Arm-retractable aging-adapted planar kneading mechanical hand

Abstract

This utility model discloses an age-friendly planar kneading robot with a retractable arm, comprising an assembly frame, a kneading shaft, a kneading motor, a striking shaft, a flipping frame, a flipping motor, a striking motor, and a transmission wheel. The kneading shaft has a kneading arm and an inclined eccentric wheel. The striking shaft is rotatably mounted on the flipping frame, and a ball head slides axially on the striking shaft. It also includes a ball seat located outside the ball head, with a ball cavity. A pin is provided on the kneading arm corresponding to the ball seat, and a shaft hole is provided on the ball seat. The transmission wheel is sleeved on the striking shaft and rotates synchronously with it. The transmission wheel is linked with the output shaft of the striking motor. An eccentric section is provided on the striking shaft corresponding to the ball head. The cooperation of the pin and the ball seat allows the flipping frame to rotate and retract or extend the kneading arm when it drives the striking shaft to rotate. The eccentric section on the striking shaft allows the ball seat to slide axially relative to the two pins, thereby causing the lower end of the kneading arm to swing around the eccentric section, realizing the striking action of the kneading arm.

Description

Technical Field

[0001] This utility model relates to the field of massager technology, and in particular to an age-friendly planar kneading robotic arm with a retractable arm. Background Technology

[0002] In existing technology, the kneading arm of the massage mechanism is driven to perform kneading action by the rotation of the inclined eccentric wheel. Currently, massage mechanisms with flip-to-store function cannot perform tapping massage action, and massage mechanisms with tapping massage action cannot perform flip-to-store function. This is because most kneading arms on the market currently use the cooperation of guide rod and guide groove or ball head shaft. Due to the structural cooperation, the two functions cannot appear at the same time. Utility Model Content

[0003] The purpose of this utility model is to overcome the defects of the prior art and provide an age-friendly planar kneading robot with a retractable arm. It adopts the cooperation of pin shaft and ball seat, so that when the flipping frame drives the tapping shaft to flip, it can drive the kneading arm to flip and retract or extend. The ball seat can slide axially relative to the two pin shafts through the eccentric section on the tapping shaft, thereby driving the lower end of the kneading arm to swing around the eccentric section to realize the tapping of the kneading arm.

[0004] This utility model discloses a retractable, age-friendly planar kneading robotic arm, comprising an assembly frame, a kneading shaft rotatably mounted on the assembly frame, a kneading motor driving the kneading shaft to rotate, two sets of kneading arms mounted on the kneading shaft, and inclined eccentric wheels driving each set of kneading arms to knead and swing. The assembly frame also includes a striking shaft, a flipping frame mounted on the kneading shaft, and a flipping motor mounted on the assembly frame to drive the flipping frame to rotate. The striking shaft is rotatably mounted on the flipping frame, and a ball head slides axially on the striking shaft. A ball seat is also included outside the ball head, and the ball seat has a ball cavity adapted to the ball head, with the ball head located within the ball cavity. A pin is provided on the kneading arm at the position corresponding to the ball seat, and a shaft hole is provided on the ball seat at the position corresponding to the pin. The pin is slidably inserted into the shaft hole along the shaft hole axis. The assembly frame is also provided with a striking motor and a transmission wheel. The transmission wheel is sleeved on the striking shaft and rotates synchronously with it. The transmission wheel is linked with the output shaft of the striking motor. The assembly frame is also provided with a traveling shaft and a traveling wheel sleeved on the traveling shaft. The traveling shaft includes a driving shaft and a driven shaft. A traveling motor is provided on the assembly frame at the position corresponding to the driving shaft. The traveling shaft is linked with the output shaft of the traveling motor. An eccentric section is provided on the striking shaft at the position corresponding to the ball head. The traveling shaft, striking shaft and kneading shaft are arranged in parallel.

[0005] A further feature of this invention is that the output shaft of the striking motor is located on one side of the kneading shaft and is coaxial with it. The transmission wheel is linked to the output shaft of the striking motor via a belt, and the distance between the center of the transmission wheel and the axis of the output shaft of the striking motor is R1, and the distance between the axis of the striking shaft and the axis of the kneading shaft is R2, where R1=R2.

[0006] A further feature of this invention is that the flipping frame is located in the middle of the assembly frame, the kneading arms are located on opposite sides of the flipping frame, the flipping motor is also located in the middle of the assembly frame, and the kneading motor and the tapping motor are located on opposite sides of the kneading arms.

[0007] A further feature of this invention is that a first bearing sleeve is provided on the flipping frame corresponding to the position of the striking shaft, and the striking shaft is rotatably passed through the first bearing sleeve. It also includes a pull rod provided on opposite sides of the flipping frame, with one end of the pull rod sleeved on the kneading shaft and the other end sleeved on the striking shaft.

[0008] A further feature of this invention is that the ball seat includes two separate clamping plates, which are locked together by a locking member to form the ball seat. The middle part of the clamping plate is arc-shaped to form a ball groove, and the two ball grooves cooperate to form a ball cavity. The two ends of the clamping plate extend outward to form extension plates, and through holes are provided on the extension plates. The through holes on the two clamping plates are coaxial to form shaft holes.

[0009] A further feature of this invention is that the inclined eccentric wheel is provided with a through hole arranged at an inclination, and the kneading shaft passes through the through hole so that the inclined eccentric wheel is arranged at an inclination. A second bearing sleeve is fitted on the inclined eccentric wheel, and the kneading arm is fitted on the second bearing sleeve.

[0010] The beneficial effects of this invention are as follows: In use, the rotating frame is driven to rotate by the rotating motor, which in turn drives the striking shaft to swing. Simultaneously, because the pin is inserted into the shaft hole of the ball seat, the ball seat acts as a lever, causing the kneading arm to rotate and extend or retract. When the kneading arm extends, the kneading motor operates, driving the inclined eccentric wheel to rotate via the kneading shaft. At this time, because the pin of the kneading arm is inserted into the shaft hole, it restricts the kneading arm's rotation around the kneading shaft. Furthermore, the pin can slide axially relative to the shaft hole, allowing the ball head to slide axially along the eccentric section, and the ball seat can rotate relative to the ball head, enabling the kneading arm to perform kneading massage. The tapping motor drives the tapping shaft to rotate, and the eccentric section drives the lower end of the kneading arm to make eccentric movements through the ball head and ball seat, thereby realizing the function of tapping massage. This solution combines the functions of driving the kneading arm to rotate and driving the kneading arm to tap on the tapping shaft. It not only overcomes the existing defects and adds some functions, but also simplifies the internal structure. In addition, the lower end of the kneading arm can swing relatively eccentrically, so that the kneading part of the kneading arm (the part with the massage roller or massage ball) can have a kneading trajectory close to an arc-shaped horizontal movement. Compared with the traditional elliptical trajectory, it has a smaller range of contact with the bone, making it suitable for the elderly and people with osteoporosis, and has a wider range of applications. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model in its stored state;

[0012] Figure 2 This is a schematic diagram of the structure of the present invention in its extended state;

[0013] Figure 3 for Figure 2 Another perspective structural diagram;

[0014] Figure 4 This is a schematic diagram of part of the structure of this utility model;

[0015] Figure 5 This is a diagram showing the assembly of the components that enable the kneading and tapping actions in this utility model.

[0016] Figure 6 This is a diagram showing the assembly of components such as the kneading shaft, kneading arm, and striking shaft of this utility model.

[0017] Figure 7 This is a diagram showing the assembly of the components on the kneading arm of this utility model;

[0018] Figure 8 This is a cross-sectional view of the inclined eccentric wheel of this utility model;

[0019] Figure 9 This is a schematic diagram of the ball seat structure of this utility model. Detailed Implementation

[0020] The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings:

[0021] In the description of this utility model, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] This utility model discloses a retractable, age-friendly planar kneading robotic arm, comprising an assembly frame 1, on which a kneading shaft 2 and a kneading motor 3 are rotatably mounted. Preferably, a massage wheel or massage ball is rotatably mounted on the top of the kneading arm 4. The kneading shaft 2 is provided with two sets of kneading arms 4 and inclined eccentric wheels 5 that drive each set of kneading arms 4 to knead and swing. The assembly frame 1 is also provided with a striking shaft 6 and a flipping frame 7 and a drive to flip. In this embodiment of the invention, the striking shaft 6 is rotatably mounted on the rotating frame 7, and a ball head 9 slides axially on the striking shaft 6. A ball seat 10 is also included outside the ball head 9. The ball seat 10 has a ball cavity 11 adapted to the ball head 9, and the ball head 9 is located within the ball cavity 11. A pin 12 is provided on the kneading arm 4 corresponding to the position of the ball seat 10, and a shaft hole 13 is provided on the ball seat 10 corresponding to the position of the pin 12. The pin 12 moves axially along the shaft hole 13. The assembly frame 1 is also equipped with a striking motor 14 and a transmission wheel 15, which are slidably inserted into the shaft hole 13. The transmission wheel 15 is sleeved on the striking shaft 6 and rotates synchronously with it. The transmission wheel 15 is linked with the output shaft of the striking motor 14. An eccentric section 16 is provided on the striking shaft 6 corresponding to the ball head 9. The eccentric section 16 is preferably a cylindrical shaft. The axis of the cylindrical shaft is parallel to and does not overlap with the rotation center line of the striking shaft 6. The assembly frame 1 is also equipped with a traveling shaft 17 and a sleeved... The walking shaft 17 includes a driving shaft 171 and a driven shaft 172. A walking motor 18 is provided on the mounting frame 1 at the position corresponding to the driving shaft 171. The walking shaft 17 and the output shaft of the walking motor 18 are linked and cooperated. The walking motor 18 is also located on one side of the kneading arm 4. The walking shaft 17 and the walking wheel 19 are assembled so that they can be mounted on a massage chair or massage sofa. Multi-directional massage can be achieved by walking on the walking track on the massage chair or massage sofa.

[0023] Using the above technical solution, during use, the rotating frame 7 is driven to rotate by the rotating motor 8, which in turn drives the striking shaft 6 to swing. Simultaneously, because the pin 12 is inserted into the shaft hole 13 of the ball seat 10, the ball seat 10 acts as a lever to actuate the pin 12, thereby causing the kneading arm 4 to rotate and extend or retract. When the kneading arm 4 rotates and extends, the kneading motor 3 operates, driving the inclined eccentric wheel 5 to rotate via the kneading shaft 2. At this time, because the pin 12 of the kneading arm 4 is inserted into the shaft hole 13, it restricts the rotation of the kneading arm 4 around the kneading shaft 2. Furthermore, the pin 12 can slide axially relative to the shaft hole 13, allowing the ball head 9 to slide axially along the eccentric section 16, and the ball seat 10 can rotate relative to the ball head 9, thus enabling the kneading arm 4 to... The device performs kneading massage while simultaneously driving the tapping shaft 6 to rotate via the tapping motor 14. The eccentric section 16, through the ball head 9 and ball seat 10, drives the lower end of the kneading arm 4 to perform eccentric motion, thereby achieving the function of tapping massage. This solution combines the functions of driving the kneading arm 4 to rotate and driving the kneading arm 4 to tap on the tapping shaft 6. This not only overcomes existing defects and adds some functions, but also simplifies the internal structure. Furthermore, the lower end of the kneading arm 4 can swing relatively eccentrically in this way, so that the kneading part of the kneading arm 4 (the position with the massage roller or massage ball) can have a kneading trajectory close to an arc-shaped horizontal swing. Compared with the traditional elliptical trajectory, it rests on the bone less, making it suitable for the elderly and people with osteoporosis, and thus having a wider range of applications.

[0024] The output shaft of the striking motor 14 is located on one side of the kneading shaft 2 and is coaxial with it. The transmission wheel 15 is linked to the output shaft of the striking motor 14 via a belt. The distance between the center of the transmission wheel 15 and the axis of the output shaft of the striking motor 14 is R1, and the distance between the axis of the striking shaft 6 and the axis of the kneading shaft 2 is R2. R1=R2. The oscillation is an arc trajectory. When using belt drive, ensuring that R1 equals R2 can prevent the belt from becoming loose or too tight, and ensure that the striking shaft 6 can rotate and oscillate normally.

[0025] The flipping frame 7 is located in the middle of the assembly frame 1, the kneading arms 4 are located on opposite sides of the flipping frame 7, and the flipping motor 8 is also located in the middle of the assembly frame 1. The kneading motor 3 and the tapping motor 14 are located on opposite sides of the kneading arms 4. By placing the flipping frame 7 and the flipping motor 8 in the middle of the assembly frame 1, it is more stable when driving the tapping shaft 6 to rotate. Furthermore, by placing the kneading motor 3 on the side, a gearbox can be installed, thereby reducing the rotational speed of the kneading shaft 2 and slowing down the kneading speed, resulting in greater comfort.

[0026] The flipping frame 7 is provided with a first bearing sleeve 20 corresponding to the position of the striking shaft 6. The striking shaft 6 is rotatably mounted on the first bearing sleeve 20. The frame also includes a pull rod 21 on opposite sides of the flipping frame 7. One end of the pull rod 21 is mounted on the kneading shaft 2, and the other end is mounted on the striking shaft 6. The first bearing sleeve 20 can reduce the friction of the striking shaft 6 rotation, making it easier to drive the striking shaft 6 to rotate. The pull rod 21 can further increase the stability during flipping or use.

[0027] The ball seat 10 includes two separate clamping plates 101, which are locked together by locking members 102 to form the ball seat 10. The middle part of the clamping plate 101 is arc-shaped to form a ball groove. The two ball grooves cooperate to form a ball cavity 11. The two ends of the clamping plate 101 extend outward to form an extension plate 22, and the extension plate 22 is provided with a through hole. The through holes on the two clamping plates 101 are coaxial to form a shaft hole 13. The separate clamping plates 101 make it easier to assemble. The locking member 102 is preferably a bolt and a nut. Of course, the clamping plate 101 can also be provided with a threaded hole, and the bolt and the threaded hole can be used to cooperate. The pin 12 is preferably provided with two pins, and the shaft hole 13 is provided with two pins opposite each other and located on opposite sides of the ball cavity 11.

[0028] The inclined eccentric wheel 5 is provided with a through hole 51 that is inclined. The kneading shaft 2 passes through the through hole 51 so that the inclined eccentric wheel 5 is inclined. The inclined eccentric wheel 5 is fitted with a second bearing sleeve 23. The kneading arm 4 is fitted with the second bearing sleeve 23. When the striking shaft 6 rotates, it will drive the kneading arm 4 to rotate. The second bearing sleeve 23 can reduce the resistance when the kneading arm 4 rotates.

Claims

1. A retractable, age-friendly planar kneading robotic arm, comprising an assembly frame (1), wherein a kneading shaft (2) and a kneading motor (3) for driving the kneading shaft (2) to rotate are rotatably mounted on the assembly frame (1), two sets of kneading arms (4) and inclined eccentric wheels (5) for driving the kneading swing of each set of kneading arms (4) are mounted on the kneading shaft (2), and a striking shaft (6) is also provided on the assembly frame (1), and further comprising a flipping frame (7) mounted on the kneading shaft (2) and a flipping motor (8) mounted on the assembly frame (1) for driving the flipping frame (7) to rotate, characterized in that: The striking shaft (6) is rotatably mounted on the flipping frame (7), and a ball head (9) slides axially on the striking shaft (6). It also includes a ball seat (10) located outside the ball head (9). The ball seat (10) has a ball cavity (11) adapted to the ball head (9). The ball head (9) is located inside the ball cavity (11). A pin (12) is provided on the kneading arm (4) corresponding to the position of the ball seat (10). (12) A shaft hole (13) is provided at the position. The pin (12) is slidably inserted into the shaft hole (13) along the shaft hole (13) axially. The assembly frame (1) is also provided with a striking motor (14) and a transmission wheel (15). The transmission wheel (15) is sleeved on the striking shaft (6) and rotates synchronously with it. The transmission wheel (15) is linked with the output shaft of the striking motor (14). The striking shaft (6) is provided with a corresponding ball head (9) position. An eccentric section (16) is provided. The assembly frame (1) is also provided with a walking shaft (17) and a walking wheel (19) sleeved on the walking shaft (17). The walking shaft (17) includes a drive shaft (171) and a driven shaft (172). A walking motor (18) is provided on the assembly frame (1) corresponding to the position of the drive shaft (171). The drive shaft (171) is linked with the output shaft of the walking motor (18). The walking shaft (17), the striking shaft (6) and the kneading shaft (2) are arranged in parallel. The output shaft of the striking motor (14) is located on one side of the kneading shaft (2) and is coaxial with it. The transmission wheel (15) is linked with the output shaft of the striking motor (14) via a belt. The distance between the center of the transmission wheel (15) and the center of the output shaft of the striking motor (14) is R1. The distance between the center of the striking shaft (6) and the center of the kneading shaft (2) is R2. R1=R2.

2. The age-friendly planar kneading robotic arm with a retractable arm according to claim 1, characterized in that: The flipping frame (7) is located in the middle of the assembly frame (1), the kneading arms (4) are located on opposite sides of the flipping frame (7), and the flipping motor (8) is also located in the middle of the assembly frame (1). The kneading motor (3) and the tapping motor (14) are located on opposite sides of the kneading arms (4).

3. A retractable, age-friendly planar kneading robotic arm according to claim 1 or 2, characterized in that: The flipping frame (7) is provided with a first bearing sleeve (20) at the position corresponding to the striking shaft (6). The striking shaft (6) is rotated through the first bearing sleeve (20). The frame also includes a pull rod (21) on opposite sides of the flipping frame (7). One end of the pull rod (21) is sleeved on the kneading shaft (2), and the other end is sleeved on the striking shaft (6).

4. The age-friendly planar kneading robotic arm with a retractable arm according to claim 1, characterized in that: The ball seat (10) includes two separate clamping plates (101). The two clamping plates (101) are locked together by a locking member (102) to form the ball seat (10). The middle part of the clamping plate (101) is arc-shaped to form a ball groove. The two ball grooves cooperate to form a ball cavity (11). The two ends of the clamping plate (101) extend outward to form an extension plate (22). The extension plate (22) is provided with a through hole. The through holes on the two clamping plates (101) are coaxial to form a shaft hole (13).

5. The age-friendly planar kneading robotic arm with a retractable arm according to claim 1, characterized in that: The inclined eccentric wheel (5) has a through hole (51) in its middle part, and the kneading shaft (2) passes through the through hole (51) so that the inclined eccentric wheel (5) is inclined. The inclined eccentric wheel (5) is fitted with a second bearing sleeve (23), and the kneading arm (4) is fitted on the second bearing sleeve (23).

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