A kind of redundancy two-in-parallel mechanism Intelligent automobile seat with buttocks massage functions
Technical field
The present invention relates to auto parts machinery field, a kind of redundancy two-in-parallel mechanism intelligence with buttocks massage functions
Can automotive seat.
Background technology
Along with social economy and the fast development of science and technology, the raising of people's living standard, automobile has come into thousand ten thousand
Family, becomes one of main traffic instrument of people's trip, and at present, automobile is closely bound up with the life of people, the vapour of family
Car owning amount is also rising year by year, and domestic automobile market have also been obtained fast development, and the requirement that people are to automobile
More and more higher, such as running car performance, automobile ride quality etc.;During car steering, if driver enters
Row long-distance running, owing to running time is longer, and narrow space in automobile, body kinematics should not be carried out, running over simultaneously
Taking in journey and keep energy high concentration quarter, posture remains unchanged for a long period of time, and as easy as rolling off a log causes driver tired, and there will be buttocks
The situation ached in portion, the most also can be with chest stifling or the situation of pain, if this kind of situation occurs the most frequent, it will
Have a strong impact on the healthy of people, also with the generation of some diseases, and the product of piles can be easily lead to simultaneously
Raw and bung fat is piled up, and in addition, is also easily caused the generation of vehicle accident.If automotive seat has buttocks massage
Function, it is possible to often massage the buttocks of driver at driving procedure, is possible not only to allow tight gluteus maximus, stock two
Flesh, great adductor muscle are loosened, and slow down fatigue;But also hip hypertrophy person can be had effect of fat-reducing so that it is more fine
Mellow and full, thick meat meat, very stick up U.S., the most important thing is to reduce the accumulation of fat, it is possible to reduce hemorrhoid simultaneously
Occur;In addition so that driver's moment keeps energetic, consequently reduces the generation of vehicle accident.In consideration of it, this
Invention provides a kind of redundancy two-in-parallel mechanism Intelligent automobile seat with buttocks massage functions.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of redundancy two-in-parallel machine with buttocks massage functions
Structure Intelligent automobile seat.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of redundancy two-in-parallel mechanism Intelligent automobile seat with buttocks massage functions, including seat main body, massage dress
Put, lifting support, mobile adjusting means and stopping means;Described seat main body front end is sitting part, offers in the middle part of sitting part
Having matrix mounting groove, be respectively symmetrically and offer installation screwed hole at four drift angles of sitting part bottom face, chair body rear end is
Dependence portion, dependence portion is half vertical waist type structure, and the left and right sides, dependence portion is respectively symmetrically and offers arc shape groove, and relies on
Portion is provided with foam-rubber cushion on medial wall;Described massage machine is positioned at the matrix mounting groove in the middle part of chair body sitting part, rises
Descending branch post upper end offer with sitting part bottom face install corresponding threaded holes close external screw thread, lifting support be electric pushrod,
Air-leg and hydraulic push rod, lifting support upper end is arranged in the installation screwed hole of sitting part bottom face, lifting support lower end
Being fixed on the top of mobile adjusting means, the whole height of the present invention can be adjusted by lifting support, it is simple to different heights
Crowd uses, and range is wider;Described stopping means quantity is two, and stopping means is separately mounted to mobile adjusting means
Dead ahead and right-hand end.
As a further improvement on the present invention, described massage machine include lower supporting plate, upper backup pad, left side plate,
Side plate, six degree of freedom massage executor and Three Degree Of Freedom massage executor front and back, the quantity of left side plate and front and back side plate is
Two, the quantity of six degree of freedom massage executor and Three Degree Of Freedom massage executor is four;Described lower supporting plate is by four pieces of squares
Shape plate is spliced between arc structure, and four pieces of rectangular slabs and is attached by hinge, and lower supporting plate can be as the case may be
It is adjusted to the state of different arc angles, in order to the crowd of different buttocks sizes uses;Described upper backup pad is positioned at lower support
Directly over plate, left side plate is between lower supporting plate and upper backup pad, and left side plate upper end is connected with upper backup pad, left and right
Side plate lower end is connected with lower supporting plate, and front and back side plate lays respectively at left side plate dead ahead and dead astern;Described six are freely
Degree massage executor is respectively symmetrically and is arranged at lower supporting plate medium position;Described Three Degree Of Freedom massage executor lays respectively at
Six degree of freedom massages the executor left and right sides, and Three Degree Of Freedom massage executor is connected with lower supporting plate.
As a further improvement on the present invention, described mobile adjusting means includes fixing base plate, movable base plate, laterally slides
Block, horizontal slide rail, longitudinal sliding block and longitudinal slide rail;Described fixing base plate is plate-like structure, and before and after fixing base plate, side is respectively
Offer fixing hole symmetrically and evenly;It is respectively fixed at two ends with transverse slider before and after described movable base plate bottom face, laterally slides
Block is arranged on horizontal slide rail, and horizontal slide rail uniformly offers cross spacing hole, and two ends, horizontal slide rail left and right are separately fixed at
On longitudinal sliding block, longitudinal sliding block is arranged on longitudinal slide rail, longitudinal slide rail uniformly offers longitudinal spacing hole, at the bottom of longitudinal slide rail
End is fixed on fixing base plate;Mobile adjusting means can carry out the left and right in plane and movement front and back, thus regulates the present invention
Particular location during use, easily facilitates operation during driver.
As a further improvement on the present invention, described stopping means includes deck, movable block, gag lever post, spacing jump ring
And handle;Described deck is semicircle shape structure, and deck center position offers through hole, and movable block is positioned at directly over deck,
Gag lever post one end is separately mounted in cross spacing hole and longitudinal spacing hole through the through hole of deck center position, and gag lever post is another
One end is connected with movable block, and spacing jump ring lays respectively at gag lever post both sides, and spacing jump ring bottom is connected with deck, limiting card
Spring top is connected with movable block, shakes hands in the U-shape structure stood upside down, and handle two ends are separately fixed on movable block top end face;Limit
Spacing fixing after regulating integral position of the present invention of position device, prevents and treats the present invention and in use occurs that deviation is moved
Dynamic, cause security incident, as the present invention to be moved, driver pulls up handle with hands, thus drives gag lever post from laterally
Extract in spacing hole or longitudinal spacing hole, when after the particular location being regulated the present invention by mobile adjusting means, put down and draw
Hands, under the restoring force effect of spacing jump ring, gag lever post declines automatically, is ultimately inserted into cross spacing hole or longitudinal spacing hole
In, reach the spacing fixing effect to the present invention.
As a further improvement on the present invention, described six degree of freedom massage executor include a fixed platform, No. one move
Platform, trigonid, upper Triangulum, spherical hinge, sleeve, expansion link, a limit spring and a massage bead, trigonid and
Upper Trianguli quantity is three, and the quantity of spherical hinge, sleeve and a limit spring is 12, and the quantity of expansion link is six;Institute
The fixed platform stated and a moving platform the most rounded shape structure, trigonid is arranged on the upper surface of a fixed platform,
And trigonid on a fixed platform in equilateral triangle location arrangements, upper Triangulum is arranged on a moving platform lower surface,
And the installation site between upper Triangulum and trigonid interlocks two-by-two;Described spherical hinge is separately mounted to trigonid and upper
On Triangulum, sleeve one end is connected with spherical hinge, and the sleeve other end is connected with expansion link, and limit spring is stretched around being enclosed within
On contracting bar, and expansion link is bi-directional expansion bar, and expansion link is electric pushrod, air-leg or hydraulic stem;A described massage
Pearl is evenly arranged on the upper surface of a moving platform, and a massage bead is hemispherical configuration, and a massage bead is by flexible material
Material is made.Moved by the bi-directional expansion up and down of expansion link, thus drive pumping of a moving platform, and by one
Number limit spring adds the jitter of a moving platform, improves the massage effect of six degree of freedom massage executor, and six freely
Degree massage executor uses the Stewart parallel institution of 6-SPS, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity
Strong and fine motion precision high, six degree of freedom massage executor can carry out three translations three in space and rotate six-freedom degree directions altogether
Motion, and space is little, movement velocity is fast, kinematic dexterity is good, six degree of freedom massage executor is positioned at the center of the present invention
Position, during use, six degree of freedom massage executor contact with in the middle part of human buttock, has not only acted as main load-bearing effect,
Take full advantage of the feature that the Stewart parallel institution weight capacity of 6-SPS is strong, and big with buttocks contact area, massage effect
The best.
As a further improvement on the present invention, described Three Degree Of Freedom massage executor include No. two fixed platforms, No. two move
Platform, lower ear base, upper ear seat, rotating shaft, lower link, upper connecting rod, drive shaft, No. two limit spring, No. two massage beads and driving dress
Putting, the quantity of lower ear base, upper ear seat, lower link, upper connecting rod and No. two limit spring is four, and the quantity of rotating shaft is eight, drives
The quantity of axle is two;No. two described fixed platforms and No. two moving platforms are all square structure, and No. two fixed platforms and No. two dynamic flat
Platform vertical symmetry is arranged, lower ear base lays respectively at four drift angles of No. two fixed platform upper surfaces, and upper ear seat lays respectively at No. two
At four drift angles of moving platform lower surface, and lower ear base and upper ear seat are positioned on same bar straight line;Described lower link one end is passed through
Rotating shaft is connected with lower ear base, is attached by drive shaft between the lower link other end and upper connecting rod one end, upper connecting rod another
End is connected with upper ear seat by rotating shaft;No. two described limit spring upper ends are connected at upper connecting rod medium position, No. two limits
The position spring other end is connected at lower link medium position;Described massage bead is evenly arranged in the upper surface of No. two moving platforms
On, and No. two massage beads are hemispherical configuration, No. two massage beads are fabricated from a flexible material;Described driving means is positioned at No. two and determines
It is connected between the center position of platform upper surface, and driving means and No. two fixed platforms;Described driving means includes driving
Motor, motor cabinet, driving gear and driven gear, and driven gear quantity is two;Described driving motor is solid by motor cabinet
It is scheduled on the center position of No. two fixed platform upper surfaces, and drives that motor is parallel with drive shaft to be mounted side by side, drive motor employing
Adjustable speed stepping reducing motor;Described driving gear is positioned at driving motor front end, and driving gear and driving electric machine main shaft it
Between be attached by key, driving gear is symmetrical partial gear, and driving gear is meshed with driven gear, driven gear
It is fixed at the medium position of drive shaft;By drive motor rotate drive driving gear rotation, and driving gear with from
Wheel gear is meshed, and driven gear is fixedly and coaxially connected with drive shaft, thus drives upper connecting rod to enter with drive shaft for center of rotation
Row rotates, and the partial gear being symmetrical by driving gear achieves the intermittent rotary of driven gear, and then has reached two
The effect up and down reciprocatingly shaken of number moving platform, achieves being synchronized with the movement of each upper connecting rod, overall fortune by driving means simultaneously
Dynamic property more smooth sequential, and added the jitter of No. two moving platforms by No. two limit spring, improve Three Degree Of Freedom by
Rub the massage effect of executor;Three Degree Of Freedom massage executor uses the redundancy parallel mechanism of 4-RRR, can realize three in space
Rotating the motion in three degree of freedom direction altogether, the Three Degree Of Freedom massage executor of the redundancy parallel mechanism of 4-RRR is the machine of overdriving
Structure, by using overdrive technique effectively alleviate and eliminate the power singular problem of conventional parallel mechanism, it is achieved that parallel machine
The dynamic control of structure operation rigidity, improves the power operating characteristics of system so that Three Degree Of Freedom massage executor pressing buttocks
Power more uniform and stable when rubbing, effectively raises effect during buttocks of the present invention massage;Three Degree Of Freedom massage executor position
In center position both sides of the present invention, during work, Three Degree Of Freedom massage executor can fully contact with human buttock both sides, with
Six degree of freedom massage executor compare, Three Degree Of Freedom massage executor massage power the lightest little steadily, be more suitable for human body
Buttocks both sides are massaged, and massage effect is good.
As a further improvement on the present invention, described upper backup pad curved shape structure, upper backup pad depends on upper surface
Secondary it is evenly arranged cylindric horizontal stripe;The vertical cross section of described left side plate is polyline shaped;Before and after described, side plate is not in
Completely loop configuration, front and back uniformly offers rectangular channel on side plate, and upper backup pad, left side plate and front and back side plate by flexibility
Material is made;The upper backup pad made by flexible material, left side plate and front and back side plate can complete overall the stretching of massage machine
Contracting motion, flexibility is good, improves the massage effect of massage machine.
As a further improvement on the present invention, described trigonid is equilateral triangle column structure, and trigonid is along it
Vertical center line is respectively symmetrically and is provided with inclined plane, and inclined plane offers the installation spiral shell matched with spherical hinge lower end external screw thread
Pit, and upper Trianguli structure is identical with the structure of trigonid.
Compared with prior art, the invention have the advantages that
(1) whole height of the present invention can be adjusted, it is simple to the use of different height drivers, and the present invention can carry out whole
The planar movement of before and after body and left and right, thus regulate the particular location during the present invention uses, easily facilitate driver and drive
Operation when sailing, security reliability is high.
(2) entirety of the present invention is collapsible, and flexibility is good, takes up room little, can massage human buttock, according to buttocks
The massage power produced during different parts massage is different, and massage contact surface is comprehensive, and massage effect is obvious, improves buttocks massage
Time comfort level.
(3) six degree of freedom of the present invention massage executor uses the Stewart parallel institution of 6-SPS, and bearing capacity is strong and micro-
Dynamic precision is high, and six degree of freedom massage executor can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether,
And space is little, movement velocity is fast, kinematic dexterity is good, six degree of freedom massage executor contact with in the middle part of human buttock,
Not only act as main load-bearing effect, take full advantage of the feature that the Stewart parallel institution weight capacity of 6-SPS is strong, and
Big with buttocks contact area, massage effect is good.
(4) Three Degree Of Freedom of the present invention massage executor uses the redundancy parallel mechanism of 4-RRR, can realize three turns in space
The motion in dynamic three degree of freedom direction altogether, the Three Degree Of Freedom massage executor of the redundancy parallel mechanism of 4-RRR is mechanism of overdriving,
By using overdrive technique effectively alleviate and eliminate the power singular problem of conventional parallel mechanism, it is achieved that parallel institution is grasped
Make the dynamic control of rigidity, improve the power operating characteristics of system so that Three Degree Of Freedom massage executor is when massaging buttocks
Power more uniform and stable, and Three Degree Of Freedom massage executor can fully contact with human buttock both sides, be more suitable for people
Body buttocks both sides are massaged, and massage effect is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention;
Fig. 2 is the perspective view of massage machine of the present invention;
Fig. 3 is the perspective view before and after massage machine of the present invention is removed after side plate;
Fig. 4 is the perspective view that the present invention moves when adjusting means and stopping means coordinate;
Fig. 5 is the sectional perspective structural representation that the present invention moves when adjusting means and stopping means coordinate;
Fig. 6 is the perspective view of six degree of freedom of the present invention massage executor;
Fig. 7 is the perspective view of Three Degree Of Freedom of the present invention massage executor.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As it is shown in figure 1, a kind of adjustable intelligent automobile driver seat with buttocks massage functions, including seat main body 1,
Massage machine 2, lifting support 3, mobile adjusting means 4 and stopping means 5;Described seat main body 1 front end is sitting part, takes
Offer matrix mounting groove in the middle part of portion, be respectively symmetrically at four drift angles of sitting part bottom face and offer installation screwed hole, chair
Main body 1 rear end is dependence portion, and dependence portion is half vertical waist type structure, and the left and right sides, dependence portion is respectively symmetrically and offers arc shape
It is provided with foam-rubber cushion on groove, and medial wall, dependence portion;It is recessed that described massage machine 2 is positioned in the middle part of chair body 1 sitting part
In type mounting groove, lifting support 3 upper end offers the external screw thread that corresponding threaded holes closes of installing with sitting part bottom face, liter descending branch
Post 3 is electric pushrod, air-leg and hydraulic push rod, and lifting support 3 upper end is arranged on the installation screwed hole of sitting part bottom face
In, lifting support 3 lower end is fixed on the top of mobile adjusting means 4, and the whole height of the present invention can be adjusted by lifting support 3
Joint, it is simple to the crowd of different heights uses, and range is wider;Described stopping means 5 quantity is two, and stopping means 5 is respectively
It is arranged on dead ahead and the right-hand end of mobile adjusting means 4.
As shown in Figures 2 and 3, described massage machine 2 includes lower supporting plate 21, upper backup pad 22, left side plate 23, front
Back side panel 24, six degree of freedom massage executor 25 and Three Degree Of Freedom massage executor 26, left side plate 23 and front and back side plate 24
Quantity is two, and the quantity of six degree of freedom massage executor 25 and Three Degree Of Freedom massage executor 26 is four;Described lower
Fagging 21 is spliced between arc structure, and four pieces of rectangular slabs by four pieces of rectangular slabs and is attached by hinge, lower supporting plate 21
The state of different arc angles can be adjusted to as the case may be, in order to the crowd of different buttocks sizes uses;Described is upper
Gripper shoe 22 is positioned at directly over lower supporting plate 21, left side plate 23 between lower supporting plate 21 and upper backup pad 22, left and right sides
Plate 23 upper end is connected with upper backup pad 22, and left side plate 23 lower end is connected with lower supporting plate 21, front and back side plate 24 position respectively
In left side plate 23 dead ahead and dead astern;Described six degree of freedom massage executor 25 is respectively symmetrically and is arranged on lower supporting plate 21
At medium position;Described Three Degree Of Freedom massage executor 26 lays respectively at six degree of freedom massage executor 25 left and right sides, and
Three Degree Of Freedom massage executor 26 be connected with lower supporting plate 21.
As shown in Figure 4 and Figure 5, described mobile adjusting means 4 includes fixing base plate 41, movable base plate 42, transverse slider
43, horizontal slide rail 44, longitudinal sliding block 45 and longitudinal slide rail 46;Described fixing base plate 41, in plate-like structure, fixes base plate 41
Front and back side is respectively symmetrically and uniformly offers fixing hole;It is respectively fixed at two ends with before and after described movable base plate 42 bottom face laterally
Slide block 43, transverse slider 43 is arranged on horizontal slide rail 44, horizontal slide rail 44 uniformly offers cross spacing hole, horizontal slide rail
About 44 two ends are separately fixed on longitudinal sliding block 45, and longitudinal sliding block 45 is arranged on longitudinal slide rail 46, on longitudinal slide rail 46 all
The even longitudinal spacing hole that offers, longitudinal slide rail 45 bottom is fixed on fixing base plate 41;Mobile adjusting means 4 can be carried out in plane
Left and right and movement front and back, thus regulate the particular location during the present invention uses, when easily facilitating driver
Operation.
As shown in Figure 4 and Figure 5, described stopping means 5 includes deck 51, movable block 52, gag lever post 53, spacing jump ring 54
With handle 55;Described deck 51 is in semicircle shape structure, and deck 51 center position offers through hole, and movable block 52 is positioned at deck
Directly over 51, gag lever post 53 one end is separately mounted to cross spacing hole and longitudinal spacing through the through hole of deck 51 center position
In hole, gag lever post 53 other end is connected with movable block 52, and spacing jump ring 54 lays respectively at gag lever post 53 both sides, and spacing jump ring 54
Bottom is connected with deck 51, and spacing jump ring 54 top is connected with movable block 52, and handle 55, in the U-shape structure stood upside down, is shaken hands
55 two ends are separately fixed on movable block 52 top end face;Spacing solid after integral position of the present invention is regulated of stopping means 5
Fixed, prevent and treat the present invention and in use occur that deviation moves, and causes security incident, as the present invention to be moved, driver uses
Hands pulls up handle 55, thus drives gag lever post 53 to extract in cross spacing hole or longitudinal spacing hole, when by mobile
After adjusting means 4 regulates the particular location of the present invention, put down handle 55, under the restoring force effect of spacing jump ring 54, spacing
Bar 53 declines automatically, is ultimately inserted in cross spacing hole or longitudinal spacing hole, and reached the present invention is spacing fixing
Effect.
As shown in Figure 6, described six degree of freedom massage executor 25 include 251, moving platform 252 of a fixed platform,
Trigonid 253, upper Triangulum 254, spherical hinge 255, sleeve 256,257, limit spring 258 of expansion link and a massage
Pearl 259, the quantity of trigonid 253 and upper Triangulum 254 is three, spherical hinge 255, sleeve 256 and a limit spring 258
Quantity is 12, and the quantity of expansion link 257 is six;A described fixed platform 251 and a moving platform 252 the most rounded shape knot
Structure, trigonid 253 is arranged on the upper surface of a fixed platform 251, and trigonid 253 on a fixed platform 251 in
Equilateral triangle location arrangements, upper Triangulum 254 is arranged on moving platform 252 lower surface, and upper Triangulum 254 and lower triangle
Installation site between seat 253 is interlocked two-by-two, and trigonid 253 is in equilateral triangle column structure, and trigonid 253 is vertical along it
Centrage is respectively symmetrically and is provided with inclined plane, and inclined plane offers the installation spiral shell matched with spherical hinge 255 lower end external screw thread
Pit, and the structure of upper Triangulum 254 is identical with the structure of trigonid 253;Described spherical hinge 255 is separately mounted to down three
In angled seat 253 and upper Triangulum 254, sleeve 256 one end is connected with spherical hinge 255, sleeve 256 other end and expansion link 257
Being connected, a limit spring 258 is around being enclosed within expansion link 257, and expansion link 257 is bi-directional expansion bar, and expansion link 257 is electronic
Push rod, air-leg or hydraulic stem;A described massage bead 259 is evenly arranged on the upper surface of a moving platform 252, and one
Number massage bead 259 is hemispherical configuration, and a massage bead 259 is fabricated from a flexible material.The most two-way by expansion link 257
Stretching motion, thus drive pumping of a moving platform 252, and add No. one by a limit spring 258
The jitter of moving platform 252, improves the massage effect of six degree of freedom massage executor 25, and six degree of freedom massage executor 25 adopt
With the Stewart parallel institution of 6-SPS, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision
Height, six degree of freedom massage executor 25 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and fortune
Dynamic space is little, movement velocity is fast, kinematic dexterity is good, and six degree of freedom massage executor 25 is positioned at the center position of the present invention,
During use, six degree of freedom massage executor 25 contact with in the middle part of human buttock, has not only acted as main load-bearing effect, fully profit
By the strong feature of the Stewart parallel institution weight capacity of 6-SPS, and big with buttocks contact area, and massage effect is good.
As it is shown in fig. 7, described Three Degree Of Freedom massage executor 26 include 261, No. two moving platforms 262 of No. two fixed platforms,
Lower ear base 263, upper ear seat 264, rotating shaft 265, lower link 266, upper connecting rod 267,268, No. two limit spring 269, two of drive shaft
Number massage bead 2610 and driving means 2611, lower ear base 263, upper ear seat 264, lower link 266, upper connecting rod 267 and No. two are spacing
The quantity of spring 269 is four, and the quantity of rotating shaft 265 is eight, and the quantity of drive shaft 268 is two;No. two described fixed platforms 261
All it is square structure with No. two moving platforms 262, and No. two fixed platforms 261 and No. two moving platform 262 vertical symmetry are arranged, lower ear base
263 lay respectively at four drift angles of No. two fixed platform 261 upper surfaces, and upper ear seat 264 lays respectively at No. two moving platform 262 lower ends
At four drift angles in face, and lower ear base 263 and upper ear seat 264 are positioned on same bar straight line;Described lower link 266 one end is by turning
Axle 265 is connected with lower ear base 263, is carried out even by drive shaft 268 between lower link 266 other end and upper connecting rod 267 one end
Connecing, upper connecting rod 267 other end is connected with upper ear seat 264 by rotating shaft 265;No. two described limit spring 269 upper ends are with upper
Being connected at connecting rod 267 medium position, No. two limit spring 269 other ends are connected at lower link 266 medium position;Described
Massage bead 2610 is evenly arranged on the upper surface of No. two moving platforms 262, and No. two massage beads 2610 are in hemispherical configuration, No. two
Massage bead 2610 is fabricated from a flexible material;Described driving means 2611 is positioned at the center of No. two fixed platform 261 upper surfaces
Place, and be connected between driving means 2611 and No. two fixed platforms 261;Described driving means 2611 include drive motor 2611a,
Motor cabinet 2611b, driving gear 2611c and driven gear 2611d, and driven gear 2611d quantity is two;Described driving electricity
Machine 2611a is fixed on the center position of No. two fixed platform 261 upper surfaces by motor cabinet 2611b, and drive motor 2611a with
Drive shaft 268 is parallel to be mounted side by side, and drives motor 2611a to use adjustable speed stepping reducing motor;Described driving gear 2611c
It is positioned between driving motor 2611a front end, and driving gear 2611c and driving motor 2611a main shaft and is attached by key, main
Moving gear 2611c is symmetrical partial gear, and driving gear 2611c is meshed with driven gear 2611d, driven gear
2611d is fixed at the medium position of drive shaft 268;By driving rotating of motor 2611a to drive turning of driving gear 2611c
Moving, and driving gear 2611c is meshed with from wheel gear 2611d, driven gear 2611d is fixedly and coaxially connected with drive shaft 268,
Thus drive upper connecting rod 267 to rotate with drive shaft 268 for center of rotation, and by driving gear 2611c be symmetry not
Completely gear achieves the intermittent rotary of driven gear 2611d, and then reached up and down reciprocatingly shaking of No. two moving platforms 262
Effect, achieves being synchronized with the movement of each upper connecting rod 267 by driving means 2611 simultaneously, mass motion more smooth sequential,
And the jitter of No. two moving platforms 262 is added by No. two limit spring 269, improve Three Degree Of Freedom massage executor's 26
Massage effect;Three Degree Of Freedom massage executor 26 uses the redundancy parallel mechanism of 4-RRR, can realize three rotations totally three in space
The motion in individual degree of freedom direction, the Three Degree Of Freedom massage executor 26 of the redundancy parallel mechanism of 4-RRR is mechanism of overdriving, and passes through
Overdrive technique is used effectively to alleviate and eliminate the power singular problem of conventional parallel mechanism, it is achieved that parallel institution operation is just
The dynamic control of degree, improves the power operating characteristics of system so that Three Degree Of Freedom massage executor 26 power when massaging buttocks
Road more uniform and stable, effectively raises effect during buttocks of the present invention massage;Three Degree Of Freedom massage executor 26 is positioned at this
Both sides, DevCenter position, during work, Three Degree Of Freedom massage executor 26 can fully contact with human buttock both sides, with six
Degree of freedom massage executor 25 compare, Three Degree Of Freedom massage executor 26 massage power the lightest little steadily, be more suitable for people
Body buttocks both sides are massaged, and massage effect is good.
As in figure 2 it is shown, described upper backup pad 22 curved shape structure, upper backup pad 22 is evenly arranged on upper surface successively
There is cylindric horizontal stripe;The vertical cross section of described left side plate 23 is polyline shaped;Before and after described, side plate 24 is in incomplete ring
Shape structure, front and back uniformly offers rectangular channel on side plate 24, and upper backup pad 22, left side plate 23 and front and back side plate 24 by soft
Property material is made;The upper backup pad 22 made by flexible material, left side plate 23 and front and back side plate 24 can complete massage machine 2
Overall stretching motion, flexibility is good, improves the massage effect of massage machine.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.