阅读说明：本技术 一种人工理疗按摩机器人 (Artificial physical therapy massage robot ) 是由 王祥林 王晓艳 于 2021-07-20 设计创作，主要内容包括：本发明涉及按摩机器人,更具体的说是一种人工理疗按摩机器人,包括腿部支架、横移机构、升降机构、敲打部件、限位机构、底部支架、调整丝杆和支撑支架,可以通过横移机构调整升降机构的位置,升降机构调整多个敲打部件的位置,进而调整多个敲打部件对腿部敲打的位置,多个敲打部件的敲打幅度可以进行调整,进而满足不同的使用需求,同时多个敲打部件敲打的方式为波浪敲击,进而模拟人手按摩的方式,同时两个腿部支架之间的相对距离可以进行调整,进而满足不同的使用需求,背部机构的倾斜角度可以进行调整,进而满足不同的使用需求。(The invention relates to a massage robot, in particular to an artificial physical therapy massage robot which comprises a leg support, a traversing mechanism, a lifting mechanism, a beating part, a limiting mechanism, a bottom support, an adjusting screw rod and a supporting support.)

1. The utility model provides an artifical physiotherapy massage robot, includes shank support (10), sideslip mechanism (20), elevating system (30) and beats part (40), its characterized in that: the leg support (10) is connected with a transverse moving mechanism (20), the transverse moving mechanism (20) is fixedly connected with two lifting mechanisms (30), and each lifting mechanism (30) is connected with a plurality of beating parts (40).

2. The artificial physiotherapy massage robot according to claim 1, wherein: elevating system (30) are including telescopic machanism I (31), and sliding connection has sliding bracket (32) on telescopic machanism I (31)'s the flexible end, and sliding connection has wave frid (34) on sliding bracket (32), and fixedly connected with beats support (35) on telescopic machanism I (31) flexible end.

3. The artificial physiotherapy massage robot according to claim 2, wherein: the beating support (35) is connected with a plurality of beating parts (40) in a rotating mode, and a reset torsion spring is fixedly connected between each beating part (40) and the beating support (35).

4. The artificial physiotherapy massage robot according to claim 2, wherein: sliding bracket (32) are gone up through threaded connection has threaded rod (33), and threaded rod (33) rotate to be connected on telescopic machanism I (31) stretch out and draw back and serve.

5. The artificial physiotherapy massage robot according to claim 2, wherein: the transverse moving mechanism (20) comprises transverse moving screw rods (21), transverse moving sliding blocks (22) are connected to the transverse moving screw rods (21) through threads, the number of the leg supports (10) is two, the two transverse moving screw rods (21) are respectively connected to the two leg supports (10) in a rotating mode, and the two transverse moving sliding blocks (22) are respectively connected to the two leg supports (10) in a sliding mode.

6. The manual physiotherapy massage robot of claim 5, wherein: two telescoping mechanisms I (31) are fixedly connected to the two transverse moving sliding blocks (22).

7. The artificial physiotherapy massage robot according to claim 2, wherein: the novel corrugated plate conveying mechanism is characterized by further comprising a limiting mechanism (50), wherein the limiting mechanism (50) comprises a telescopic mechanism II (51), the telescopic end of the telescopic mechanism II (51) is fixedly connected with a limiting bottom plate (52), the telescopic end of each of the four telescopic mechanisms I (31) is fixedly connected with a telescopic mechanism II (51), and the four limiting bottom plates (52) are respectively in contact with the four wave groove plates (34).

8. The artificial physiotherapy massage robot according to claim 1, wherein: still include bottom support (60), rotate on bottom support (60) and be connected with adjustment lead screw (70), the screw thread turning at adjustment lead screw (70) both ends is opposite, and two shank support (10) are respectively through threaded connection at the both ends of adjustment lead screw (70), and two equal sliding connection of shank support (10) are on bottom support (60).

9. The manual physiotherapy massage robot of claim 8, wherein: the leg adjusting mechanism is characterized by further comprising a supporting bracket (80), the supporting bracket (80) comprises a supporting cylinder (81), the supporting cylinder (81) is rotatably connected to the middle of the adjusting screw rod (70), a supporting base plate (82) is fixedly connected to the supporting cylinder (81), and leg supports (10) are slidably connected to the left side and the right side of the supporting base plate (82).

10. The manual physiotherapy massage robot of claim 8, wherein: the back mechanism (90) comprises a back support (94), the back support (94) is hinged to the supporting bottom plate (82), and the inclination angle of the back support (94) can be adjusted.

Technical Field

The invention relates to a massage robot, in particular to an artificial physical therapy massage robot.

Background

CN108073729A in the prior art is a design method of humanoid massage robot, said method comprising the following steps: firstly, analyzing the development condition of the robot; secondly, establishing a mechanical model of five massage manipulations; thirdly, introducing the composition and classification of the robot vision system, and designing a monocular vision system according to the actual working condition of the massage robot; fourthly, completing the establishment of the kinematic equation of the massage robot; fifthly, designing a force sensor for feeding back massage force information; the prior art has the disadvantage that the legs cannot be massaged according to different use requirements.

Disclosure of Invention

The invention aims to provide an artificial physiotherapy massage robot which can massage legs according to different use requirements.

The purpose of the invention is realized by the following technical scheme:

an artificial physical therapy massage robot comprises a leg support, a transverse moving mechanism, a lifting mechanism, a beating part, a limiting mechanism, a bottom support, an adjusting screw rod and a supporting support, wherein the leg support comprises a leg arc plate and a leg bottom plate, and the leg arc plate is fixedly connected with the leg bottom plate;

the transverse moving mechanism comprises a transverse moving screw rod and transverse moving sliding blocks, the transverse moving screw rod is connected with the transverse moving sliding blocks through threads, a power mechanism I for driving the transverse moving screw rod to rotate is arranged on the transverse moving screw rod, the power mechanism I is preferably a servo motor, the two leg supports are arranged, the two leg supports are connected with the transverse moving mechanism respectively, the two transverse moving screw rods are respectively connected to the two leg bottom plates in a rotating mode, and the two transverse moving sliding blocks are respectively connected to the two leg bottom plates in a sliding mode;

the lifting mechanism comprises a telescopic mechanism I, a sliding support, a threaded rod, wave trough plates and a beating support, wherein the sliding support is connected to the telescopic end of the telescopic mechanism I in a sliding mode, the threaded rod is connected to the sliding support through threads, the threaded rod is rotatably connected to the telescopic end of the telescopic mechanism I, the wave trough plates are connected to the sliding support in a sliding mode, a reciprocating mechanism capable of driving the wave trough plates to do reciprocating transverse motion is arranged on the wave trough plates, the reciprocating mechanism can be a crank connecting rod and other mechanisms, the beating support is fixedly connected to the telescopic end of the telescopic mechanism I, the lifting mechanism is provided with four lifting mechanisms, and two telescopic mechanisms I are fixedly connected to two transverse sliding blocks;

the beating support is rotatably connected with a plurality of beating parts, and a reset torsion spring is fixedly connected between each beating part and the beating support;

the limiting mechanisms comprise telescopic mechanisms II and limiting bottom plates, the limiting bottom plates are fixedly connected to the telescopic ends of the telescopic mechanisms II, the telescopic ends of the four telescopic mechanisms I are fixedly connected with the telescopic mechanisms II, and the four limiting bottom plates are respectively contacted with the four wave groove plates;

the bottom support is rotatably connected with an adjusting screw rod, the adjusting screw rod is provided with a power mechanism II capable of driving the adjusting screw rod to rotate, the power mechanism II is preferably a servo motor, the rotating directions of threads at two ends of the adjusting screw rod are opposite, the two leg bottom plates are respectively connected to two ends of the adjusting screw rod through threads, and the two leg bottom plates are both connected to the bottom support in a sliding manner;

the supporting bracket comprises a supporting cylinder and a supporting bottom plate, the supporting cylinder is rotatably connected to the middle part of the adjusting screw rod, the supporting cylinder is fixedly connected with the supporting bottom plate, and the left side and the right side of the supporting bottom plate are both connected with leg arc plates in a sliding manner;

artifical physiotherapy massage robot still includes back mechanism, back mechanism is including promoting the support, promote the lead screw, telescopic machanism III, back support and back runner, promote support sliding connection on the support of bottom, there is the promotion lead screw through threaded connection on the promotion support, the promotion lead screw rotates to be connected on the support of bottom, it has telescopic machanism III to articulate on the promotion support, telescopic machanism III's flexible end articulates on the support of back, it is connected with a plurality of back runners to rotate on the support of back, the support of back articulates on supporting baseplate.

The artificial physical therapy massage robot has the beneficial effects that:

according to the artificial physical therapy massage robot, the position of the lifting mechanism can be adjusted through the traversing mechanism, the positions of the plurality of beating parts are adjusted through the lifting mechanism, the positions of the plurality of beating parts for beating the legs are further adjusted, the beating amplitude of the plurality of beating parts can be adjusted, different use requirements are further met, meanwhile, the beating mode of the plurality of beating parts is a wave beating mode, a hand massage mode is further simulated, meanwhile, the relative distance between the two leg supports can be adjusted, different use requirements are further met, the inclination angle of the back mechanism can be adjusted, and different use requirements are further met.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic view of the connection structure of the leg support, the traversing mechanism, the lifting mechanism, the beating part and the limiting mechanism of the invention;

FIG. 2 is a schematic view of the connection structure of the lifting mechanism, the beating part and the limiting mechanism of the invention;

FIG. 3 is a schematic view of a leg support structure of the present invention;

FIG. 4 is a schematic structural view of the traversing mechanism of the present invention;

FIG. 5 is a schematic view of the lift mechanism of the present invention;

FIG. 6 is a schematic view of the construction of the striking member of the present invention;

FIG. 7 is a schematic structural view of a spacing mechanism of the present invention;

FIG. 8 is a schematic view of the bottom bracket, adjustment screw, support bracket and leg bracket connection of the present invention;

FIG. 9 is a schematic view of the bottom bracket, adjustment screw and back mechanism connection of the present invention;

FIG. 10 is a schematic view of the bottom bracket and support bracket connection of the present invention;

FIG. 11 is a schematic view of the back mechanism of the present invention;

fig. 12 is a schematic view of the overall structure of the manual physiotherapy massage robot of the present invention.

In the figure: a leg support 10; a leg arc plate 11; a leg bottom plate 12; a traversing mechanism 20; a transverse moving screw rod 21; a traverse slide 22; a lifting mechanism 30; a telescoping mechanism I31; a sliding bracket 32; a threaded rod 33; a wave groove plate 34; a tapping stand 35; the striking member 40; a limiting mechanism 50; a telescoping mechanism II 51; a retainer shoe 52; a bottom bracket 60; adjusting the screw rod 70; a support bracket 80; a support cylinder 81; a support base plate 82; a back mechanism 90; pushing the bracket 91; the lead screw 92 is pushed; a telescoping mechanism III 93; a back support 94; a back runner 95.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment will be described with reference to fig. 1 to 12, wherein the robot for artificial physical therapy and massage comprises a leg support 10, a traversing mechanism 20, a lifting mechanism 30, a beating part 40, a limiting mechanism 50, a bottom support 60, an adjusting screw rod 70 and a support bracket 80, the leg support 10 comprises a leg arc plate 11 and a leg bottom plate 12, and the leg arc plate 11 is fixedly connected with the leg bottom plate 12;

the transverse moving mechanism 20 comprises a transverse moving screw rod 21 and transverse moving sliding blocks 22, the transverse moving screw rod 21 is connected with the transverse moving sliding blocks 22 through threads, a power mechanism I for driving the transverse moving screw rod 21 to rotate is arranged on the transverse moving screw rod 21, the power mechanism I is preferably a servo motor, two leg supports 10 are arranged, the transverse moving mechanisms 20 are connected to the two leg supports 10, the two transverse moving screw rods 21 are respectively and rotatably connected to the two leg bottom plates 12, and the two transverse moving sliding blocks 22 are respectively and slidably connected to the two leg bottom plates 12;

the lifting mechanism 30 comprises a telescopic mechanism I31, a sliding support 32, a threaded rod 33, a wave groove plate 34 and a beating support 35, the sliding support 32 is connected to the telescopic end of the telescopic mechanism I31 in a sliding mode, the threaded rod 33 is connected to the sliding support 32 through threads, the threaded rod 33 is connected to the telescopic end of the telescopic mechanism I31 in a rotating mode, the wave groove plate 34 is connected to the sliding support 32 in a sliding mode, a reciprocating mechanism capable of driving the wave groove plate 34 to do reciprocating transverse motion is arranged on the wave groove plate 34, the reciprocating mechanism can be a crank connecting rod or other mechanism, the beating support 35 is fixedly connected to the telescopic end of the telescopic mechanism I31, four lifting mechanisms 30 are arranged, and two telescopic mechanisms I31 are fixedly connected to two transverse sliding blocks 22;

the plurality of beating parts 40 are rotatably connected to the beating support 35, and a reset torsion spring is fixedly connected between each beating part 40 and the beating support 35;

when in use, a leg to be massaged is placed on the leg arc plate 11, as shown in fig. 1, the leg arc plate 11 is in an L shape, an arc-shaped arc plate is arranged at the front side of the leg arc plate 11, the bending part of the leg arc plate 11 is also in a cheering shape, and further conforms to the shape of a human leg, when knocking massage is needed, the threaded rod 33 is rotated, the threaded rod 33 drives the sliding support 32 to transversely move through threads when rotating, the sliding support 32 drives the wave groove plate 34 to transversely move, as shown in fig. 5, the wave groove plate 34 is provided with wave-shaped grooves, the knocking components 40 are not vertically arranged as shown in fig. 1 and 2, the knocking components 40 are obliquely arranged, the knocking components 40 are contacted with the corresponding wave groove plate 34 under the action of the reset torsion spring, and the reset torsion spring has a tendency of pushing the knocking components 40 to move, when the position of the sliding bracket 32 is adjusted transversely, the sliding bracket 32 drives the wave trough plate 34 to move and contact the plurality of beating parts 40, so that the plurality of beating parts 40 all fall on the wave trough plate 34;

the wave trough plate 34 is provided with a reciprocating mechanism capable of driving the wave trough plate 34 to perform reciprocating transverse motion, the reciprocating mechanism may be a crank-link mechanism or other mechanism structure capable of driving components to perform transverse reciprocating motion in the prior art, the reciprocating mechanism drives the wave trough plate 34 to perform transverse reciprocating motion, the wave trough plate 34 pushes a plurality of corresponding beating components 40 to perform motion, the beating components 40 overcome the elastic force of a reset torsion spring under the pushing of the wave trough plate 34, the beating components 40 perform motion towards the outside, the beating components 40 sequentially slide on the wave trough plate 34 and pass through the peak and the valley of the wave trough on the wave trough plate 34, so that the beating components 40 perform reciprocating swing inside and outside to beat the legs of a person, and meanwhile, the motion trail of the beating components 40 is waves, thereby simulating the knocking massage mode of human fingers and achieving better massage effect;

further, when the striking positions of the plurality of striking components 40 need to be adjusted, as shown in fig. 12, a power mechanism i for driving the power mechanism i to rotate is arranged on the traverse screw 21, the power mechanism i is preferably a servo motor, the power mechanism i can be fixedly connected to the leg bottom plate 12, an output shaft of the power mechanism i is in transmission connection with the traverse screw 21, the output shaft of the power mechanism i drives the traverse screw 21 to rotate when rotating, the traverse screw 21 drives the traverse slide block 22 to move transversely through threads when rotating, the traverse slide block 22 drives the telescoping mechanism i 31 to move transversely, the telescoping mechanism i 31 drives the corresponding sliding support 32, the threaded rod 33, the wave slot plate 34 and the striking support 35 to move, the positions of the plurality of beating parts 40 are adjusted, so that the beating positions of the beating parts 40 on the legs of the human body are adjusted, and different use requirements are met;

further, in order to adjust the beating heights of the plurality of beating components 40, the telescopic mechanism I31 is started, the telescopic mechanism I31 can be a hydraulic cylinder or an electric push rod, the telescopic end of the telescopic mechanism I31 drives the sliding support 32, the threaded rod 33, the wave groove plate 34 and the beating support 35 to move, further the heights of the plurality of beating components 40 are adjusted, the beating heights of the beating components 40 are adjusted, and different use requirements are met;

the limiting mechanism 50 comprises a telescopic mechanism II 51 and limiting bottom plates 52, the limiting bottom plates 52 are fixedly connected to telescopic ends of the telescopic mechanism II 51, the telescopic ends of the four telescopic mechanisms I31 are fixedly connected with the telescopic mechanisms II 51, and the four limiting bottom plates 52 are respectively contacted with the four wave trough plates 34;

furthermore, in order to adjust the amplitude of the oscillation of the beating component 40, a limiting mechanism 50 is provided, as shown in fig. 2, when the oscillation amplitude of the plurality of beating components 40 needs to be adjusted, a telescopic mechanism ii 51 is started, the telescopic mechanism ii 51 can be a hydraulic cylinder or an electric push rod, the telescopic end of the telescopic mechanism ii 51 drives the limiting bottom plate 52 to move, so that the limiting bottom plate 52 moves on the corresponding wave trough plate 34, and further, when the plurality of beating components 40 slide in the wave trough on the wave trough plate 34, the limiting bottom plate 52 limits the bottommost position of the wave trough plate 34, so that the beating components 40 firstly contact with the limiting bottom plate 52 during oscillation, and further, the distance between the peak and the low peak of the wave trough is shortened, and further, the oscillation amplitude of the beating components 40 is controlled, and further, the beating amplitude of the plurality of beating components 40 is adjusted according to different use requirements, different use requirements are met;

the bottom bracket 60 is rotatably connected with an adjusting screw rod 70, the adjusting screw rod 70 is provided with a power mechanism II capable of driving the adjusting screw rod 70 to rotate, the power mechanism II is preferably a servo motor, the rotating directions of threads at two ends of the adjusting screw rod 70 are opposite, the two leg bottom plates 12 are respectively connected with two ends of the adjusting screw rod 70 through threads, and the two leg bottom plates 12 are both connected to the bottom bracket 60 in a sliding manner;

furthermore, in order to meet different leg width requirements, an adjusting screw rod 70 is arranged, a power mechanism II capable of driving the adjusting screw rod 70 to rotate is arranged on the adjusting screw rod 70, the power mechanism II is preferably a servo motor and can be fixedly connected to the bottom support 60, an output shaft of the power mechanism II is in transmission connection with the adjusting screw rod 70, the output shaft of the power mechanism II drives the adjusting screw rod 70 to rotate, the adjusting screw rod 70 drives the two leg supports 10 to be close to or far away from each other through threads when rotating, and then the relative distance between the two leg supports 10 is adjusted, so that different leg width requirements are met;

the supporting bracket 80 comprises a supporting cylinder 81 and a supporting bottom plate 82, the supporting cylinder 81 is rotatably connected to the middle part of the adjusting screw rod 70, the supporting bottom plate 82 is fixedly connected to the supporting cylinder 81, and the left side and the right side of the supporting bottom plate 82 are both slidably connected with the leg arc plates 11;

the manual physical therapy massage robot further comprises a back mechanism 90, the back mechanism 90 comprises a pushing support 91, a pushing screw rod 92, a telescopic mechanism III 93, a back support 94 and a back rotating wheel 95, the pushing support 91 is connected to the bottom support 60 in a sliding mode, the pushing support 91 is connected to the pushing screw rod 92 through threads, the pushing screw rod 92 is connected to the bottom support 60 in a rotating mode, the pushing support 91 is hinged to the telescopic mechanism III 93, the telescopic end of the telescopic mechanism III 93 is hinged to the back support 94, the back support 94 is connected with the back rotating wheels 95 in a rotating mode, and the back support 94 is hinged to the supporting bottom plate 82;

furthermore, in order to support the back of the person according to different use requirements, a back mechanism 90 capable of adjusting the support angle is provided, as shown in fig. 9, a plurality of back rotating wheels 95 are rotatably connected to a back bracket 94, the plurality of back rotating wheels 95 can be contacted with the back of the person, and further, when the back of the person reciprocates up and down, a certain massage effect can be achieved;

when the inclination angle of the back support 94 needs to be adjusted, the telescopic mechanism III 93 is started, the telescopic mechanism III 93 can be a hydraulic cylinder or an electric push rod, and the telescopic end of the telescopic mechanism III 93 drives the back support 94 to move, so that the inclination angle of the back support 94 is adjusted;

furthermore, in order to adjust the transverse position of the telescopic mechanism III 93, a push screw rod 92 is arranged, the push screw rod 92 is rotated, the push support 91 is driven to move through threads when the push screw rod 92 rotates, and then the transverse position of the telescopic mechanism III 93 is adjusted; it should be noted that the above embodiments may be spliced with each other or all may be combined together for use.