75results about How to "High fretting precision" patented technology

The invention relates to a hydraulic engineering pipe fitting stacking industrial robot. The hydraulic engineering pipe fitting stacking industrial robot comprises a traveling device, an adjustable support, a rotary device, a three-degree-of-freedom parallel mechanism and a clamping device; the adjustable bracket is located on the rear upper side of the traveling device; the rotary device is located in the front end position of the adjustable support, and is fixedly connected with the adjustable support; the three-degree-of-freedom parallel mechanism is located between the rotary device and the clamping device; the upper end of the three-degree-of-freedom parallel mechanism is connected with the rotary device; and the lower end of the three-degree-of-freedom parallel mechanism is connected with the clamping device. The hydraulic engineering pipe fitting stacking industrial robot can realize a series of operation including grabbing, carrying and stacking of water conservancy and hydropower pipelines, is high in automation degree and stable and flexible in motion, solves such problems as high manual carrying operation cost, low efficiency and high dangerousness, the horizontal interval and vertical interval of the clamping device are adjustable, thereby facilitating grabbing of the water conservancy and hydropower pipelines with different diameter sizes, grabbing and stacking are convenient and rapid, clamping is stable and firm in the carrying process, slipping is not easy to occur, and the safety is good.

The invention relates to a multi-rotor flight vehicle undercarriage based on a Stewart six-degree-of-freedom parallel mechanism. The multi-rotor flight vehicle undercarriage comprises the parallel mechanism, supporting claws, a fixing base, supporting columns and damping springs. The supporting claws are symmetrically arranged on the outer sides of the lower end of the parallel mechanism. The fixing base is located at the center of the lower portion of the parallel mechanism. One end of each supporting column is fixed to an installation column of the fixing base, and the other end of each supporting column is fixed to a reinforcing rib on the lower portion of the inclined part of the corresponding supporting claw. Each damping spring is wound on the corresponding supporting column in a sleeving mode. According to the multi-rotor flight vehicle undercarriage based on the Stewart six-degree-of-freedom parallel mechanism, the dual damping effects of pneumatic damping and spring damping are achieved, the parallel mechanism in a six-degree-of-freedom mode is adopted, the carrying capacity is high, and the final motion precision is high; the damage caused by vibration during landing to an airplane body is reduced, the safety of carrying objects or personnel is ensured; moreover, the radial length of the multi-rotor flight vehicle undercarriage is adjustable, so that the multi-rotor flight vehicle undercarriage is applicable to landing of different types of multi-rotor flight vehicles on different landforms and landing site spaces, and the application range is wider.

The invention relates to a micro-nano simulation rotating drive device, which belongs to the precise and super-precise machining field. The micro-nano simulation rotating drive device mainly consists of a stator and a rotor, wherein a drive piezoelectric stack is encapsulated inside the stator; and the rotor is a variable-type interface shaft. A high-precision piezoelectric drive device is used for driving a lever amplification flexible hinge structure to perform associated clamping, and the stepper super-precision rotation movement for the rotor to rotate along a fixed shaft is realized by controlling the clamping sequence of a piezoelectric clamping mechanism in the stator. The micro-nano simulation rotating drive device can be used for the high-precision drive and machining field, and has advantages of less investment, low cost, fast effect, high benefit and the like. The micro-nano simulation rotating drive device is a piezoelectric single-degree-of-freedom precision rotating drive device which can improve the system micro precision and reduce the structural size and can make super-precision stepper rotation movement along a determined direction.

The invention relates to an intelligent armpit massage device based on Stewart parallel mechanisms, which comprises the Stewart parallel mechanisms, a massage outer cover, advance balls, a check ring and an air supply device. The massage outer cover is positioned right above the Stewart parallel mechanisms; vibrating massage heads and air holes are respectively and uniformly formed on the outer surface of the massage outer cover; the vibrating massage heads and the air holes are arranged in a pairwise staggered manner; the check ring is positioned outside the message outer cover, and the check ring is fixed with the Stewart parallel mechanisms; the advance balls are uniformly mounted between the check ring and the massage outer cover. The intelligent armpit massage device disclosed by the invention can be used for carrying out manipulation massaging and air-cooling sweat dissipation on the armpit of a human body, is obvious in massaging effect and high in massage comfort, and takes a good health care effect on the armpit of the human body; the intelligent armpit massage device adopts the 6-SPS Stewart parallel mechanisms, has high bearing capacity and high micromotion accuracy, can take the 3-DOF translational and 3-DOF rotational move in six DOF (Degree of Freedom) directions in total in the space, has a large contact area with the armpit of the human body, and has a good massaging effect.

The invention relates to a welding robot welding manipulator based on a Stewart parallel mechanism. The welding manipulator comprises a six-degree-of-freedom parallel mechanism and a welding actuation device; and the welding actuation device is positioned rightly below the six-degree-of-freedom parallel mechanism, and is fixedly connected with the six-degree-of-freedom parallel mechanism. The welding manipulator can perform flexible welding operation, can adjust overall welding position, is flexible in motion in local positions and high in stability, can realize a function of feeding welding wires when welding, and is high in welding efficiency and excellent in welding quality; the welding actuation device realizes vertical conveying of the welding wires from a wire storage mechanism through engaged rotation of wire feeding driving wheels from top to bottom; and a servo motor can drive local part of a welding gun to rotate, so that the welding flexibility is convenient, and the function of feeding the welding wires when welding can be realized.

The invention relates to a paper inserting robot for a stator of an electric power motor. The paper inserting robot comprises a base, a supporting device, a Stewart parallel mechanism, a paper inserting device and four fixing devices. The base adopts a T-shaped plate structure. The supporting device is located at the rear side end of the base, and is fixedly connected with the base. The Stewart parallel mechanism is mounted at the front end of the supporting device. The paper inserting device is located under the Stewart parallel mechanism. The fixing devices are respectively and symmetrically arranged on the upper end surface of the base, and are fixedly connected with the base. Insulation paper can be inserted in the stator of the electric power motor, the whole paper insertion process is mechanical and automatic, paper insertion is quick and convenient, the safety is high, the paper insertion depth consistency is high, the labor investment is reduced, the production cost of the motor is reduced, and the production quality of the motor is improved to a certain degree.

The invention relates to a multi-rotor aircraft based on a Stewart six-freedom-degree parallel mechanism. The multi-rotor aircraft comprises a rack, an undercarriage, motors, propellers and locking nuts. The undercarriage is located in the center position under the rack and fixedly connected with the rack. The bottom end of each motor is fixed to a support. Each propeller is installed on a motor spindle. Each propeller and the corresponding motor spindle are fixed through the corresponding locking nut. By the adoption of the multi-rotor aircraft, the pneumatic shock absorption principle and the spring shock absorption principle are applied to the multi-rotor aircraft, a double shock absorption effect is achieved, the shock absorption effect is good, vibration generated between an aircraft body and the ground in the landing process is reduced, damage to the aircraft body in the landing process is reduced, and the safety of a carried object or a person is guaranteed. The Stewart six-freedom-degree parallel mechanism is adopted, the beneficial effects that the mechanism is stable in structure, large in rigidity, high in bearing capacity and final motion accuracy and small in moving load are used, and the shock absorption effect and the stability and safety performance of the aircraft in the landing process are further improved.

The invention relates to an environment-friendly sewage treatment pipe and dirt baffle plate welding robot. The robot comprises a base, a lifting device, a rotary driving device, a six-degree-of-freedom parallel mechanism, a welding actuation device and fixing devices; the lifting device is positioned at the back side end of the base, and is fixedly connected with the base; the rotary driving device is positioned rightly above the lifting device, and is fixedly connected with the lifting device; the six-degree-of-freedom parallel mechanism is positioned below the front end of the rotary driving device; the welding actuation device is positioned rightly below the six-degree-of-freedom parallel mechanism, and is fixedly connected with the six-degree-of-freedom parallel mechanism; and the fixing devices are symmetrically arranged on the upper end surface of the base, and are fixedly connected with the base. The robot can perform full-automatic intelligent welding operation between a sewage treatment pipe and a dirt baffle plate, is adjustable in whole position during welding, flexible in motion in local positions and high in stability, can realize the function of feeding welding wires while welding, and is high in welding efficiency and excellent in welding quality.

The invention relates to a redundancy double-parallel mechanism intelligent car seat with a buttock massage function. The car seat comprises a seat body, a massage device, lifting support columns, a moving adjustment device and limiting devices. The massage device is located in a concave installing groove formed in the middle of a riding part of the seat body. The lower ends of the lifting support columns are fixed to the upper portion of the moving adjustment device. The limiting devices are installed on the front side and the right side end of the moving adjustment device. The overall height of the car seat can be adjusted, and use by drivers of different heights is facilitated; the whole car seat can move horizontally front and back and left and right, so that the specific position of the car seat in the using process is adjusted; the whole car seat can contract and massage the buttocks of a person, and is good in softness and small in occupied space; and massaging force generated in the massaging process is different according to different positions of the buttocks of the person, the massaging contact face is complete, the massaging effect is remarkable, and the comfort of buttock massaging is improved.

The invention relates to a manipulator for an intelligent road drainage ditch cleaning robot. The manipulator comprises a Stewart parallel-connection mechanism and a cleaning device. The Stewart parallel-connection mechanism is located under the cleaning device, and the upper end of the Stewart parallel-connection mechanism is connected with the cleaning device. The manipulator can conduct cleaning and dredging operation on drainage ditches on the two sides of a road, the adjustment of the degree of freedom is flexible, the intelligent degree is high, the cleaning and dredging efficiency is high, and the problems that present manual cleaning and dredging are high in workload, low in efficiency, high in cost and the like are solved; and the adopted 6-SPS Stewart parallel-connection mechanism can perform three translation and three rotation motions in a space in the six-degree-of-freedom directions, on the one hand, the whole regulation of the azimuth of the cleaning device is achieved, and the function of flexible cleaning operation is achieved, and on the other hand, the damping effect on the cleaning device is achieved, and the cleaning operation of the cleaning device is prevented from being influenced by large shaking.

The invention relates to a novel high-precision movable platform for an industrial welding robot. The platform comprises a rotary driving device and a six-degree-of-freedom parallel connection mechanism. The six-degree-of-freedom parallel connection mechanism is located below the front end of the rotary driving device, and the rotary driving device is fixedly connected with the six-degree-of-freedom parallel connection mechanism. The movable platform has supporting and position adjusting functions on the welding robot. Load-bearing capacity is high, adjustability is good, movement flexibility is high, the overall position of the robot can be adjusted, local positions are flexible to move, stability is high, and welding quality and efficiency of the welding robot are indirectly improved. The rotary driving device can move left, right, front and back on the horizontal plane and rotate in the vertical plane, that is, the rotary driving device can move in three directions of degrees of freedom including two horizontal movement directions and one rotation direction in space. By means of the rotary driving device, overall large-size and large-azimuth adjustment of the welding robot during welding can be guaranteed, and welding performance of the welding robot is improved.

The invention discloses a four-axis stamping robot which comprises a base, a first shaft seat, a second shaft seat, a first servo motor, a second servo motor, a first shaft arm, a second shaft arm, athird servo motor, a four-axis fixing part and a fourth servo motor. The first shaft seat is fixedly connected to the top of the base. The second shaft seat is rotationally connected to the top of thefirst shaft seat. The first servo motor is fixedly connected to the top of the second shaft seat. The second servo motor is fixedly connected to the front face of the second shaft seat. The lower endof the first shaft arm is rotationally connected with the back face of the second shaft seat. One end of the second shaft arm is rotationally connected with the upper end of the first shaft arm. Thethird servo motor is fixedly connected to the front face of the second shaft arm. The four-axis fixing part is rotationally connected to the other end of the second shaft arm. According to the four-axis stamping robot, through cooperation of the above structures, a mechanical gripper connecting part in the four-axis stacking robot is improved, a mechanical gripper can be adjusted in the six freedom degree directions, and the adjusting precision is high.

The invention relates to a camera adjusting device based on parallel mechanism two-degree-of-freedom redundant driving. The camera adjusting device is used for solving the problem that the movement precision of a mechanism is declined due to accumulative error of a driving shaft in an existing camera adjusting mechanism. In the camera adjusting device, a movable platform assembly comprises a movable platform and a rotary support, the upper surface of the movable platform is used for mounting a sealed camera, the rotary support is arranged on the lower surface of the movable platform; one end of a middle constraint branched chain is hinged to the rotary support, and the other end of the middle constraint branched chain is fixedly connected with a fixed support; the fixed support is fixedlyconnected with a mounting base plate; a first driving branched chain and a second driving branched chain are the same in structure, one ends of the first driving branched chain and the second drivingbranched chain are hinged to the rotary support, and the other ends of the first driving branched chain and the second driving branched chain and the fixed support form a sliding pair; a third drivingbranched chain and a fourth driving branched chain are the same in structure, one ends of the third driving branched chain and the fourth driving branched chain are hinged to the movable platform, and the other ends of the third driving branched chain and the fourth driving branched chain and the fixed support form a sliding pair; and a first motor assembly, a second motor assembly, a third motorassembly and a fourth motor assembly are the same in structure and are used for driving the sliding pairs to move.

The invention relates to the technical field of hydraulic equipment, in particular to a parallel six-degree-of-freedom hydraulic robot platform. The parallel six-degree-of-freedom hydraulic robot platform comprises an electric stretchable cylinder, a servo driver and a spherical hinge; a rotary bearing block is arranged at the bottom of the platform and is connected with the platform in a weldingmanner; a ball sleeve is arranged in the middle of the bottom of the rotary bearing block, and the rotary bearing block and the ball sleeve are connected in a welding manner; a swing ball is installedat the inner end of the bottom of the ball sleeve, and the ball sleeve and the swing ball are connected in an embedded manner; the swing ball is arranged at the top of a hydraulic rod, and the swingball and the hydraulic rod are connected in a rotary connection manner; and the hydraulic rod is arranged in the middle of the interior of the electric stretchable cylinder, and the hydraulic rod andthe electric stretchable cylinder are connected in an embedded manner. Through the improvement of the structure, the beneficial effects of being excellent in structure, high in bearing capacity and high in final motion accuracy during running are achieved, the problems and shortcomings in an existing device and technology are avoided, and the practicability is higher.

The invention relates to novel automatic massage equipment for an arm and chest junction. The novel automatic massage equipment comprises a walking base, a moving device, a wandering device, two ascending and descending regulating devices, two main body massage devices and four local massage devices, wherein the moving device is positioned between the walking base and the wandering device; the ascending and descending regulating devices are respectively in symmetrical arrangement along the transverse center axial line of the wandering device; the bottom ends of the ascending and descending regulating devices are connected with the moving device; the main body massage devices are fixed right above the ascending and descending regulating devices; and the local massage devices are respectively and symmetrically positioned at the left side and the right side of the main body massage devices, and are fixedly connected with the ascending and descending regulating devices. The novel automatic massage equipment can be used as performing manipulation massage and air cooling sweat elimination on the human body armpits; in addition, the manipulation massage is comprehensive; the massage effect is obvious; the massage comfort degree is high; a good health care effect is achieved on the human body armpits; and the body and metal health of the human body is also promoted to a certain degree.

The invention relates to an electric motor bidirectional synchronous paper inserting robot and a working method thereof. The robot comprises a base, a supporting device, a Stewart parallel mechanism,a paper inserting device and fixing devices; the base is of a T-shaped platelike structure, the supporting device is arranged at the rear side end of the base, the supporting device is fixedly connected with the base, the Stewart parallel mechanism is installed at the front end of the supporting device, the paper inserting device is located below the Stewart parallel mechanism, the robot is provided with four fixing devices, the fixing devices are symmetrically arranged on the upper end face of the base respectively, and the fixing devices are fixedly connected with the base. According to therobot, bidirectional synchronous insulation paper inserting operation can be conducted on a stator of a motor, and the whole paper inserting process is a mechanical automation operation; paper inserting is fast and convenient, and has high safety and high paper inserting depth uniformity, input of the labor force and the production cost of the motor are reduced, and production quality of the motoris improved to an extent.

The invention relates to an intelligent paper-inserting machine for an electromotor. The intelligent paper-inserting machine comprises a Stewart parallel mechanism and a paper-inserting device, wherein the paper-inserting device is located under the Stewart parallel mechanism; and the paper-inserting device is fixedly connected with the Stewart parallel mechanism. According to the intelligent paper-inserting machine, an insulation paper inserting operation can be carried out on an electromotor stator, and the whole paper-inserting process is mechanically and automatically operated; a paper-inserting operation is rapid, convenient and very safe; the paper-inserting depth is high in consistency, the investment of labor force is decreased, the production cost of the electromotor is reduced and the production quality of the electromotor is improved to some extent; the paper-inserting device can suck folded insulation paper through a suction principle, and then inserts the sucked insulation paper into an insulation slot of the electromotor stator through a pressure principle, and the operation is rapid and simple; the paper-inserting efficiency is high; and the production efficiency and the production quality of the electromotor are improved.

The invention relates to a multiple-DOF (degree of freedom) buttock massage robot based on double parallel mechanisms. The buttock massage robot comprises a seat frame, a massage device, an underframe, armrests, walking devices and a foot rest plate, wherein an arc-shaped sponge block is arranged in the middle of the seat frame, vertical pillars used for resting of arms are arranged on the left side and the right side of the seat frame respectively, the massage device is located right under the seat frame, the upper end surface of the massage device is tightly attached to the lower end surface of the seat frame, the lower end surface of the massage device is connected with the upper end of the underframe, the armrests are mounted in the positions above rectangular frame grooves in the left side end and the right side end of the underframe, semicircular concave parts are uniformly and sequentially formed in the lower end of each handle, four walking devices are fixed at four corners of the underframe, and the foot rest plate is located in front of the underframe and fixedly connected with the underframe. The buttock massage robot can massage the buttock of a human body, produces different massage force according to different massage parts of the buttock during massage and is comprehensively contacted with the massage parts, the massage effect is remarkable, and the comfort of the buttock during massage is improved.

The invention relates to an intelligent robot for cleaning road drainage ditches. The robot comprises a track walking device, wheel type walking devices, an electric rotating table, a Stewart parallel mechanism and a cleaning device; the four wheel type walking devices are symmetrically arranged on the left side and the right side of the track walking device, the electric rotating table is located at the central position of the upper end of the track walking device, and is fixedly connected with the track walking device, the Stewart parallel mechanism is located between the electric rotating table and the cleaning device, the lower end of the Stewart parallel mechanism is connected with the electric rotating table, and the upper end of the Stewart parallel mechanism is connected with the cleaning device; and the robot can carry out cleaning and dredging work on the drainage ditches on the two sides of the road, and the robot is free, flexible in adjustment, high in intelligence degree, high in cleaning and dredging efficiency and capable of solving the problems that manual cleaning and dredging labor amount is large, the efficiency is low, and the cost is high.

The invention relates to a manipulator of a floor tile paving robot for an urban municipal sidewalk. The manipulator comprises a Stewart parallel connection mechanism, a drawing and picking device and a device for filling brick cracks with cement, wherein the Stewart parallel connection mechanism is positioned just below the drawing and picking device, and the upper end of the Stewart parallel connection mechanism is connected with the drawing and picking device; and the device for filling brick crack with cement is positioned directly over the drawing and picking device. According to the manipulator disclosed by the invention, multiple functions of adjusting multi-freedom degree directions, drawing and picking floor tiles, filling the brick cracks with cement, and fixing, and the like are integrated, floor tile paving operation can be performed on the urban municipal sidewalk, the manipulator disclosed by the invention is high in automation degree, high in paving speed, and good in paving appearance degree, and problems that conventional floor tile paving is high in occupied labor, low in paving efficiency, large in paving cost and the like are solved.

The invention relates to a six-degree-of-freedom fishery breeding automatic feeding robot base which comprises a land traveling device, two water traveling devices, a lifting device and a Stewart parallel connection mechanism. The water traveling devices are positioned on the left side and the right side of the land traveling device respectively and connected with the land traveling device, the lifting device is positioned right above the land traveling device, the lower end of the lifting device is connected with the upper end of the land traveling device, the Stewart parallel connection mechanism is positioned right above the lifting device, and the lower end of the Stewart parallel connection mechanism is connected with the lifting device. The six-degree-of-freedom fishery breeding automatic feeding robot base has functions of land traveling, water traveling and direction and angle adjusting, and is quick and convenient in traveling and convenient and flexible in direction and angle adjusting, and the problem that existing feeding robot bases are low in moving flexibility, narrow in application range and low in stability.

The invention relates to an electric motor bidirectional synchronous paper inserting robot. The electric motor bidirectional synchronous paper inserting robot comprises a base, a supporting device, a Stewart parallel mechanism, a paper inserting device and fixing devices. The base is of a T-shaped plate structure. The supporting device is located at the rear side end of the base and fixedly connected with the base. The Stewart parallel mechanism is mounted at the front end of the supporting device. The paper inserting device is located under the Stewart parallel mechanism. The four fixing devices are symmetrically arranged on the upper end face of the base correspondingly and are fixedly connected with the base. The electric motor bidirectional synchronous paper inserting robot can conduct bidirectional synchronous insulation paper inserting operation on motor stators, the whole paper inserting process is operated in a mechanical automation mode, paper inserting is rapid, convenient and high in safety, the uniformity of the paper inserting depth is high, input of labor force is reduced, production cost of motors is reduced, and the production quality of the motors is improved to a certain extent.

The invention relates to a novel massage device special for automatic massage equipment used for joints of arms and chests. The novel massage device comprises a lifting regulating device, a main body massage device and local part massage devices, wherein the number of the local part massage devices is two; the main body massage device is fixed to be right above the lifting regulating device, and the local part massage devices are symmetrically arranged on the left and right sides of the main body massage device respectively, and fixedly connected with the lifting regulating device. The novel massage device can carry out manipulation and massage as well as air-cooling sweat dissipation on the oxter parts of the human body, the manipulation and massage are comprehensive, and the massage is obvious in effect and high in comfort level, so that a very good health effect is achieved on the oxter parts of the human body, and the physical and psychological health of the human body is promoted to a certain extent; through a series-parallel connection mechanism, a whole massage outer cover can carry out the movements in five degree-of-freedom directions, including two translation movements and three rotation movements in the space, and the massage is high in flexibility and good in effect.

The invention discloses a horizontal movement device for a reciprocating corrosion fretting abrasion testing machine. The device comprises a driving plate, a driving rod, a linear bearing seat and a slider-crank mechanism and a driving motor; the driving plate is a horizontal L-shaped structure, a bending end is fixedly connected with one end of the driving rod, the driving rod is connected to a support plate through the linear bearing seat, and the other end of the driving rod is connected to a motor shaft of the driving motor through the slider-crank mechanism; the driving motor is fixedly connected to the support plate, the support plate is fixedly connected to a cushion block, and the driving plate is fixedly connected to the sliding block of the horizontal linear guide rail along witha lower clamp. The transverse movement of a specimen is realized by adopting motor driving, the slider-crank mechanism is used for driving the device, the fretting precision is high, the load is stable, the movement back-and-forth frequency is adjustable (the frequency is controlled by controlling a rotating speed of the motor), the equipment volume is small, the specimen directional movement isrealized by adopting the linear guide rail, the guidance precision is high, the driving motor rotates to drive the driving plate to transversely move, the movement is convenient and fast, and the reaction is quick and sensitive.

The invention relates to an intelligent armpit massage device based on Stewart parallel mechanisms, which comprises the Stewart parallel mechanisms, a massage outer cover, advance balls, a check ring and an air supply device. The massage outer cover is positioned right above the Stewart parallel mechanisms; vibrating massage heads and air holes are respectively and uniformly formed on the outer surface of the massage outer cover; the vibrating massage heads and the air holes are arranged in a pairwise staggered manner; the check ring is positioned outside the message outer cover, and the check ring is fixed with the Stewart parallel mechanisms; the advance balls are uniformly mounted between the check ring and the massage outer cover. The intelligent armpit massage device disclosed by the invention can be used for carrying out manipulation massaging and air-cooling sweat dissipation on the armpit of a human body, is obvious in massaging effect and high in massage comfort, and takes a good health care effect on the armpit of the human body; the intelligent armpit massage device adopts the 6-SPS Stewart parallel mechanisms, has high bearing capacity and high micromotion accuracy, can take the 3-DOF translational and 3-DOF rotational move in six DOF (Degree of Freedom) directions in total in the space, has a large contact area with the armpit of the human body, and has a good massaging effect.

The invention relates to a hip massage robot. The robot comprises a seat frame, a massage device, a bottom frame, armrests, walking devices and a foot placement plate; an arc sponge block is arrangedin the middle of the seat frame, and columns for placing the arms are arranged at the left and right sides of the seat frame respectively; the massage device is located under the seat frame, the upperend face of the massage device is tightly attached to the lower end face of the seat frame, and the lower end face of the massage device is connected with the upper end of the bottom frame; the armrests are installed at the portions, above a rectangular frame groove, of the left and right side ends of the bottom frame respectively, and the lower end of each armrest is sequentially and evenly provided with semicircular concave parts; the four walking devices are fixed at the four top corners of the bottom frame respectively, and the foot placement plate is located in front of the bottom frameand fixedly connected with the bottom frame. The hip massage robot can massage the hips of the human body, the magnitudes of generated massage force are different when different parts of the hips aremassaged, the massage contact surface is comprehensive, the massage effect is obvious, and the comfort of the hips during massage is improved.

The invention relates to an intelligent medical instrument for body unhairing. The intelligent medical instrument for body unhairing comprises an unhairing device, two foam extruding devices, connecting springs, a Stewart parallel mechanism and a handheld device. The foam extruding devices are located on the left and right sides of the unhairing device correspondingly. The connecting springs are located between the unhairing device and the foam extruding devices and arranged in an arc shape in the circumferential direction of the foam extruding devices at equal intervals. The upper ends of the connecting springs are connected with the unhairing device, and the lower ends of the connecting springs are connected with the foam extruding device. The Stewart parallel mechanism is located between the unhairing device and the handheld device. The upper end of the Stewart parallel mechanism is fixedly connected with the unhairing device, and the lower end of the Stewart parallel mechanism is connected with the handheld device. The intelligent medical instrument for body unhairing can be used for automatically unhairing armpits of a human body, is high in unhairing efficiency, clean and comprehensive in unhairing, high in safety and convenient to hold, brings convenience for unhairing of human body armpits, and has corresponding functions for human body armpit health care.