Flexible drive bionic massage manipulator

Abstract

The utility model discloses a flexible driving bionic massage mechanical arm which comprises a mechanical arm body. The connecting shell is fixedly arranged at one end of the manipulator; the strip-shaped column is fixedly arranged at the bottom end of the connecting shell, and a through hole is formed in the bottom end of the strip-shaped column; the massage columns are connected with inner cavities of the through holes in an inserted mode; the massage driving mechanism is arranged in an inner cavity of the strip-shaped column; and the reciprocating beating mechanism is arranged on one side of the strip-shaped column. According to the flexible driving bionic massage manipulator, the massage driving mechanism is arranged and can drive the rotating rod to drive the rotating column base to rotate circumferentially, so that the rotating disc drives the massage column to swing in a surrounding mode under the driving of the connecting column and the connecting rod, and the bottom end of the massage column conducts flexible massage on the body of a patient; the massage range of the bottom ends of the massage columns to the body of the patient is enlarged, and compared with rolling massage of traditional massage balls, the massage is more comfortable.

Description

Technical Field

[0001] This utility model relates to the field of mechanical massage technology, specifically a flexible-driven bionic massage robot hand. Background Technology

[0002] In 2022, there were over 50 million people with lower limb paralysis in China, and approximately 42 million elderly people were bedridden. Limb massage therapy can promote local blood circulation, improve blood flow and remove blood stasis, promote the recovery of limb movement, and effectively prevent diseases such as bedsores and varicose veins in the lower limbs. In addition, in today's fast-paced era, young people's study and work intensity and time have increased significantly. Prolonged sitting can easily lead to shoulder, neck and back pain, which can further develop into diseases such as frozen shoulder and cervical spondylosis. With the acceleration of my country's aging population and changes in people's lifestyles and work patterns, people are paying more and more attention to health, and massage, as a traditional health care method, has received widespread attention.

[0003] Existing massage robots only roll massage balls around the body, which cannot provide deep massage to specific areas, resulting in a poor massage experience and a limited massage trajectory. Utility Model Content

[0004] The purpose of this invention is to provide a flexible, driven bionic massage robot to solve the problems of the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a flexible driven bionic massage manipulator, comprising:

[0006] robotic arm;

[0007] The connecting housing is fixedly mounted at one end of the robotic arm;

[0008] A strip-shaped column is fixedly installed at the bottom end of the connecting housing, and a through hole is opened at the bottom end of the strip-shaped column;

[0009] The massage column is inserted into the inner cavity of the through hole;

[0010] A massage drive mechanism is disposed within the inner cavity of the strip column;

[0011] A reciprocating hammering mechanism is located on one side of the strip column.

[0012] Preferably, the massage drive mechanism includes: a first drive motor, fixedly disposed at the bottom end of the inner cavity of the connecting housing; a rotating shaft, the output end of the first drive motor extending into the inner cavity of the strip column and locked to the rotating shaft by a coupling; a connecting cylinder, inserted into the outer wall of the rotating shaft; a rotating rod, fixedly disposed at the bottom end of the connecting cylinder; a rotating column, fixedly disposed at the bottom end of the rotating rod; a rotating ball, adapted to be inserted into the bottom end of the rotating column; a connecting column, fixedly disposed at the bottom end of the outer wall of the rotating ball; a connecting rod, fixedly disposed at the bottom end of the connecting column; and a turntable, fixedly disposed at the bottom end of the connecting rod, and the massage column is fixedly connected to the bottom end of the turntable.

[0013] Preferably, the inner cavity of the connecting cylinder is provided with sliding grooves on both the left and right sides, and a slider is inserted into the inner cavity of the sliding groove, and the slider is fixedly connected to the outer wall of the rotating shaft.

[0014] Preferably, the rotating ball is located on one side of the bottom end of the rotating column, and the rotating ball and the rotating rod are not located on the same axis.

[0015] Preferably, a portion of the outer wall of the rotating ball extends beyond the lower surface of the rotating column.

[0016] Preferably, the massage column and the turntable are inclined to one side, and the connecting rod is perpendicular to the turntable.

[0017] Preferably, the connecting rod is U-shaped, and the bottom end of the connecting rod is located on the front and rear sides of the top of the turntable.

[0018] Preferably, the reciprocating hammering mechanism includes: a rectangular shell, fixedly disposed on one side of the outer wall of the strip column; a second drive motor, fixedly disposed in the inner cavity of the rectangular shell; a rotating handle, the output end of the second drive motor extending into the inner cavity of the strip column and fixedly disposed thereon; a pusher, fixedly disposed on one side of the rotating handle; and a connecting plate, fixedly disposed on one side of the outer wall of the connecting cylinder, wherein a strip groove is formed on one side of the connecting plate, and the pusher is inserted into one side of the inner cavity of the strip groove.

[0019] Preferably, the middle part of one side of the connecting plate is fixedly connected to the outer wall of the connecting cylinder.

[0020] Compared with the prior art, the beneficial effects of this utility model are: the flexible driven bionic massage manipulator;

[0021] The massage drive mechanism can drive the rotating rod to rotate the rotating column seat in a circular motion. Under the drive of the connecting column and the connecting rod, the turntable drives the massage column to swing around, so that the bottom of the massage column can gently massage the patient's body and expand the massage range of the bottom of the massage column on the patient's body. This is more comfortable than the rolling massage of traditional massage balls.

[0022] The reciprocating percussion mechanism controls the up-and-down movement of the connecting cylinder, allowing the turntable and massage column to press up and down during the gentle motion, thus increasing the massage effect. It also allows the two massage functions to be used separately or simultaneously as needed, enhancing the massage experience. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of this utility model;

[0024] Figure 2 This is a front sectional view of the strip column of this utility model;

[0025] Figure 3 This utility model Figure 2 Enlarged view of point A in the middle;

[0026] Figure 4 This is a schematic diagram of the assembly structure of the turntable of this utility model;

[0027] Figure 5 This is an exploded structural diagram of the reciprocating hammering mechanism of this utility model.

[0028] In the diagram: 1. Robotic arm; 2. Connecting housing; 3. Strip column; 4. Through hole; 5. Massage column; 6. Massage drive mechanism; 61. First drive motor; 62. Rotating shaft; 63. Connecting cylinder; 64. Rotating rod; 65. Rotating column; 66. Rotating ball; 67. Connecting column; 68. Connecting rod; 69. Turntable; 610. Slide groove; 611. Slider; 7. Reciprocating hammering mechanism; 71. Rectangular shell; 72. Second drive motor; 73. Rotating handle; 74. Push column; 75. Connecting plate; 76. Strip groove. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 1-5 This utility model provides a technical solution: a flexible driven bionic massage manipulator, comprising: manipulator 1, connecting shell 2, strip column 3, through hole 4, massage column 5, massage drive mechanism 6, and reciprocating pounding mechanism 7;

[0031] The connecting housing 2 is fixedly installed at one end of the robot arm 1, and the strip column 3 is fixedly installed at the bottom end of the connecting housing 2. The bottom end of the strip column 3 has a through hole 4. The massage column 5 is inserted into the inner cavity of the through hole 4. The massage column 5 is existing technology and can be heated and adjusted according to needs. The massage drive mechanism 6 is installed in the inner cavity of the strip column 3, and the reciprocating pounding mechanism 7 is installed on one side of the strip column 3.

[0032] As a preferred embodiment, the massage drive mechanism 6 further includes: a first drive motor 61, a rotating shaft 62, a connecting cylinder 63, a rotating rod 64, a rotating column 65, a rotating ball 66, a connecting column 67, a connecting rod 68, a turntable 69, a slide groove 610, and a slider 611.

[0033] In order to control the rotation of the connecting cylinder 63, the first drive motor 61 is fixedly installed at the bottom of the inner cavity of the connecting housing 2. The output end of the first drive motor 61 extends into the inner cavity of the strip column 3 and is locked with the rotating shaft 62 by a coupling. The connecting cylinder 63 is inserted into the outer wall of the rotating shaft 62.

[0034] In order to drive the turntable 69 to swing, the rotating rod 64 is fixedly installed at the bottom end of the connecting cylinder 63, the rotating column 65 is fixedly installed at the bottom end of the rotating rod 64, the rotating ball 66 is adapted to be inserted into the bottom end of the rotating column 65, the connecting column 67 is fixedly installed at the bottom end of the outer wall of the rotating ball 66, the connecting rod 68 is fixedly installed at the bottom end of the connecting column 67, the turntable 69 is fixedly installed at the bottom end of the connecting rod 68, and the massage column 5 is fixedly connected to the bottom end of the turntable 69. Under the rotation of the rotating column 65 and the rotating ball 66, the connecting column 67 and the connecting rod 68 can swing.

[0035] In order to enable the rotating shaft 62 to drive the connecting cylinder 63 to rotate, the inner cavity of the connecting cylinder 63 is provided with sliding grooves 610 on both the left and right sides. The inner cavity of the sliding groove 610 is fitted with a slider 611, and the slider 611 is fixedly connected to the outer wall of the rotating shaft 62.

[0036] As a preferred embodiment, the rotating ball 66 is located on one side of the bottom end of the rotating column 65, and the rotating ball 66 and the rotating rod 64 are not on the same axis, so that the rotating ball 66 can rotate around the axis of the rotating rod 64.

[0037] As a preferred embodiment, a portion of the outer wall of the rotating ball 66 extends beyond the lower surface of the rotating column 65 to prevent the rotating ball 66 from detaching from the lower surface of the rotating column 65 during rotation.

[0038] As a preferred embodiment, the massage column 5 and the turntable 69 are tilted to one side, and the connecting rod 68 is perpendicular to the turntable 69, so that the connecting rod 68 can drive the turntable 69 to tilt and swing.

[0039] As a preferred option, the connecting rod 68 is U-shaped, and the bottom end of the connecting rod 68 is located on the front and rear sides of the top of the turntable 69. Driven by the connecting rod 68, the turntable 69 can be controlled to swing smoothly within the strip column 3.

[0040] As a preferred embodiment, the reciprocating hammering mechanism 7 further includes: a rectangular shell 71, a second drive motor 72, a handle 73, a push column 74, a connecting plate 75, and a strip groove 76;

[0041] To control the smooth up-and-down movement of the connecting cylinder 63, a rectangular shell 71 is fixedly mounted on one side of the outer wall of the strip column 3. A second drive motor 72 is fixedly mounted inside the rectangular shell 71. The output end of the second drive motor 72 extends into the inner cavity of the strip column 3 and is fixedly mounted with a rotating handle 73. A pusher 74 is fixedly mounted on one side of the rotating handle 73. The second drive motor 72 can drive the rotating handle 73 to swing clockwise, thereby driving one end of the pusher 74 to move in a circular motion. A connecting plate 75 is fixedly mounted on one side of the outer wall of the connecting cylinder 63. A strip groove 76 is opened on one side of the connecting plate 75, and the pusher 74 is inserted into one side of the inner cavity of the strip groove 76. The outer wall of the pusher 74 can push the inner wall of the strip groove 76 to move, thereby driving the connecting cylinder 63 to move up and down reciprocally with the cooperation of the sliding groove 610 and the slider 611 through the connecting plate 75.

[0042] As a preferred option, the middle part of one side of the connecting plate 75 is fixedly connected to the outer wall of the connecting cylinder 63 so that the connecting plate 75 can drive the connecting cylinder 63 to move smoothly.

[0043] Its detailed connection method is a well-known technology in this field. The following mainly introduces the working principle and process, and the specific work is as follows.

[0044] Step 1: The robotic arm 1 moves the massage column 5 above the patient's body, and the first drive motor 61 is activated. The first drive motor 61 drives the rotating shaft 62 to rotate clockwise around its own axis, which in turn drives the connecting cylinder 63 to rotate through the slide groove 610 and the slider 611, causing the rotating rod 64 to rotate. This causes the rotating column 65 to rotate around the bottom of the rotating rod 64, driving the rotating ball 66 to make a circular motion. Under the rotation of the rotating column 65 and the rotating ball 66, the connecting column 67 and the connecting rod 68 can swing, causing the turntable 69 to drive the massage column 5 to swing around under the constraint of the strip column 3. This allows the massage column 5 to provide a gentle massage and expands the massage range of the bottom of the massage column 5 on the patient's body, which is more comfortable than the rolling massage of traditional massage balls.

[0045] Step 2: Start the second drive motor 72. The second drive motor 72 can drive the handle 73 to swing clockwise, thereby driving one end of the push column 74 to move in a circular motion. This causes the outer wall of the push column 74 to push the inner wall of the strip groove 76 to move. In turn, the connecting plate 75 drives the connecting cylinder 63 to move up and down in cooperation with the slide groove 610 and the slider 611. This allows the turntable 69 and the massage column 5 to press up and down during the gentle movement, increasing the massage effect. The two massage functions can be used separately or simultaneously as needed to improve the massage experience.

[0046] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible, driven bionic massage robotic hand, characterized in that, include: robotic arm (1); The connecting housing (2) is fixedly installed at one end of the robotic arm (1); A strip column (3) is fixedly installed at the bottom end of the connecting housing (2). A through hole (4) is provided at the bottom end of the strip column (3). The massage column (5) is inserted into the inner cavity of the through hole (4); A massage drive mechanism (6) is disposed in the inner cavity of the strip column (3); A reciprocating hammering mechanism (7) is located on one side of the strip column (3).

2. The flexible driven bionic massage manipulator according to claim 1, characterized in that: The massage drive mechanism (6) includes: The first drive motor (61) is fixedly installed at the bottom of the inner cavity of the connecting housing (2); A rotating shaft (62) is provided, with the output end of the first drive motor (61) extending into the inner cavity of the strip column (3) and locked with a coupling. The connecting cylinder (63) is inserted into the outer wall of the rotating shaft (62); The rotating rod (64) is fixedly installed at the bottom end of the connecting cylinder (63); A rotating column (65) is fixedly installed at the bottom end of the rotating rod (64); Rotating ball (66) is adapted to be inserted into the bottom end of the rotating column (65); A connecting column (67) is fixedly installed at the bottom of the outer wall of the rotating ball (66); The connecting rod (68) is fixedly installed at the bottom end of the connecting post (67); The turntable (69) is fixedly installed at the bottom end of the connecting rod (68), and the massage column (5) is fixedly connected to the bottom end of the turntable (69).

3. The flexible driven bionic massage manipulator according to claim 2, characterized in that: The inner cavity of the connecting cylinder (63) is provided with sliding grooves (610) on both the left and right sides. A slider (611) is inserted into the inner cavity of the sliding groove (610), and the slider (611) is fixedly connected to the outer wall of the rotating shaft (62).

4. The flexible driven bionic massage manipulator according to claim 2, characterized in that: The rotating ball (66) is located on one side of the bottom end of the rotating column (65), and the rotating ball (66) and the rotating rod (64) are not located on the same axis.

5. The flexible driven bionic massage manipulator according to claim 2, characterized in that: Part of the outer wall of the rotating ball (66) extends out of the lower surface of the rotating column (65).

6. The flexible driven bionic massage manipulator according to claim 2, characterized in that: The massage column (5) and the turntable (69) are inclined to one side, and the connecting rod (68) is perpendicular to the turntable (69).

7. The flexible driven bionic massage manipulator according to claim 2, characterized in that: The connecting rod (68) is U-shaped, and the bottom end of the connecting rod (68) is located on the front and rear sides of the top of the turntable (69).

8. The flexible driven bionic massage manipulator according to claim 2, characterized in that: The reciprocating hammering mechanism (7) includes: A rectangular shell (71) is fixedly disposed on one side of the outer wall of the strip column (3); The second drive motor (72) is fixedly installed in the inner cavity of the rectangular shell (71); A handle (73) is fixedly provided on the output end of the second drive motor (72) extending into the inner cavity of the strip column (3). A pusher (74) is fixedly mounted on one side of the rotating handle (73); A connecting plate (75) is fixedly disposed on one side of the outer wall of the connecting cylinder (63). A strip groove (76) is provided on one side of the connecting plate (75), and the pusher (74) is inserted into one side of the inner cavity of the strip groove (76).

9. A flexible driven bionic massage manipulator according to claim 8, characterized in that: The middle part of one side of the connecting plate (75) is fixedly connected to the outer wall of the connecting cylinder (63).

Images