetrically arranged on the left and right sides of the vertical shaft, and the vertical shaft is connected with a reciprocating rotation drive mechanism.

2. A hammering and beating robot as claimed in claim 1, characterized in that: The reciprocating rotation drive mechanism includes a drive arm fixedly connected to a vertical axis, the drive arm is provided with a drive groove, a drive rod is slidably provided in the drive groove, the drive rod is fixed on a drive disk, the drive disk is connected to an output shaft of a drive motor, and the drive rod is eccentrically arranged on the drive disk.

3. A hammering and beating robot as claimed in claim 2, characterized in that: The horizontal rotating shaft A and the horizontal rotating shaft B are connected with a hammer swing amplitude adjustment mechanism.

4. A hammering and beating robot as claimed in claim 3, characterized in that: The hammer swing amplitude adjustment mechanism includes an adjustment guide rail arranged on the driving disk, a locking adjustment block is slidably arranged in the adjustment guide rail, an adjustment locking screw is threadedly connected to the locking adjustment block, the adjustment locking screw is rotationally connected to the driving disk, and the driving rod is fixed on the locking adjustment block.

5. A hammering and beating robot as claimed in claim 1, characterized in that: A swing arm spacing adjustment mechanism is connected between the arm A and the arm B.

6. A hammering and beating robot as claimed in claim 5, characterized in that: The swing arm spacing adjustment mechanism includes a horizontal guide groove on the horizontal rotation axis A and the horizontal rotation axis B. The horizontal guide groove is set along the axial direction of the horizontal rotation axis A and the horizontal rotation axis B. A horizontal guide block is set in the horizontal guide groove for sliding left and right. The horizontal guide block is fixed on the inner side of the guide ring. The guide ring is set on the horizontal rotation axis A or the horizontal rotation axis B for sliding left and right. The arm A and the arm B are fixed on the guide ring, and a locking nut is connected to the guide ring.

7. A hammering and beating robot as claimed in claim 1, characterized in that: A buffer mechanism is provided between the massage palm and the arm A and the arm B.

8. A hammering and beating robot as claimed in claim 7, characterized in that: The buffer mechanism includes a buffer spring, which is arranged between the massage palm and arm A and arm B. The upper surface of the massage palm is connected to a guide rod, and the guide rod is arranged in a guide hole on arm A or arm B to slide up and down.

9. A hammering and beating robot as claimed in claim 8, characterized in that: The guide rod comprises an adjusting screw and a guide sleeve. The bottom end of the adjusting screw is rotatably connected to the upper surface of the massage palm. The adjusting screw and the guide sleeve are connected via a thread. The guide sleeve is slidably connected to the arm A and the arm B up and down.

Images