An automatic axillary massager based on redundant parallel mechanism

Abstract

The invention relates to an automatic armpit kneading and pressing device based on redundant parallel mechanisms, which comprises the redundant 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 redundant 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 redundant parallel mechanisms; the advance balls are uniformly mounted between the check ring and the massage outer cover; the air supply device is positioned inside the massage outer cover. The automatic armpit kneading and pressing device disclosed by the invention adopts the four-DOF (Degree of Freedom) symmetric redundant parallel mechanisms, adopts a 2-UPS-2-RPS parallel mechanism form, can achieve motion in four DOF directions, i.e. movement along an X axis, movement along a Z axis, rotation around the X axis and rotation around a Y axis, is flexible in massage motility and good in massaging effect, and takes a good health care effect on the armpit of a human body.

Description

technical field [0001] The invention relates to the field of intelligent machinery for armpit health care, in particular to an automatic armpit kneading and pressing device based on a redundant parallel mechanism. Background technique [0002] Massage is based on the theory of viscera and meridians of traditional Chinese medicine, combined with the anatomy and pathological diagnosis of Western medicine, and uses techniques or instruments to rub, knead or beat specific parts of the human body back and forth to adjust the physiological and pathological conditions of the body and achieve physical therapy. The method of purpose, in terms of nature, it is a physical therapy method. In terms of massage therapy, it can be divided into health massage, sports massage and medical massage; in terms of parts, massage can be divided into head massage, neck massage, etc. Massage, underarm massage, waist massage, back massage, buttock massage, leg massage, foot massage and more. [0003] ...

AI Technical Summary

Problems solved by technology

[0004] It can be seen that armpit massage plays an important role in people's health and usual medical care. However, at present, the armpit of the human body is a part that people seldom touch in daily activities, and it is often easily overlooked by everyone. Not to mention other medical care, and for a small amount of human armpit massage health care, manual massage and massage are used, and there is no good human armpit massage related equipment.

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