CN108785033B

CN108785033B - Massage manipulator, mechanical massage assembly and human body positioning method

Info

Publication number: CN108785033B
Application number: CN201810193751.8A
Authority: CN
Inventors: 王玉祥
Original assignee: Beijing Jinghui Tianke Industry And Trade Co ltd
Current assignee: Beijing Jinghui Tianke Industry And Trade Co ltd
Priority date: 2018-03-09
Filing date: 2018-03-09
Publication date: 2021-02-05
Anticipated expiration: 2038-03-09
Also published as: CN108785033A

Abstract

The invention relates to a massage manipulator, a mechanical massage assembly and a human body positioning method, wherein the massage manipulator comprises a horizontal rod, a longitudinal rod, a transverse rod and a mechanical massage assembly; the horizontal rods are horizontally arranged along the front-back direction; the longitudinal rod is arranged along the vertical direction; the bottom end of the longitudinal rod is connected with the horizontal rod, and the top end of the longitudinal rod is connected with the transverse rod; the transverse rod is horizontally arranged along the left and right directions, and a mechanical massage component capable of massaging a human body is connected to the transverse rod; the mechanical massage assembly includes a massage head capable of directly contacting a human body. The mechanical massage hand can effectively massage specific acupuncture points, channels and collaterals and muscles of a human body by various manipulations, is a mechanical device which is extremely close to manual massage and has extremely important function on human body massage; it has remarkable effects of relaxing muscles and calming mood, and in addition, the massage manipulator can be accurately positioned at each part of the human body.

Description

Massage manipulator, mechanical massage assembly and human body positioning method

Technical Field

The invention relates to the field of medical science and machinery intersection, in particular to a massage manipulator capable of massaging acupuncture points of a human body and the like, a mechanical massage assembly and a human body positioning method of the massage manipulator.

Background

Massage is well known as an effective treatment. At present, massage apparatuses on the market are various in types and different in principle, but most of massagers are attached to carriers such as clothes, seats and the like, namely, only a person can realize massage after sitting or wearing the massager, and the massager is completely different from manual massage.

Currently, there are also less common massage machines that are pressed by hand or that are pressed by body weight for massage effect. The latter is most typically a massage chair/bed manufactured in japanese and korean, and patent 201310258540.5 discloses a massage bed on which a person lies and presses on various rotating massage members by body weight to obtain a massage feeling. Although these tools have a certain function, some of them are inconvenient to use and some of them cannot massage the affected part accurately. Taking the expensive massage process of an imported massage chair/bed as an example, a person lying on the bed needs to be subjected to the reaction force of various parts rolling according to the program to form a bumpy state, and people with poor cardiovascular and cerebrovascular functions and people with allergic balance function often feel uncomfortable. Many people who have obvious pain and need massage treatment can not achieve accurate massage on the affected part. After a lot of people buy home, the ornament is not good due to high price and no throwing.

Disclosure of Invention

The invention aims to provide a massage manipulator, a mechanical massage assembly and a human body positioning method, which overcome the defects in the prior art. The purpose of the invention is realized by the following technical scheme:

a massage manipulator comprises a horizontal rod, a longitudinal rod, a transverse rod and a mechanical massage component;

the horizontal rod is horizontally arranged along the front-back direction;

the longitudinal rod is arranged along the vertical direction and is vertical to the horizontal rod; the bottom end of the longitudinal rod is fixedly connected with the horizontal rod, and the top end of the longitudinal rod is fixedly connected with the transverse rod;

the transverse rod is horizontally arranged along the left-right direction and is vertical to the longitudinal rod and the horizontal rod; the transverse rod is connected with a mechanical massage component capable of massaging a human body;

the mechanical massage component extends longitudinally along the vertical direction and comprises a massage head capable of directly contacting with a human body; the mechanical massage component is provided with a massage head at one end capable of being in direct contact with a human body for massage, and the massage head comprises at least one of a finger type massage head capable of being pressed by a single finger, a palm type massage head capable of being massaged by a palm, a patting type massage head capable of patting by the palm, double-arm massage heads capable of massaging double arms, a lifting and kneading type massage head capable of being clamped-pressed-loosened-lifted and a matrix type massage head which is simultaneously provided with a plurality of massage heads and can sense acupuncture point pain points;

the horizontal rod can drive along the horizontal direction vertical rod, horizontal pole and mechanical massage subassembly seesaw, vertical rod can drive along vertical direction horizontal pole and mechanical massage subassembly up-and-down motion, the horizontal pole can drive mechanical massage subassembly side-to-side motion along the horizontal direction, then this massage manipulator can be in front and back, upper and lower, left and right sides direction removal so that it can follow three-dimensional direction and adjust mechanical massage subassembly's position makes the massage head be in the human place of treating the massage.

Furthermore, the mechanical massage component comprises a massage supporting rod which is detachably connected with the transverse rod, and the lower end of the massage supporting rod is detachably and fixedly connected with the massage head;

furthermore, the massage head comprises a connecting end and a pressing part which can be in contact with a human body for massage, the upper end of the connecting end is detachably and fixedly connected with the massage supporting rod, and the lower end of the connecting end is connected with the pressing part;

furthermore, a horizontal motor capable of driving the horizontal rod to move back and forth or move in the horizontal direction is arranged in the horizontal rod; a longitudinal motor capable of driving the longitudinal rod to move up and down or move in the vertical direction is arranged in the longitudinal rod; a transverse motor capable of driving the transverse rod to move left and right or move in the horizontal direction is arranged in the transverse rod;

furthermore, the longitudinal rod comprises a first sleeve and a second sleeve, the fixed end of the first sleeve is fixedly connected with the horizontal rod, the fixed end of the second sleeve is fixedly connected with the horizontal rod, the sliding end of the second sleeve is arranged on the inner side of the sliding end of the first sleeve, and the outer side of the second sleeve can slide up and down on the inner wall of the first sleeve; the inner side of the second sleeve is fixedly connected with a fixing plate which covers a cavity on the inner side of the second sleeve, and the fixing plate is provided with a threaded screw hole which can be matched with the longitudinal screw;

further, the lower end of the first sleeve is provided with a longitudinal motor, the longitudinal screw rod extends along the axial direction of the first sleeve and the second sleeve, the free end of the screw rod penetrates through the threaded screw rod hole, the longitudinal motor drives the longitudinal screw rod to rotate forwards or reversely, so that the second sleeve moves upwards or downwards along the inner wall of the first sleeve, and then the second sleeve drives the transverse rod and the mechanical massage component to move upwards and downwards.

Furthermore, the pressing part in the finger-type massage head is a finger-type pressing part, a finger-type motor is arranged between the finger-type pressing part and the connecting end, and the finger-type motor can drive the finger-type pressing part to do rotating motion or up-down pressing motion;

furthermore, the pressing part on the palm type massage head is a palm type pressing part, a palm type motor is arranged between the palm type pressing part and the connecting end, and the palm type motor can drive the palm type pressing part to do rotating motion or front-back friction motion or left-right friction motion;

furthermore, the pressing part on the flapping massage head is an impact pressing part, an impact motor capable of flapping is arranged between the impact pressing part and the connecting end, and the impact motor drives the impact pressing part to do repeated pressing or flapping motion;

furthermore, the double-arm massage head comprises a supporting rod which is transversely arranged, the center gravity position of the supporting rod is connected with the connecting end, a first arm pressing part and a second arm pressing part which are symmetrically arranged are arranged at two ends of the supporting rod, a first arm motor is connected to the first arm pressing part and used for driving the first arm pressing part to rotate and move, and a second arm motor is connected to the second arm pressing part and used for driving the second arm pressing part to rotate and move;

furthermore, the massage head comprises a first acting part and a second acting part which are arranged in a crossed manner, the overlapping positions of the first acting part and the second acting part are connected through a fixed shaft so that the first acting part and the second acting part can rotate relative to the fixed shaft at will, the first acting part comprises a first stretching part and a first pinching part which are respectively positioned at the upper end and the lower end of the fixed shaft and are connected integrally, and the second acting part comprises a second stretching part and a second pinching part which are respectively positioned at the upper end and the lower end of the fixed shaft and are connected integrally; the free ends of the first and second pinch portions are each inwardly constricted to enable them to pinch the skin;

further, matrix massage head, it includes connection structure, connection structure's upper end with link fixed connection, connection structure's lower extreme is equipped with a plurality of massage ends.

Further, in the two-arm massage head, a distance between the first arm pressing portion and the second arm pressing portion is adjustable; preferably, the first arm pressing part and the second arm pressing part are adjusted through an axle distance adjusting device, the axle distance adjusting device comprises a first rack connected with the first arm pressing part, a second rack connected with the second arm pressing part and a gear arranged between the first rack and the second rack and meshed with the first rack and the second rack, the gear rotates to drive the first rack and the second rack to move in opposite directions or opposite directions, and then the first rack and the second rack respectively drive the first arm pressing part and the second arm pressing part to move in opposite directions or opposite directions; more preferably, the gear is provided with a handle so that a user can hold the handle to rotate the gear;

furthermore, the first arm pressing part and/or the second arm pressing part respectively comprise a vertical shaft, a connecting wheel and a massage part which is in direct contact with a human body, the upper end of the vertical shaft is connected with the supporting rod, the lower end of the vertical shaft is connected with the connecting wheel, the connecting wheel is fixedly connected with the massage part, the plane of the massage part which is in contact with the human body is preferably parallel to the connecting wheel, and the change of the angle between the connecting wheel and the vertical shaft is realized through the change of the position of the vertical shaft which is connected to the connecting wheel and the change of the position of the massage part which is connected to the connecting wheel; further preferably, the lower end surface of the connecting wheel is connected with the massage part through an elastic structure so as to have the characteristic of rigidity and flexibility in the massage process;

furthermore, in the lifting and pinching massage head, an asymmetric wheel capable of adjusting the angle between the first pinching part and the second pinching part is arranged in an upper cavity formed by the first pinching part and the second pinching part, and the vertical outer diameter of the asymmetric wheel is different from the horizontal outer diameter of the asymmetric wheel;

furthermore, the upper ends of the first stretching part and the second stretching part are connected through a first elastic rope so that the angle between the first clamping part and the second clamping part can be adjusted more flexibly and conveniently, a shaft hole is formed in the center of the asymmetric wheel, a rotating shaft capable of driving the asymmetric wheel to rotate is connected to the shaft hole, and the rotating shaft penetrates through the lower end of the connecting end and can freely rotate in the connecting end;

furthermore, two of the lifting-pinching massage heads are symmetrically arranged by taking the axis of the connecting end as symmetry, and the two lifting-pinching massage heads share one rotating shaft;

furthermore, the first clamping part and the second clamping part are connected through a second elastic rope so that the lifting and pinching effect is better; the two lifting and pinching massage heads share one fixed shaft so that the two lifting and pinching massage heads have better stability;

further, in the matrix massage head, the massage end includes vertical axis, can the human rolling wheel of direct contact and sets up in setting up in the outer spring of vertical axis, sliding connection about can be with connection structure in the upper end of vertical axis, and the lower extreme of vertical axis is connected with rolling wheel and this rolling wheel can be in the rotation of vertical axis circumference, the upper and lower end butt respectively of spring is in connection structure's lower terminal surface and rolling wheel's top.

Further, the connection mode of the massage supporting rod and the massage head is as follows: the lower end of the massage supporting rod is provided with a groove, the upper end of the connecting end is arranged in the groove, the groove is provided with groove holes penetrating through the inner side and the outer side of the groove, the upper end of the connecting end is provided with a pin hole, and when the upper end of the connecting end is positioned in the groove, the pin hole is overlapped with the groove holes so that a pin is inserted into the pin hole and the groove holes;

furthermore, a bolt component for fixing the massage head is arranged outside the massage supporting rod, the bolt component comprises a bolt, a bending connecting rod and an elastic connecting rope, the upper end and the lower end of the bending connecting rod extend outwards, the upper end of the bending connecting rod is fixedly connected with the massage supporting rod through the elastic connecting rope, and the lower end of the bending connecting rod is fixedly connected with the tail end of the bolt; when the bolt component is in a free state, the bolt is inserted into the groove hole to insert and fix the massage head; when the linear edge connected with the elastic connecting rope is pressed, the linear edge connected with the bolt drives the bolt to move outwards so that the head part of the bolt is withdrawn from the pin hole, and then the massage head is separated from the massage support rod; when the force compressed on the elastic connecting rope is removed, the bolt automatically rebounds to the groove hole or the groove hole and the pin hole;

furthermore, the up end of bolt sets up for the level, and the lower terminal surface of the head one end of bolt is the slope structure that reduces in proper order from outer to inner diameter, the pinhole be the shape with the consistent wedge hole of one end of bolt head is so that the massage head is connected easily but difficult the breaking away from.

Furthermore, an emergency pressure relief system capable of releasing the force applied to the human body by the mechanical massage component is arranged on the massage supporting rod;

furthermore, the massage supporting rod is connected with the transverse rod through a connecting component, the emergency pressure relief system comprises an elastic body sleeved on the massage supporting rod, and after the massage supporting rod is connected with the transverse rod, the elastic body is positioned above the transverse rod and is compressed; when the connecting component is opened, the mechanical massage component is ejected upwards due to the resilience of the elastic body;

furthermore, the top end of the massage supporting rod is provided with an end cap with a diameter larger than that of the massage supporting rod, and the elastic body is abutted between the end cap and the transverse rod;

furthermore, the connecting component is connected with a rope which is convenient for a user to separate the connecting component from the massage supporting rod, and the massage supporting rod and the transverse rod can be connected and disconnected by pulling the rope;

furthermore, the connecting assembly comprises a fixing part fixed on the transverse rod, a pin penetrating through the fixing part and capable of sliding along the fixing part, and an elastic device sleeved on the pin, wherein one end of the elastic device is fixedly connected to the pin, and the other end of the elastic device is abutted against or fixedly connected to the fixing part; the rope is connected to the tail end of the pin.

Further, the pin has a lower end portion flush with the head portion and an upper end portion inclined with a diameter decreasing from the tail end to the head portion, so that the massage pole can be easily inserted.

Furthermore, the longitudinal screw rod is connected with the longitudinal motor through a spring shaft structure capable of adjusting pressure in real time to improve safety;

further, the spring shaft structure sequentially comprises a driving disc, a friction disc, a driven disc, a pressure reed capable of elastically compressing and rebounding and a gear set from bottom to top, the lower end of the friction disc is connected with the longitudinal motor through a short shaft, the upper end of the driving disc is connected with the driven disc through the friction disc, the upper end of the driven disc is connected with the pressure reed, the upper end of the pressure reed is fixedly connected with the longitudinal screw rod, and the gear set is arranged on the periphery of the longitudinal screw rod and located above the pressure reed; the longitudinal motor drives the driving disc to rotate through the short shaft, the driving disc drives the friction plate to rotate through friction force, the friction plate drives the driven disc to rotate, the driven disc drives the pressure reed to rotate, and the pressure reed drives the longitudinal screw to rotate. When the gear set moves downwards, the pressure reed is compressed, the pressure reed transmits the pressure downwards, so that the friction force below the pressure reed is increased, and if the pressure applied by the friction plate is too large, the friction plate cannot be driven by the friction force, so that the driving wheel slips and idles; if the gear set moves upwards, the pressure reed rebounds upwards gradually, and the friction force transmitted to the lower part is small; therefore, different pressures can be generated on the pressure spring plates by adjusting the upper part and the lower part of the gear set, and the forces can be finally transmitted to the massage head of the mechanical massage component from the screw rod and are like the feeling of muscle tension, so that the pressure on the massage head is timely adjusted to a certain extent, and the massage is more comfortable.

Furthermore, the gear set comprises a first gear and a second gear, the first gear is in threaded connection with the longitudinal screw rod, the first gear is in meshed connection with the second gear, the second gear can drive the first gear to rotate in a rotating manner, and the first gear moves upwards or downwards on the longitudinal screw rod;

further, a hand-held handle capable of rotating the second gear is arranged on the second gear to realize real-time adjustment of the pressure; preferably, the second gear is simultaneously connected with a gear motor.

Furthermore, a fixed sleeve is arranged outside the longitudinal screw rod, the outer wall of the fixed sleeve cannot rotate along with the rotation of the longitudinal screw rod, and the gear set is connected outside the fixed sleeve so that the rotation of the longitudinal screw rod and the rotation of the gear set are independent; preferably, the fixed sleeve comprises a bearing fixedly connected outside the longitudinal screw rod, an outer sleeve is fixedly connected to the outer wall of the bearing, and the gear set or the first gear can be movably connected to the outer wall of the outer sleeve up and down;

the massage manipulator further comprises a controller, a CPU is arranged in the controller, all motors related to the mechanical massage manipulator can be electrically connected with the controller, and the controller is connected with the display screen so that a user can conveniently check the massage manipulator.

A mechanical massage component is the mechanical massage component, and the mechanical massage component can be selectively arranged on a support frame.

According to the human body positioning method of the massage manipulator, the massage manipulator further comprises a computer; a bed for lying a massaged person is arranged below the mechanical massage component; the CPU of the computer is stored with a simulated bed simulated according to the size specification of the bed and a template of the holographic human body matching pattern, and in the computer, the template of the holographic human body matching pattern can be arranged on the simulated bed to form a standard simulated bed matched with the holographic human body matching pattern;

a shooting device capable of shooting pictures or dynamic videos of a patient lying on the bed is arranged right above the bed, the shooting device is electrically or communicatively connected with the computer so that images of the patient shot in the shooting device are transmitted to the computer, then the images of the patient are arranged on the holographic human body matching picture on the simulation bed, a deformed holographic human body matching picture consistent with human body images of the patient is formed, and massage is carried out according to meridians, acupuncture points, bones and muscles of the holographic human body matching picture;

furthermore, the computer is electrically connected with the controller so that the mechanical massage component can carry out positioning and massage according to the deformed holographic human body matching image indicated in the computer.

The invention provides a massage manipulator, a mechanical massage component and a human body positioning method, which mainly have the following beneficial effects: this application sets up the mechanical massage subassembly of mechanical massage hand in the top of bed, and it can carry out corresponding massage to the people of lying on the bed, and it can carry out effective massage to specific human acupuncture point, main and collateral channels, muscle etc. and it is extremely close the mechanized device of artifical massage, and it has extremely important effect to human massage. In addition, the application can imitate the basic manipulations of manual massage: the human can lie on the massage bed completely and relax, the massage head hung above has many kinds, such as can carry on the single point type massage through the finger type massage head, the palm type massage head imitates the palm to carry on the planarity massage, slap the massage head and carry on the impact type massage, can also carry on cardiopulmonary resuscitation at the same time, etc., replace the artificial rescue action while cardiopulmonary resuscitation; the matrix type massage head can massage and roll the human body in a large area, and most importantly, the pain points of the human body can be found out; the double-arm massage heads can effectively and synchronously massage a plurality of symmetrical parts at the same speed, and the effect is obvious; the lifting and pinching massage head can simulate the synergistic effect between human fingers, realize massage manipulations such as pinching, releasing and the like, and can also realize the process of stroking in the pinching process. In a word, the massage manipulator not only can directly press, roll, knock and knead muscles, but also can perform reciprocating type light stroking and heavy rubbing, and the like. Has remarkable effects of relaxing muscles and calming mood. In addition, the massage manipulator can be accurately positioned at each part of the human body.

The human body positioning method can carry out relatively accurate positioning, can easily find acupuncture points or channels and collaterals or bones, muscles and the like needing to be massaged, and carries out targeted massage.

The massage manipulation used by the invention mainly adopts muscle massage of western medicine and meridian massage of traditional Chinese medicine, which is a treatment idea acceptable for both western medicine and Chinese medicine; it has extremely important application value for the current medical field, especially the traditional Chinese medicine field.

Drawings

The invention is explained in further detail below with reference to the drawing.

Fig. 1 is a schematic structural diagram of a massage robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a positional relationship between a massage manipulator and a bed according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a mechanical massage assembly according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a finger massage head according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a palm massage head according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a slapping massage head according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a two-arm massage head according to an embodiment of the present invention;

FIG. 8 is a front view of a fifth wheel according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a kneading massage head according to an embodiment of the present invention;

fig. 10 is a side view of a double-ended kneading massage head according to an embodiment of the present invention;

fig. 11 is a schematic perspective view of a double-ended kneading massage head according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a matrix massage head according to an embodiment of the present invention;

fig. 13 is a bottom view of a matrix massage head according to an embodiment of the present invention;

fig. 14 is a schematic structural view of a massage head according to an embodiment of the present invention;

fig. 15 is a schematic structural view of a connection mode of the massage pole and the massage head according to the embodiment of the invention;

fig. 16 is a schematic diagram of a three-dimensional driving structure of a massage robot according to an embodiment of the present invention;

FIG. 17 is a schematic structural diagram of an emergency pressure relief system according to an embodiment of the present invention;

fig. 18 is a schematic structural view of a spring shaft structure according to an embodiment of the present invention;

fig. 19 is another structural schematic view of the spring shaft structure according to the embodiment of the invention;

fig. 20 is a schematic structural view of a spring shaft structure with a fixing sleeve according to an embodiment of the present invention;

fig. 21 is a schematic cross-sectional view of a pouch according to an embodiment of the present invention;

FIG. 22 is a schematic diagram of a simulation bed with a scale according to an embodiment of the present invention;

FIG. 23 is a schematic diagram of a standard holographic body layout according to an embodiment of the present invention;

FIG. 24 is a schematic diagram of a holographic human body layout structure of a simulation bed with a real human body according to an embodiment of the present invention;

fig. 25 is a schematic view of the location of the massage sites according to the embodiment of the present invention.

The straight lines of the x-axis, the y-axis and the z-axis in the figure respectively represent the left-right direction, the up-down direction and the front-back direction;

1. a longitudinal bar, 2, a transverse bar, 3, a horizontal bar, 4, a mechanical massage assembly, 5, a bed, 6, an end cap, 7, an elastic body, 9, a spring shaft structure, 10, a first sleeve, 11, a second sleeve, 13, a longitudinal lead screw, 14, a fixing plate, 15, a simulation bed, 16, a scale, 17, a standard human body holographic match, 18, a vertebra, 19, a scapula, 20, a human body holographic match of a real image, 21, a fixing sleeve, 22, a moving sleeve, 23, a transverse motor, 24, a transverse lead screw, 30, a fixing sleeve, 40, a massage strut, 41, a massage head, 42, a connecting end, 43, a pressing part, 44, a pin hole, 45, a groove, 46, a pin assembly, 47, a pin, 48, a bending connecting rod, 49, an elastic connecting rope, 81, a pin, 82, an elastic device, 83, a fixing part, 84, a rope, 90, a short shaft, 91, a driving disc, 92, a friction plate, 93. a driven disc 94, a pressure reed 95, a first gear 96, a second gear 97, a hand-held handle 98, a gear motor 99, an elastic component 100, a gear set 301, a bearing 302, a jacket 400, a finger-type massage head 401, a finger-type pressing part 402, a finger-type motor 410, a palm-type massage head 411, a palm-type pressing part 412, a palm-type motor 420, a slap massage head 421, an impact pressing part 422, an impact motor 430, a two-arm massage head 431, a first rack 432, a second rack 433, a gear 434, a handle 435, a support rod 436, a first arm motor 437, a second arm motor 438, a pressing part 438, a first arm 439, a second arm 440, a vertical shaft 441, a connecting wheel 442, a massage part 443, an elastic structure 444, a strip-shaped through hole 450, a first acting part 451, a second acting part 452, a first clamping part, 453. the massage device comprises a first clamping part, 454, a second opening and closing part, 455, a second clamping part, 456, a fixed shaft, 457, an asymmetric wheel, 458, an upper cavity, 459, a first elastic rope, 460, a lifting and stroking massage head, 461, a rotating space, 462, a second elastic rope, 463, a shaft sleeve, 464, a third elastic rope, 465, a rotating motor, 466, a rotating shaft, 470, a matrix type massage head, 471, a connecting structure, 472, a massage end, 473, a vertical shaft, 474, a rolling wheel, 475 and a spring.

Detailed Description

The following description will be given by taking specific experimental cases as examples, and it should be understood that the specific examples described herein are only for illustrating the present invention and are not intended to limit the present invention.

Example 1

A massage manipulator, as shown in fig. 1-2, comprises a horizontal rod 3, a longitudinal rod 1, a transverse rod 2 and a mechanical massage component 4.

The horizontal rod 3 is horizontally arranged along the front-back direction; a horizontal motor capable of driving the horizontal rod 3 to move back and forth or move in the horizontal direction is arranged in the horizontal rod 3. The longitudinal rod 1 is arranged along the vertical direction and is vertical to the horizontal rod 3; the bottom end of the longitudinal rod 1 is fixedly connected with the horizontal rod 3, the longitudinal rod can be vertically connected to any part of the horizontal rod 3, such as the end part or the middle part, and the top end of the longitudinal rod 1 is fixedly connected with the transverse rod 2; the longitudinal rod 1 is internally provided with a longitudinal motor which can drive the longitudinal rod 1 to move up and down or move in the vertical direction. The transverse rod 2 is horizontally arranged along the left-right direction and is vertical to the longitudinal rod 1 and the horizontal rod 3; the transverse rod 2 is connected with a mechanical massage component 4 which can massage the human body; the transverse rod 2 is internally provided with a transverse motor 23 which can drive the transverse rod 2 to move left and right or move in the horizontal direction.

The mechanical massage assembly 4, which extends longitudinally in a vertical direction, i.e. parallel to the longitudinal bar 1, comprises massage heads 41 capable of directly contacting the human body, each of which is provided with a respective motor.

The horizontal rod 3 can drive the longitudinal rod 1, the transverse rod 2 and the mechanical massage component 4 connected with the transverse rod 2 to move back and forth along the horizontal direction (namely the axial direction of the horizontal rod 3), the longitudinal rod 1 can drive the transverse rod 2 and the mechanical massage component 4 to move up and down along the vertical direction (namely the axial direction of the longitudinal rod 1), the transverse rod 2 can drive the mechanical massage component 4 to move left and right along the horizontal direction (namely the axial direction of the transverse rod 2), and then the massage manipulator can drive the mechanical massage component 4 to move back and forth, up and down and left and right to adjust the position of the mechanical massage component 4 from the three-dimensional direction so that the mechanical massage component 4 is positioned at a place where a human body is to be massaged.

The massage bed 5 can be placed under the transverse bar 2 so that the mechanical massage assembly 4 can be extended directly to the human body lying on the massage bed 5 for effective massage, as shown in fig. 2.

During specific massage, a proper massage head is selected, the massage head is installed, a human body to be massaged lies on or climbs on the bed 5, medical personnel or other related personnel determine a massage part and enable the massage part to face upwards, and then the mechanical massage assembly 4 or the massage head is positioned at the massage part through front-back, up-down and left-right three-dimensional movement of the horizontal rod, the longitudinal rod and the transverse rod, and a motor on the massage head is turned on, so that massage is realized.

Example 2

On the basis of the embodiment 1, as shown in fig. 3, the mechanical massage assembly 4 includes a massage pole 40 detachably connected to the transverse rod 2, and the lower end of the massage pole 40 is detachably and fixedly connected to the massage head 41. The massage head 41 comprises a connecting end 42 and a pressing part 43 capable of contacting with a human body for massage, the upper end of the connecting end 42 is detachably and fixedly connected with the massage supporting rod 40, and the lower end of the connecting end 42 is connected with the pressing part 43.

The massage heads 41 comprise single-arm massage heads, double-arm massage heads 430 capable of double-arm massage, a kneading massage head 460 capable of clamping-pressing-loosening-lifting and a rotating motor 465 simultaneously provided with a plurality of massage heads, and different types of massage heads are selected according to actual requirements. The single-arm massage heads include a finger type massage head 400 capable of pressing with a single finger, a palm type massage head 410 capable of massaging with a palm, and a slapping type massage head 420 capable of slapping with a palm. Preferably, a pressure sensor is arranged on the massage head 41.

(1) The pressing part 43 in the finger-type massage head 400 is a finger-type pressing part 401, a finger-type motor 402 is arranged between the finger-type pressing part 401 and the connecting end 42, and the finger-type motor 402 can drive the finger-type pressing part 401 to rotate or press up and down.

The lower tip that indicates formula to press the splenium is the structure that from top to bottom external diameter decreases progressively in proper order, and this indicates formula to press the bottom face of splenium 401 for downwardly convex arc structure so that it with can with point the similarity height and with human flexible contact, human experience feel stronger, be not sharp-pointed end promptly for human uncomfortable, can specifically see fig. 4.

(2) The pressing portion of the palm massage head 410 is a palm pressing portion 411, a palm motor 412 is disposed between the palm pressing portion 411 and the connecting end 42, and the palm motor 412 can drive the palm pressing portion 411 to perform a rotation motion, a front-back friction motion or a left-right friction motion.

The lower end of the palm-type pressing part 411 is of a flat structure so that the palm-type pressing part has high similarity with a palm, and the bottom end surface of the palm-type pressing part is of an arc structure protruding outwards slightly, so that the human body experience is stronger, the human body is uncomfortable, and particularly, see fig. 5.

(3) The pressing part on the slapping massage head 420 is an impact pressing part 421, an impact motor 422 capable of slapping is arranged between the impact pressing part 421 and the connecting end 42, and the impact motor 422 drives the impact pressing part 421 to repeatedly press or slap, so that the slapping massage head can not only perform common slapping type reciprocating massage, but also perform cardiopulmonary resuscitation and the like, and has the advantages of uniform force, uniform speed and good effect.

The bottom end surface of the impact pressing part is planar or slightly convex arc-shaped, so that the impact pressing part feels similar to the palm, and particularly, see fig. 6.

(4) The two-arm massage head 430 includes a support bar 435 horizontally disposed, as shown in fig. 7, an upper end of a center gravity position of the support bar 435 is fixedly connected to the connection end 42, a first arm pressing portion 438 and a second arm pressing portion 439 symmetrically disposed are disposed at two ends of the support bar 435, a first arm motor 436 is connected to the first arm pressing portion 438 for driving the first arm pressing portion 438 to rotate and move, and a second arm motor 437 is connected to the second arm pressing portion 439 for driving the second arm pressing portion 439 to rotate and move.

The distance between the first arm pressing portion 438 and the second arm pressing portion 439 on the two-arm massage head can be adjusted; preferably, the distance between the first arm pressing part 438 and the second arm pressing part 439 is adjusted by a wheel base adjusting means, the wheel base adjusting device comprises a first rack 431 connected with a first arm pressing part 438, a second rack 432 connected with a second arm pressing part 439 and a gear 433 arranged between the first rack 431 and the second rack 432 and meshed with the first rack 431 and the second rack 432, wherein the first rack 431 and the second rack 432 are rigid racks, the gear 433 rotates to drive the first rack 431 and the second rack 432 to move towards or away from each other, the first rack 431 and the second rack 432 respectively drive the first arm pressing part 438 and the second arm pressing part 439 to move towards or towards each other, as shown in fig. 7, when the gear 433 rotates clockwise, the distance between the first arm pressing portion 438 and the second arm pressing portion 439 is reduced, and when the gear 433 rotates counterclockwise, the distance between the first arm pressing portion 438 and the second arm pressing portion 439 is increased.

Preferably, a handle 434 is arranged on the gear 433, so that a user can hold the handle 434 to rotate the gear 433; preferably, the first rack 431, the second rack 432, the gear 433, etc. are disposed on or in the support bar 435.

Preferably, the first arm pressing part 438 and/or the second arm pressing part 439 each include a vertical shaft 440, a connecting wheel 441, and a massage part 442 directly contacting with the human body, the upper end of the vertical shaft 440 is connected to the support bar 435, the top end of the vertical shaft 440 is connected to the first arm motor 436 or the second arm motor 437, preferably, the first arm motor 436 and the second arm motor 437 are respectively connected to the first arm pressing part 438 and the second arm pressing part 439, but the weight of the first arm motor 436 and the second arm motor 437 is supported on the support bar 435, so that no large pressure is applied to the first arm pressing part 438 and the second arm pressing part 439, the lower end of the vertical shaft 440 is connected to the connecting wheel 441, the connecting wheel 441 is fixedly connected to the massage part 442, preferably, the massage part 442 is parallel to the plane contacting with the human body and the connecting wheel 441, and the change of the position of the vertical shaft 440 connected to the connecting wheel 441 and the position of the massage part 442 connected to the connecting wheel 441 is realized by the change of the position of the vertical shaft 440 and the massage feeling is different due to the change of the angle and different angles.

More preferably, the lower end surface of the connecting wheel 441 is connected to the massage portion 442 via an elastic structure 443 (e.g., a spring) to provide a rigid and flexible feature during the massage process, so that the massage portion can feel more like a hand.

More preferably, an alternative configuration of the connecting wheel 441 is: as shown in fig. 7 to 8, the connecting wheel 441 may be an oval, a long strip, or a rectangle, a strip-shaped through hole 444 penetrating through the upper and lower end surfaces is formed in the length direction of the connecting wheel 441, the vertical shaft 440 may be connected to any one place of the strip-shaped through hole 444, that is, the vertical shaft 440 may be connected to the middle of the strip-shaped through hole or to places near both ends of the strip-shaped through hole, and the connecting positions are different, and finally the angle formed between the connecting wheel 441 and the vertical shaft 440 is different, and after it is determined that a certain place is connected, the vertical shaft 440 is fixed to the position of the strip-shaped through hole, for example, the connecting wheel 441 and the vertical shaft 440 may be fixed by a bolt 47 or by a bolt. Because the angle between the connecting wheel 441 and the vertical shaft 440 is adjustable, the double-arm massage head 430 can adapt to the massage requirements of different individuals at different positions.

The double-arm massage head 430 can massage the left and right symmetrical parts of the human body, such as the chest, the back, the shoulder, the abdomen, the waist, the hip and the like, and has good effect. After the connecting end 42 of the dual-arm massage head 430 is connected with the massage supporting rod 40, the height of the massage head is adjusted, and then the first arm motor 436 and the second arm motor 437 synchronously rotate in opposite directions to drive the two vertical shafts 440 to rotate in the same speed and in opposite directions, and force is transmitted through the connecting wheel 441 and the elastic structure 443, so that the motion tracks of the two massage parts 442 move along the circular shaft, and meanwhile, the massage effect is excellent because the hands feel of kneading. The two-arm massage head 430 not only can perform large-area muscle kneading and pressing on the symmetrical trunk part, relax muscles and relieve pains, but also can play a certain role in shaping and beautifying the chest, abdomen, buttocks and other parts.

(5) As shown in fig. 9 to 11, the lifting and kneading massage head 460 includes a first acting part 450 and a second acting part 451 which are arranged to intersect with each other, the overlapping portion of the first acting part 450 and the second acting part 451 is connected to each other by a fixed shaft 456 so that the first acting part 450 and the second acting part 451 can freely rotate with respect to the fixed shaft 456, the first acting part 450 includes a first engaging part 452 and a first pinching part 453 which are integrally connected to each other and are respectively located at the upper and lower ends of the fixed shaft 456, and the second acting part 451 includes a second engaging part 454 and a second pinching part 455 which are integrally connected to each other and are respectively located at the upper and lower ends of the fixed shaft 456.

The lower ends or free ends of the first and

second nipples

453 and 455 are both inwardly contracted so that the free ends of the first and

second nipples

453 and 455 can approach each other to lift the human body when the angle between the first and

second nipples

453 and 455 is reduced, and the human body can have a process of smoothing out when the first and

second nipples

453 and 455 are closed, and then the human body is lifted by kneading; an asymmetric wheel 457 capable of adjusting the angle between the first clamping portion 453 and the second clamping portion 455 is arranged in an upper cavity 458 formed by the first clamping portion 452 and the second clamping portion 454, the vertical outer diameter of the asymmetric wheel 457 is different from the horizontal outer diameter of the asymmetric wheel, and if the asymmetric wheel 457 can be in an elliptical shape, the first clamping portion 452 and the second clamping portion 454 are opened or closed in the rotating process of the asymmetric wheel 457, so that the angle between the first clamping portion 453 and the second clamping portion 455 is adjusted; it is preferable to provide a special rotating space 461 in the upper cavity 458 for the asymmetrical wheel 457 to rotate only in a fixed space, and the rotating trajectory is more stable.

Preferably, the upper ends of the first stretching-closing portion 452 and the second stretching-closing portion 454 are connected by a first elastic string 459 to enable the angle between the first clamping portion 453 and the second clamping portion 455 to be adjusted more flexibly and conveniently, a shaft hole is formed in the center of the asymmetric wheel 457, a rotation shaft 466 capable of driving the asymmetric wheel 457 to rotate is connected to the shaft hole, the rotation shaft is driven by a corresponding rotation motor 465, the rotation motor 465 is preferably disposed at the lower end of the connecting end 42, and the rotation motor 465 is connected to the rotation shaft 466 to drive the rotation shaft 466 to rotate, usually to-and-fro rotation, i.e. to-and-fro rotation, the rotation shaft is horizontally disposed, penetrates through the lower end of the vertically disposed connecting end 42, and is capable of rotating freely in the connecting end 42.

Preferably, two of the kneading massage heads 460 are provided, the two kneading massage heads 460 are symmetrically arranged around the axis of the connecting end 42, and the two kneading massage heads 460 share one rotating shaft 466, and the rotating shaft 466 passes through the connecting end 42 and can rotate in the connecting end 42; more preferably, the fixed shafts 456 of the two kneading massage heads 460 are also the same shaft; more preferably, a bushing 463 is disposed on each of the fixed shaft 456 and the rotation shaft, two bushings 463 corresponding to each other in the upper and lower direction are connected by a third elastic cord 464, and two bushings 463 and a third connection cord may be disposed on both sides of the connection end 42. Since the fixed shaft 456 passing through the lower end of the connection end 42 is relatively stable, and the rotation shaft 466 connecting the two asymmetric wheels 457 is not very stable, when the two ends of the asymmetric wheel 457 with large diameter are in horizontal positions, it is easy to be out of the groove upwards in the upper cavity 458 in a rotation state, i.e. out of the rotation space 461, so that a downward pulling force is needed to make the rotation shaft 466 always in a predetermined track without affecting the rotation. Asymmetric wheel 457 can vibrate when rotating, and upper and lower axle sleeve 463 are connected with each other through elastic third elastic rope 464, and the shock absorption can be realized.

More preferably, the first nip 453 and the second nip 455 are connected by a second elastic cord 462 to improve the kneading effect; the two lifting and kneading massage heads 460 share the fixed shaft 456, so that the two lifting and kneading massage heads 460 have better stability.

The lifting and kneading massage head 460 adjusts the opening and closing of the first acting part 450 and the second acting part 451 by the rotation of the asymmetric wheel 457, namely the rotation of the large-diameter part to the horizontal end or the vertical end, and the like, and can realize the processes of 'kneading, clamping, pressing, loosening and lifting' of the first nip 453 and the second nip 455 to the human body in the rotation process; if the linkage of horizontal pole 3, vertical pole 1 and horizontal pole 2 etc. then can realize the better massage effect of more accurate effect.

(6) As shown in fig. 12 to 14, the matrix massage head 470 includes a connection structure 471, an upper end of the connection structure 471 is fixedly connected to the connection end 42, and a plurality of massage heads 472 are disposed at a lower end of the connection structure 471.

The massage end 472 comprises a vertical shaft 473, a rolling wheel 474 capable of directly contacting a human body and a spring 475 sleeved on the periphery of the vertical shaft, wherein the upper end of the vertical shaft 473 is connected with the connecting structure 471 in a vertically sliding manner, the lower end of the vertical shaft 473 is connected with the rolling wheel 474, the rolling wheel 474 can rotate circumferentially on the vertical shaft, and the upper end and the lower end of the spring 475 are respectively abutted to the lower end face of the connecting structure and the upper side of the rolling wheel.

The connecting structure 471 is composed of an upper end surface, a lower end surface and a side connecting surface connecting the upper end surface and the lower end surface, and the upper end surface and the lower end surface can be plate-shaped structures or several steel bars, etc., as long as the connection of the connecting end 42 and the vertical shaft 473 is convenient.

When the matrix massage head 470 is used for pressing, the vertical shaft 473 moves toward the connecting structure 471 by the upward force, and then the spring 475 is compressed, so that the force of the massage head 472 is rigid and flexible, and the height of the massage head can be adjusted along with the concave and convex surface of the human body, so that each rolling wheel 474 is always in effective contact with the human body.

The matrix massage head 470 can effectively test pain points of a human body. Many pains caused by muscle strain and the like are not necessarily known to the pain point of the patient, and can be found by searching and pressing with the hands of a doctor. The matrix massage head 470 is formed by arranging a plurality of massage ends 472 with specific structures into a matrix, and when passing through a body surface with different heights and having reading, a surface pressure close to equal pressure can be formed, and pain spots can be easily found through rolling of the matrix massage head 470. In addition, the matrix massage head 470 has good therapeutic effect, unique massage effect, and can press the whole body in a large area.

Example 3

On the basis of example 1 or 2: the connection mode of the massage supporting rod 40 and the massage head is as follows: as shown in fig. 15, a groove 45 is formed at the lower end of the massage pole 40, the upper end of the connection end is disposed in the groove 45, a groove hole penetrating through the inner side and the outer side of the groove 45 is formed in the groove 45, a pin hole 44 is formed at the upper end of the connection end, see fig. 3 to 12, and when the upper end of the connection end is located in the groove 45, the pin hole 44 overlaps the groove hole so that a pin 47 is inserted into the pin hole 44 and the groove hole, thereby fixing the connection end to the massage pole 40.

As shown in fig. 15, a pin assembly 46 for fixing the massage head is arranged outside the massage pole 40, the pin assembly 46 includes a pin 47, a bent connecting rod 48 and an elastic connecting rope 49, the bent connecting rod 48 is formed by bending two straight edges outwards, that is, the bent connecting rod 48 is formed by connecting two straight edges, and an angle between the two straight edges is greater than 0 degree and less than 180 degrees, wherein a free end of one straight edge is fixedly connected with an outer side surface of the massage pole 40 through the elastic connecting rope 49, and a free end of the other straight edge is fixedly connected with a tail end of the pin 47, so that the pin 47 is inserted into the groove hole to fix the massage head when the pin assembly 46 is in a free state (i.e., when no external interference exists); when the straight edge connected with the elastic connecting rope 49 is pressed, the elastic connecting rope 49 is compressed, the straight edge connected with the bolt 47 drives the bolt 47 to move outwards so that the head part of the bolt 47 is withdrawn from the pin hole 44, and then the massage head is separated from the massage supporting rod 40; when the force on the elastic connecting rope 49 is removed, the latch 47 will automatically spring back into the groove hole or the groove hole and the pin hole 44.

Preferably, the upper end surface of the pin 47 is horizontally arranged, the lower end surface of one end of the head of the pin 47 is a slope structure with the diameter decreasing from outside to inside (namely, from the tail end side to the head side), the pin hole 44 is a wedge-shaped hole with the shape consistent with one end of the head of the pin 47, so that the massage head is connected easily but not easily separated, namely, in the free state of the pin assembly 46, the pin passes through the groove hole, and one end of the head of the pin is positioned in the groove, when the massage head is inserted into the groove 45, because the lower end of the pin is the slope structure, the pin can be gradually ejected or pushed out of the groove 45, the pin cannot block the insertion of the massage head, when the massage head is inserted into the pin hole 44 and the groove hole, because the resilience of the pin makes the pin enter the pin hole 44 after encountering the pin hole 44, the massage head is connected with the massage pole 40, the massage head can be directly inserted without specially operating the pin assembly, since the upper end surface of the plug pin is horizontal, the massage head cannot fall out of the groove unless the plug pin assembly 46 is operated; therefore, the installation of the massage head is very convenient.

Example 4

On the basis of examples 1 or 2 or 3: as shown in fig. 16, the longitudinal rod 1 includes a first sleeve 10 and a second sleeve 11, a fixed end of the first sleeve 10 is fixedly connected with the horizontal rod 3, a fixed end of the second sleeve 11 is fixedly connected with the horizontal rod 2, a sliding end of the second sleeve 11 is disposed inside the sliding end of the first sleeve 10, and an outer side of the second sleeve 11 can slide up and down on an inner wall of the first sleeve 10, and can slide in a guide way in a matching way, but can also slide in other ways; a fixing plate 14 covering the cavity inside the second sleeve 11 is fixedly connected to the inner side of the second sleeve 11, and a threaded screw hole capable of being matched with the longitudinal screw 13 is formed in the fixing plate 14.

The lower end of the first sleeve 10 is provided with a longitudinal motor, a longitudinal lead screw 13 extends along the axial direction of the first sleeve 10 and the second sleeve 11, one end of the longitudinal lead screw 13 is connected with the longitudinal motor, the other end (i.e. the free end) passes through the threaded lead screw hole, the longitudinal motor drives the longitudinal lead screw 13 to rotate forward or backward so as to enable the second sleeve 11 to move upwards or downwards along the inner wall of the first sleeve 10, and then the second sleeve 11 drives the transverse rod 2 and the mechanical massage component 4 to move upwards and downwards.

The horizontal rod 3 and the transverse rod 2 can move in the same way as the longitudinal rod 1, the horizontal rod 3 can be driven by a horizontal motor to drive a horizontal screw rod to move back and forth, a movable sleeve (similar to a second sleeve 11 in the longitudinal rod 1) slides on the inner wall of a fixed sleeve (similar to a first sleeve 10 in the longitudinal rod 1), so that the horizontal motion of the horizontal rod 3 is realized, and the longitudinal rod 1 is fixedly connected with the movable sleeve on the horizontal rod 3, so that the horizontal rod 3 can move to drive the longitudinal rod 1 to move; similarly, a transverse motor 23 in the transverse rod 2 drives a transverse lead screw 24 to move left and right, and finally, the movable sleeve 22 outside the transverse rod 2 slides inside the fixed sleeve 21, so that the transverse rod 2 moves horizontally left and right, and the fixed sleeve 21 of the transverse rod 2 is fixedly connected with the second sleeve 11 of the longitudinal rod 1, as shown in fig. 16. See in particular the drive structure of the longitudinal bar 1.

By adopting the driving mode in the embodiment, the moving distance can be easily calculated through the number of turns of the lead screw, and the automatic control is very easy to realize. Of course, the transverse bar 2, the longitudinal bar 1 and the horizontal bar 3 can be moved by other driving methods.

Example 5

On the basis of examples 1 or 2 or 3 or 4: as shown in fig. 18, the longitudinal rod 1 includes two sleeves capable of longitudinally sliding relative to each other and disposed outside, and a longitudinal lead screw 13 disposed in the sleeve, and the longitudinal lead screw 13 is connected to the longitudinal motor through a spring shaft structure 9 capable of adjusting pressure in real time to improve safety.

As shown in fig. 18 to 19, the spring shaft structure 9 sequentially includes, from bottom to top, a driving disk 91, a friction plate 92, a driven disk 93, a pressure reed 94 capable of elastically compressing and rebounding, and a gear set 100, a lower end of the friction plate 92 is connected to the longitudinal motor 12 through a short shaft 90, an upper end of the driving disk 91 is connected to the driven disk 93 through the friction plate 92, an upper end of the driven disk 93 is connected to the pressure reed 94, an upper end of the pressure reed 94 is fixedly connected to the longitudinal screw 13, the gear set 100 is disposed on a periphery of the longitudinal screw and located above the pressure reed 94, and the pressure reed 94 is pressed down or rebounded by up and down movement of the gear set 100.

The longitudinal motor 12 drives the driving disc 91 to rotate through the short shaft 90, the driving disc 91 drives the friction plate 92 to rotate through friction force, the friction plate 92 drives the driven disc 93 to rotate, the driven disc 93 drives the pressure reed 94 to rotate, and the pressure reed 94 drives the longitudinal screw to rotate. The gear set 100 moves downwards to compress the pressure reed 94, the pressure reed 94 transmits the pressure downwards, so that the friction force below is increased, if the pressure applied by the friction plate is too large, the friction plate cannot be driven by the friction force, and the driving wheel slips and idles; if gear set 100 moves upward, pressure reed 94 gradually rebounds upward, and the friction force transmitted to the lower side is small; therefore, different pressures can be generated on the pressure reed 94 by adjusting the gear set 100 up and down, and the forces can be finally transmitted from the screw rod to the massage head of the mechanical massage assembly 4, which is like the feeling of muscle tension, so that the pressure on the massage head can be timely adjusted to a certain extent, and the massage is more comfortable.

The pressure reed 92 can be a spiral spring, and can also be a bowl-shaped reed with a hemispherical structure, the opening end of the bowl-shaped reed faces the driven plate, and the other end or the closed end of the bowl-shaped reed, namely, one end of an arc-shaped surface protruding outwards, is fixedly connected with the longitudinal screw rod.

As shown in fig. 19, the gear set includes a first gear 95 and a second gear 96, the first gear is connected with the longitudinal screw in a threaded manner so that the first gear can move up and down or rotate on the longitudinal screw, the first gear is meshed with the second gear, the second gear can drive the first gear to rotate, and the first gear moves up or down on the longitudinal screw.

Preferably, a handle 97 capable of rotating the second gear is arranged on the second gear, so that a user can also rotate the handle to rotate the gear set, i.e. move up and down, thereby realizing real-time adjustment of the pressure. Preferably, the second gear is simultaneously connected with a gear motor 98, so that the second gear can be conveniently rotated, and automatic or mechanical adjustment can be conveniently realized.

Preferably, an elastic component 99 sleeved on the screw rod is arranged between the lower end face of the first gear and the upper end face of the pressure reed so as to enable the action of the gear set to be more stable.

In a preferred embodiment, as shown in fig. 20 to 21, a fixing sleeve 30 is provided outside the longitudinal screw 13, the outer wall of the fixing sleeve does not rotate along with the rotation of the longitudinal screw 13, and the gear set is connected outside the fixing sleeve, so that the rotation of the longitudinal screw and the rotation of the gear set are independent of each other.

Specifically, the fixing sleeve includes a bearing 301 fixedly connected to the outside of the longitudinal screw 13, an outer sleeve 302 is fixedly connected to the outer wall of the bearing, and a gear set, such as a first gear, is movably connected to the outer wall of the outer sleeve 302 up and down.

More preferably, two sets of bearings 301 are provided, the outer sleeve 302 is provided outside the two sets of bearings 301, and the distance between the two sets of bearings 301 can be determined according to the required length or height of the outer sleeve 302, so that the length of the outer sleeve 302 is increased, and the stability is good; the outer side of the outer sleeve 302 is provided with an external thread, the inner wall of the first gear is provided with an internal thread matched with the external thread, and the first gear can move up and down along the outer wall of the outer sleeve 302 and is independent from the rotation of the longitudinal screw 13.

Example 6

On the basis of examples 1 or 2 or 3 or 4 or 5: as shown in fig. 17, the massage pole 40 is provided with an emergency pressure relief system that can release the force applied to the body by the mechanical massage assembly.

The massage supporting rod 40 is connected with the transverse rod 2 through a connecting component, the emergency pressure relief system comprises an elastic body 7 sleeved on the massage supporting rod 40, after the massage supporting rod 40 is connected with the transverse rod 2, the elastic body is positioned above the transverse rod 2, and the rod elastic body 7 is compressed; when the connecting component is opened, the mechanical massage component is ejected upwards due to the resilience of the elastic body 7; the pressure on the body is released.

Preferably, the massage pole 40 is provided at the top end thereof with an end cap 6 having a diameter larger than that of the massage pole 40, and the elastic body 7 is abutted between the end cap 6 and the transverse bar 2, and the elastic body 7 is in a compressed state when the massage pole 40 is normally coupled to the transverse bar 2.

More preferably, the cord 84 is attached to the attachment assembly to facilitate the user's disengagement of the attachment assembly from the massage pole 40, and pulling on the cord 84 opens the connection between the massage pole 40 and the crossbar.

More preferably, the connecting assembly comprises a fixing part 83 fixed on the transverse rod, a pin 81 penetrating through the fixing part 83 and capable of sliding along the fixing part 83, and an elastic device 82 sleeved on the pin 81, wherein one end of the elastic device 82 is fixedly connected to the pin 81, and the other end of the elastic device is abutted against or fixedly connected to the fixing part; in particular, a stop portion (shown in the figures, but not marked with a reference numeral) is fixedly arranged on the outer wall of the pin 81 near the front end, and the elastic device 82 can be fixedly connected with or abut against the stop portion; the cord 84 is attached to the tail end of peg 81. When the massage head is pressed against the human body too much, the string 84 is pulled, and then the pin 81 is pulled out from the massage pole 40, the elastic body 7 in the compressed state rebounds upward, so that the massage pole 40 or the mechanical massage assembly is rebounded upward, and the force applied to the human body is removed. While during the extraction of the peg 81, the elastic means 82 are compressed, and the peg 81 cannot be completely detached from the fixing portion 83 or the transverse bar 2 due to the presence of the elastic means 82, when the massaging support bar 40 or the mechanical massaging assembly is ejected, the cord is released, and the peg returns to its original state due to the resilience of the elastic means.

More preferably, the pins are flush at the lower end and at the upper end are inclined planes with decreasing diameters from the tail end to the head, see fig. 17, so that the massage limbs are easy to insert. When the massage limbs are inserted from top to bottom, the pins can be inserted into the insertion holes on the massage supporting rods 40 without considering that the ropes or the pins are pulled.

Both the elastic body 7 and the elastic means 82 in this embodiment may be springs or the like.

Example 7

On the basis of any one of the above embodiments, as an optional implementation scheme, the massage manipulator further comprises a controller, a CPU is arranged in the controller, all motors of the present application can be electrically connected with the controller to realize control by the controller, and a pressure sensor connected with the controller can be arranged on the massage head to realize more accurate control. The controller is connected with the display screen so that a user can conveniently check the display screen. The controller can automatically control the starting and stopping of each motor related in the manipulator, so that the manipulator is more convenient to use, and certainly, in the actual application, proper programs need to be programmed in the controller in advance, which are all technical problems easy to solve.

Example 8

On the basis of any one of the above embodiments, as an alternative embodiment, the massage manipulator further comprises a computer, and the computer can be connected with the pressure sensor on the massage head to enable the pressure data on the massage head to be transmitted to the computer; a bed 5 for lying the massaged is arranged below the mechanical massage component; the simulated bed 15 and the template of the holographic human body matching image (namely the standard human body holographic matching image 17) which are simulated according to the size specification of the bed are stored in the CPU of the computer, preferably, the simulated bed 15 is provided with a scale 16 which is the simulated scale, as shown in figure 22, the standard holographic human body matching image 17 is shown in figure 23, and in the computer, the template of the holographic human body matching image can be arranged on the simulated bed to form the standard simulated bed with the holographic human body matching image.

A shooting device capable of shooting pictures or dynamic videos of a patient lying on the bed is arranged right above the bed 5, the shooting device is electrically connected or in communication connection with the computer so that images of the patient shot in the shooting device are transmitted to the computer, then the images of the patient are arranged on the holographic human body matching picture on the simulation bed, a deformed holographic human body matching picture consistent with human body images of the patient is formed, namely the human body holographic matching picture 20 of a real image is obtained, and the massage is carried out according to meridians, acupuncture points, bones and muscles of the holographic human body matching picture, as shown in figure 24.

Preferably, the computer is electrically connected with the controller so that the mechanical massage component can carry out positioning and massage according to the deformed holographic human body layout indicated in the computer.

During specific implementation, the position of the bed 5 is fixed, and a camera is arranged above the bed 5 and opposite to the central position of the bed and is connected with a computer. The image is used as a template and recorded into a computer. Then, a ruler of the bed surface of the bed and a standard human body hanging picture, namely a holographic human body matching picture, are stored in advance in a computer; the standard medical human hanging picture according to the anatomical position of the channels and collaterals or the skeletal muscles is sleeved into the human body image pick-up template of the real patient, and at the moment, a deformed human body hanging picture is displayed in a computer.

The massage heads massage according to the proportion of fig. 24 and the meridian points or the skeletal muscles in the figure. In practice, it is only necessary to edit a simple small program, and a color identifier (commercially available) can be installed on the massage head to perform massage according to the positioning on the figure, and the specific positioning mode can be seen in fig. 25. For example: when a person suffers from cervical spondylosis, the pain of the shoulder, neck and back is often caused, the spine 18 and the scapula 19 are positioned as shown in fig. 23, and when the person is treated specifically, a massage doctor often presses the pain point at the position of the black block drawn by the figure and can touch the hard block (cord or knot) with muscle spasm.

These parts are usually named as the western anatomy and the meridian points in TCM. In the present mechanical system, they are just a set of coordinate values, X: transverse direction; y: longitudinally, adding the distance Z of the massage head from the bed surface, namely X, Y, Z, the numerical values of three length units, X and Y represent the length and width of the bed or the coordinate numerical values of the width and the length, because the analog length stored in the computer is provided with a scale, the two numerical values of X and Y can be visually displayed on the computer, and then the massage head can be accurately positioned according to the numerical values. Since the axes of these three values correspond to the three values of the transverse bar, the horizontal bar 3 and the longitudinal bar 1, they are controllable and recordable, so that these massage positions can be found during the treatment according to the following paths.

In addition, the massage manipulator has the following functions: a, the disease condition which has already been diagnosed by the doctor, and the doctor gives the part and the manipulation which should be massaged. The position can be marked on the treatment chart on the mobile phone or the computer touch screen, and the massage manipulator is controlled to carry out treatment at a fixed point. b, searching massage points according to medical images (holographic human body images). And C, the user uses hands or massage heads for detecting the pressure pain points to detect the pressure pain points related to diseases, positions the pressure pain points on the graph and massages the points.

It should be noted that the method in this embodiment is ultimately performed by a person having some relevant medical knowledge.

In this embodiment, the computer can be replaced by a mobile phone, or the computer is connected with the terminal mobile phone at the same time, so that the checking is more convenient. In this embodiment, to summarize, the automated human body positioning method is: 1. the three-dimensional positioning of the mechanical massage hand, namely the positioning of the plane coordinate of the massage bed, is realized through the rotation of the corresponding screw rod; 2. the holographic human body matching pattern template and the massage bed plane coordinate are compounded to carry out massage plane positioning; 3. the vertical rod and the like can adjust the height of the massage head in real time according to the data of the pressure sensor on the massage head.

In the invention, when in specific use, a person needing massage lies on the bed 5, and the bed 5 can be placed below the transverse rod 2; then the front and back positions of the massage heads are adjusted through the horizontal rods 3, the height positions of the massage heads are adjusted through the longitudinal rods 1, the left and right directions of the massage heads are adjusted through the transverse rods, and the accurate positioning of the massage heads is realized through three-dimensional adjustment. Different types of massage are realized through different types of massage heads, and the massage heads have unique hand simulation effect, but the force is more uniform, easier to control and more durable than the force of hand massage.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.

Claims

1. A massage manipulator is characterized in that: it comprises a horizontal rod, a longitudinal rod, a transverse rod and a mechanical massage component;

the horizontal rod is horizontally arranged along the front-back direction;

the mechanical massage assembly longitudinally extends along the vertical direction, massage heads capable of directly contacting with a human body for massage are arranged on the mechanical massage assembly, the massage heads comprise finger type massage heads capable of being pressed by single fingers, palm type massage heads capable of palm massage, slapping type massage heads capable of slapping palms, double-arm massage heads capable of double-arm massage, lifting and pinching type massage heads capable of clamping, pressing, loosening and lifting, and matrix type massage heads which are simultaneously provided with a plurality of massage ends and can sense acupuncture point pain points, and each massage head is provided with a connecting end;

the pressing part in the finger-type massage head is a finger-type pressing part, a finger-type motor is arranged between the finger-type pressing part and the connecting end, and the finger-type motor can drive the finger-type pressing part to rotate or press up and down;

the pressing part on the palm type massage head is a palm type pressing part, a palm type motor is arranged between the palm type pressing part and the connecting end, and the palm type motor can drive the palm type pressing part to do rotating motion or front-back friction motion or left-right friction motion;

the pressing part on the flapping massage head is an impact pressing part, an impact motor capable of flapping is arranged between the impact pressing part and the connecting end, and the impact motor drives the impact pressing part to do repeated pressing or flapping motion;

the double-arm massage head comprises a supporting rod which is transversely arranged, the center gravity position of the supporting rod is connected with the connecting end, a first arm pressing part and a second arm pressing part which are symmetrically arranged are arranged at two ends of the supporting rod, a first arm motor is connected onto the first arm pressing part and used for driving the first arm pressing part to rotate, and a second arm motor is connected onto the second arm pressing part and used for driving the second arm pressing part to rotate;

the lifting and kneading massage head comprises a first acting part and a second acting part which are arranged in a crossed manner, the overlapped parts of the first acting part and the second acting part are connected through a fixed shaft so that the first acting part and the second acting part can rotate relative to the fixed shaft at will, the first acting part comprises a first stretching part and a first pinching part which are respectively positioned above and below the fixed shaft and are connected integrally, and the second acting part comprises a second stretching part and a second pinching part which are respectively positioned above and below the fixed shaft and are connected integrally; the free ends of the first and second pinch portions are each inwardly constricted to enable them to pinch the skin;

the matrix type massage head comprises a connecting structure, the upper end of the connecting structure is fixedly connected with the connecting end, and the lower end of the connecting structure is provided with a plurality of massage end heads; the horizontal rod can drive the longitudinal rod, the transverse rod and the mechanical massage component to move back and forth along the horizontal direction, the longitudinal rod can drive the transverse rod and the mechanical massage component to move up and down along the vertical direction, the transverse rod can drive the mechanical massage component to move left and right along the horizontal direction, and then the massage manipulator can move in the front and back, up and down and left and right directions so as to adjust the position of the mechanical massage component from the three-dimensional direction to enable the massage head to be positioned at a position to be massaged of a human body;

in the two-arm massage head, a distance between the first arm pressing portion and the second arm pressing portion is adjustable;

in the lifting and pinching massage head, an asymmetric wheel capable of adjusting the angle between the first pinching part and the second pinching part is arranged in an upper cavity formed by the first stretching part and the second stretching part, and the vertical outer diameter of the asymmetric wheel is different from the horizontal outer diameter;

matrix massage is first, the massage end includes vertical axis, can the human rolling wheel of direct contact and sets up in the outer spring of vertical axis, the upper end and the connection structure of vertical axis are sliding connection from top to bottom, and the lower extreme of vertical axis is connected with rolling wheel and this rolling wheel can be in the rotation of vertical axis circumference, the upper and lower end difference butt of spring is in connection structure's lower terminal surface and rolling wheel's top.

2. The massage manipulator as recited in claim 1, wherein: the mechanical massage component also comprises a massage supporting rod which is detachably connected with the transverse rod, and the lower end of the massage supporting rod is detachably and fixedly connected with the massage head;

the upper end of the connecting end is fixedly connected with the massage supporting rod in a detachable mode, and the lower end of the connecting end is connected with the massage head;

a horizontal motor capable of driving the horizontal rod to move back and forth in the horizontal direction is arranged in the horizontal rod; a longitudinal motor capable of driving the longitudinal rod to move up and down in the vertical direction is arranged in the longitudinal rod; and a transverse motor capable of driving the transverse rod to move left and right in the horizontal direction is arranged in the transverse rod.

3. The massage manipulator as recited in claim 2, wherein: the connection mode of the massage supporting rod and the massage head is as follows: the lower extreme of massage branch is equipped with the slot, the upper end of link set up in the slot, be equipped with the slot hole that runs through this slot inside and outside both sides on the slot, the upper end of link is equipped with the pinhole, and works as the upper end of link is located when the slot, the pinhole with the slot hole overlaps so that the bolt inserts the pinhole with in the slot hole.

4. The massage manipulator of claim 3, wherein: the massage pole support is provided with an emergency pressure relief system which can release the force applied to the human body by the mechanical massage component.

5. The massage robot as recited in any one of claims 2 to 4, wherein: the longitudinal rod comprises two sleeves which are arranged outside and can longitudinally slide relative to each other and a longitudinal lead screw arranged in the sleeves, and the longitudinal lead screw is connected with the longitudinal motor through a spring shaft structure which can adjust pressure in real time to improve safety.

6. The massage manipulator as claimed in claim 5, wherein: the longitudinal screw rod is externally provided with a fixed sleeve, the outer wall of the fixed sleeve cannot rotate along with the rotation of the longitudinal screw rod, and the gear set is connected outside the fixed sleeve so that the longitudinal screw rod and the gear set can rotate independently.

7. The massage manipulator of claim 6, further comprising a controller having a CPU therein, wherein all motors involved in the massage manipulator are electrically connected to the controller, and the controller is connected to a display screen for easy viewing by a user.

8. A mechanical massage assembly, comprising a massage manipulator as claimed in any of claims 1 to 7, the mechanical massage assembly being provided on a support frame.