Massage robot actuating mechanism
An actuator and robot technology, applied in kneading massage appliances, physical therapy, vibration massage, etc., can solve the problems affecting the active promotion of massage techniques, meet the requirements of massage operation characteristics, good mechanism decoupling and dynamic special effects, The effect of huge economic and social benefits
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Embodiment approach 1
[0023] as attached figure 1 Shown, the present invention comprises the mobile pair A (16) of two translation guide rails, the mobile pair B (17) of two translation guide rails, fixed platform (14), moving platform (9), parallel mechanism and plane rocker mechanism; A five-degree-of-freedom mechanical arm (19) is connected in series on two translational guide rails composed of the moving pair A (16) of the guide rail and the moving pair B (17) of the two translational guide rails, and the fixed platform (14) is fixed to the five-degree-of-freedom mechanical arm (19). connect.
[0024] The fixed platform (14) and the intermediate moving platform (9) are equipped with a parallel mechanism. The parallel mechanism includes active branch chain A, active branch chain B, auxiliary branch chain A and auxiliary branch chain B; active branch chain A and active branch chain B, auxiliary branch chain A and auxiliary branch chain B are symmetrically arranged on four platforms on the upper ...
Embodiment approach 2
[0030] combine figure 2 , the difference from Embodiment 2 is that the active branch A includes the moving pair A (4) of the active branch, the rotating pair B (6) of the active branch and the rotating pair A (5) of the active branch, and the active branch The moving pair A (4) of the chain, the rotating pair B (6) of the active branch chain and the rotating pair A (5) of the active branch chain are connected in sequence, and the moving pair A (4) of the active branch chain is fixed to the fixed platform (14) connection, the rotating pair A (5) of the active branch chain is fixedly connected with the moving platform (9); the active branch chain B includes the rotating pair D (12) of the active branch chain, the moving pair B (15) of the active branch chain, and the active branch chain The rotating pair C (11) of the branch chain, the rotating pair D (12) of the active branch chain, the moving pair B (15) of the active branch chain, and the rotating pair C (11) of the active b...
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