Vibratory massage manipulator

Abstract

The utility model discloses a vibratory massage manipulator which comprises a machine frame and two swing arms movably arranged on the machine frame, two first massage heads are arranged at the end of each swing arm at intervals, and a driving mechanism which is in linkage with the two swing arms and can drive the two swing arms to move is arranged on the machine frame. A vibration massage mechanism is further arranged in the middle of the two spaced first massage heads of the swing arm, the vibration massage mechanism comprises a second massage head, a supporting seat and a vibration motor, and the second massage head and the vibration motor are both arranged on the supporting seat and connected with the swing arm through the supporting seat. The vibratory massage manipulator provided by the utility model can provide a vibratory massage effect for a user.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of vibration massage mechanical hands. BACKGROUND

[0002] Mechanical hand is the important component of massaging chair, it is generally arranged in the middle area of massaging chair, cooperate with the track of massaging chair, can walk up and down along the track of massaging chair, to realize the walking and fixed-point massage to user shoulder, neck, back, waist etc.

[0003] Traditional massaging chair mechanical hand generally includes frame, two swing arms movably arranged on the frame, two massage heads are arranged at the end of each swing arm with interval, kneading motor, knocking motor for driving two swing arms and cooperating with the massage head on swing arm to realize kneading, knocking and other massage actions are further arranged on the frame, and walking motor capable of driving massage core to walk along the guide rail of massaging chair is further arranged.

[0004] Mechanical hand of traditional structure has single function, generally only kneading and knocking massage function can be realized, without vibration massage function.In addition, it is only through four massage heads on two swing arms to act on the body of user for massage, the massage area is relatively small, and the massage effect needs to be improved. INVENTION CONTENTS

[0005] In view of the deficiencies of prior art, the utility model provides a kind of vibration massage mechanical hand that can provide vibration massage effect.

[0006] To achieve the above object, the utility model provides a kind of vibration massage mechanical hand, including frame, two swing arms movably arranged on the frame, two first massage heads are arranged at the end of each swing arm with interval, driving mechanism is arranged on the frame and is linked with two swing arms and can drive two swing arms to move, the middle position of two spaced first massage heads of swing arm is further provided with vibration massage mechanism, and the vibration massage mechanism includes second massage head, support seat, vibration motor, second massage head, vibration motor are arranged on support seat and are connected with swing arm by support seat.Vibration massage mechanism second massage head can also act on human body while swing arm is driven by driving mechanism to move, realize the massage to human body, by the cooperation of two first massage heads, the massage area of mechanical hand can be expanded, and since the position of first massage head and second massage head at swing arm end is different, its movement mode also has certain difference with first massage head, and since it can also produce vibration, the defect that the massage mode of traditional mechanical hand is single can be supplemented.

[0007] Further, the support base comprises a mounting portion, a fixing portion and an elastic connecting portion, the second massage head and the vibration motor are mounted on the mounting portion of the support base, the fixing portion of the support base is fixed with the swing arm, and the elastic connecting portion is connected between the mounting portion and the fixing portion. The elastic connecting portion can provide elasticity when the second massage head presses against the human body, and the vibration motor can improve the vibration effect of the second massage head when generating vibration, so that the massage effect is improved.

[0008] Further, the mounting portion and the elastic connecting portion of the support base are integrally formed from the same metal plate, the elastic connecting portion is bent into an L shape, one end of the elastic connecting portion is integrally connected with the mounting portion, the fixing portion is arranged at the other end of the elastic connecting portion, the second massage head is mounted on one side of the mounting portion, the vibration motor is mounted on the other side of the mounting portion, or the second massage head and the vibration motor are mounted on one side of the mounting portion, and the second massage head is provided with a containing groove for containing the vibration motor at the inner side corresponding to the mounting portion. When the vibration motor is contained in the containing groove of the second massage head, on the one hand, the structure of the vibration massage mechanism is more compact, the occupation of the surrounding space is reduced, and the vibration massage mechanism is not easy to interfere with other parts of the robot hand during work, on the other hand, the second massage head and the vibration motor can be mounted from the same side of the mounting portion, so that the assembly is facilitated.

[0009] Further, the fixing portion is a pad fixed at the other end of the elastic connecting portion, the pad is fixed at the side of the elastic connecting portion corresponding to the second massage head, and the side of the pad corresponding to the second massage head is fixed with the swing arm. The pad is arranged to increase the length of the elastic connecting portion, so that the second massage head is kept in alignment with the two first massage heads of the swing arm, and the massage effect is improved.

[0010] Further, the second massage head comprises a hemispherical or semicylindrical protrusion and lugs arranged around the bottom of the protrusion, the lugs and the mounting portion are fixed by screws, and the second massage head can be integrally processed by injection molding.

[0011] When the second massage head and the vibration motor are arranged on the two sides of the mounting portion, further, a motor support and a clamp are arranged on the other side of the mounting portion, the motor support and the clamp each comprise a groove for embedding the main body of the vibration motor, the two sides of the clamp are provided with lugs, and the lugs and the motor support are fixed by screws, so that the vibration motor is simple in structure and convenient to install.

[0012] When the second massage head and the vibration motor are arranged at one side of the mounting portion, the one side of the mounting portion is fixedly mounted with a motor support, the motor support comprises a groove for being matched and fixedly arranged with the main body of the vibration motor, the bottom of the motor support is provided with lugs, and the lugs of the motor support, the lugs of the second massage head and the mounting portion are fixed through shared screws.

[0013] Further, the vibration motor has output shafts outwardly extending from two ends of the main body, and eccentric blocks are arranged at two ends of the output shafts, so that the vibration effect of the vibration motor is improved, and the vibration massage effect is improved.

[0014] Further, the second massage head is provided with a heating module, so that the second massage head can be heated, and functions such as hot compress and moxibustion can be realized.

[0015] The vibration massage mechanical hand can provide vibration massage effect for users, and the massage mode of the mechanical hand is enriched. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural diagram of the vibration massage mechanism of the utility model embodiment;

[0017] Figure 2 is a structural diagram of the swing arm of the utility model embodiment;

[0018] Figure 3 is a structural diagram of the vibration massage mechanism of the utility model embodiment; Figure 1

[0019] Figure 4 is a structural diagram of the vibration massage mechanism of the utility model embodiment; Figure 2

[0020] Figure 5 is a mounting schematic view of the vibration massage mechanism of another utility model embodiment;

[0021] Figure 6 is a structural exploded view of the vibration massage mechanism of another utility model embodiment;

[0022] Figure 7 is a structural diagram of the vibration massage mechanism of another utility model embodiment. DETAILED DESCRIPTION

[0023] ​​The utility model discloses a vibrating massage mechanical hand's implementation example such as Figures 1-4 As shown: including frame 1, two swing arms 2 of movable setting on frame 1, the end of each swing arm 2 is spaced apart with two first massage head 3, is provided with the drive mechanism that can drive two swing arms 2 movement with two swing arms 2 linkage on frame 1, for example knead motor, knock motor and linkage part etc., in addition to the drive mechanism that drives swing arm 2 movement, frame 1 still is provided with the drive mechanism for driving mechanical hand walking, for example walking motor, the intermediate position of two first massage head 3 of swing arm 2 is spaced apart still is provided with vibrating massage mechanism, vibrating massage mechanism includes second massage head 4, support seat 5, vibrating motor 6, second massage head 4, vibrating motor 6 all are set up on support seat 5 and are connected with swing arm 2 through support seat 5.

[0024] Two swing arms 2 are symmetrically arranged, and the first massage head 3 and the second massage head 4 on the two swing arms 2 are also symmetrically arranged.

[0025] The second massage head 4 of the vibrating massage mechanism can also act on the human body while the swing arm 2 is driven to move by the drive mechanism, realizing massage of the human body, and the massage area of the mechanical hand can be expanded through cooperation with the two first massage heads 3, and since the positions of the first massage head 3 and the second massage head 4 at the end of the swing arm 2 are different, the movement modes are also different from those of the first massage head 3, and since the second massage head 4 can also generate vibration, the defect that the massage mode of the traditional mechanical hand is single can be supplemented.

[0026] The support seat 5 includes a mounting portion 51, a fixed portion 52, and an elastic connecting portion 53, the second massage head 4 and the vibrating motor 6 are mounted on the mounting portion 51 of the support seat 5, the fixed portion 52 of the support seat 5 is fixed in cooperation with the swing arm 2, and the elastic connecting portion 53 is connected between the mounting portion 51 and the fixed portion 52. The elastic connecting portion 53 is provided so that the second massage head 4 can provide a certain elasticity when pressing against the human body, and the vibrating motor 6 can also improve the vibration effect of the second massage head 4 when generating vibration, thereby improving the massage effect.

[0027] The mounting portion 51 and the elastic connecting portion 53 of the support seat 5 are integrally machined and formed from the same metal plate, the elastic connecting portion 53 is bent into an L shape, facilitating machining and manufacturing, one end of the elastic connecting portion 53 is integrally connected with the mounting portion 51, the second massage head 4 is mounted on one side of the flat mounting portion 51, the vibrating motor 6 is mounted on the other side of the mounting portion 51, the structure is simple and compact, facilitating installation, and the fixed portion 52 is arranged at the other end of the elastic connecting portion 53.

[0028] The fixed part 52 is a pad fixed at the other end of the elastic connecting part 53, the pad is fixed at the side of the elastic connecting part 53 corresponding to the second massage head 4, the side of the pad corresponding to the second massage head 4 is fixed in cooperation with the swing arm 2, the setting of the pad is beneficial to increase the length of the elastic connecting part 53, so that the second massage head 4 is kept in the position aligned with the two first massage heads 3 of the swing arm 2, and the massage effect is improved.

[0029] The second massage head 4 comprises a semispherical protrusion 41 and lugs 42 arranged around the bottom of the protrusion 41, the lugs 42 are fixed between the mounting part 51 through screws, the second massage head 4 can be integrally processed by injection molding, and the protrusion 41 cooperates with the human body.

[0030] The second massage head 4 has a space in the inside, a heating module is arranged in the space, and functions such as hot compress and moxibustion can be realized.

[0031] The other side of the mounting part 51 is provided with a motor support 7 and a clamp 8, the motor support 7 and the clamp 8 both comprise grooves for being embedded in cooperation with the main body 61 of the vibration motor 6, the two sides of the clamp 8 are provided with lugs 81, the lugs 81 and the motor support 7 are fixed through screws, the structure is simple, and the vibration motor 6 is convenient to install.

[0032] The vibration motor 6 has output shafts extending outwards from the two ends of the main body 61, eccentric blocks 62 are arranged at the two ends of the output shafts, the vibration effect of the vibration motor 6 can be improved, and thus the vibration massage effect is improved.

[0033] Another embodiment of the vibration massage mechanical hand is shown in the drawing. Figures 5-7 The difference between the embodiment and the above-mentioned embodiment lies in that the second massage head 4 and the vibration motor 6 are both arranged on one side of the mounting part 51, the inner side of the second massage head 4 corresponding to the mounting part 51 is provided with a containing groove 40 for containing the vibration motor 6, and a heating module is further arranged in the containing groove 40, so that functions such as hot compress and moxibustion can be realized.

[0034] The motor support 7 is fixedly arranged on one side of the mounting part 51, the motor support 7 comprises a groove for being embedded in cooperation with the main body of the vibration motor 6, lugs 71 are arranged around the bottom of the motor support 7, and the lugs 71 of the motor support, the lugs 42 of the second massage head 4 and the mounting part 51 are fixed through shared screws.

[0035] In order to adapt to the installation of the vibration motor 6 and improve the contact massage effect with the human body, the protrusion 41 of the second massage head 4 is semicylindrical.

[0036] When installing, the motor support 7 and the second massage head 4 can be stacked on one side of the mounting portion 51 in sequence, the hole position of the lug 71 of the motor support 7, the hole position of the lug 42 of the second massage head 4 and the hole position of the mounting portion 51 are aligned, and the three are connected by a screw at the same time, so that the number of screws is reduced, and the installation process is more convenient.

[0037] Since one side of the mounting portion 51 is away from the main body of the robot, when the screw is assembled by using a screwdriver tool, the main body of the robot does not block and interfere, so that the installation of the vibration massage mechanism is more convenient. In addition, compared with the previous embodiment, since the eccentric block 62 of the vibration motor 6 is not easy to interfere with other parts of the robot, the normal operation of the vibration motor 6 is ensured.

[0038] The above embodiment is only one of the preferred specific embodiments of the present application, and the usual changes and replacements made by those skilled in the art within the technical scheme of the present application are all included in the protection scope of the present application.

Claims

1. A vibrating massage manipulator comprising a frame, two swing arms movably mounted on the frame, two first massage heads spaced apart at the ends of each swing arm, and a drive mechanism disposed on the frame that is linked to and capable of driving the two swing arms to move, characterized in that: The middle position of the two spaced first massage heads of the swing arm is further provided with a vibrating massage mechanism, which comprises a second massage head, a supporting seat and a vibrating motor.

2. The vibrating massaging mechanical hand according to claim 1, wherein: The supporting seat comprises a mounting portion, a fixing portion and an elastic connecting portion, the second massage head and the vibrating motor are mounted on the mounting portion of the supporting seat, the fixing portion of the supporting seat is fixed with the swing arm, and the elastic connecting portion is connected between the mounting portion and the fixing portion.

3. The vibrating massaging mechanical hand according to claim 2, wherein: The mounting portion and the elastic connecting portion of the supporting seat are integrally formed from the same metal plate, the elastic connecting portion is bent into an L shape, one end of the elastic connecting portion is integrally connected with the mounting portion, the fixing portion is arranged at the other end of the elastic connecting portion, the second massage head is mounted on one side of the mounting portion, the vibrating motor is mounted on the other side of the mounting portion, or the second massage head and the vibrating motor are mounted on one side of the mounting portion, and the inner side of the second massage head corresponding to the mounting portion is provided with a containing groove for containing the vibrating motor.

4. The vibrating massaging mechanical hand according to claim 3, wherein: The fixing portion is a pad fixed at the other end of the elastic connecting portion, the pad is fixed at the side of the elastic connecting portion corresponding to the second massage head, and the side of the pad corresponding to the second massage head is fixed with the swing arm.

5. The vibrating massaging mechanical hand according to claim 3, wherein: The second massage head comprises a hemispherical or semicylindrical protrusion and lugs arranged around the bottom of the protrusion, and the lugs and the mounting portion are fixed by screws.

6. The vibrating massaging mechanical hand according to claim 3, wherein: The other side of the mounting portion is provided with a motor support and a clamp, the motor support and the clamp each comprise a groove for embedding the main body of the vibrating motor, the two sides of the clamp are provided with lugs, and the lugs and the motor are fixed by screws.

7. The vibrating massaging mechanical hand according to claim 5, wherein: The motor support is fixedly mounted on one side of the mounting portion, the motor support comprises a groove for embedding and fixing the main body of the vibrating motor, lugs are arranged around the bottom of the motor support, and the lugs of the motor support, the lugs of the second massage head and the mounting portion are fixed by shared screws.

8. The vibrating massaging mechanical hand according to claim 3, wherein: The vibrating motor has output shafts extending outward from both ends of the main body, and eccentric blocks are arranged at both ends of the output shafts, so that the vibration effect of the vibrating motor is improved, thereby improving the vibrating massage effect.

9. The vibrating massaging mechanical hand according to claim 3, wherein: The second massage head is provided with a heating module.

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