A smart hammer-tapping massage robot and its usage method

Abstract

This invention relates to the field of massage equipment, and more particularly to an intelligent hammering and tapping massage robot and its usage method. The robot includes a housing with an electronic control component and massage arms rotating on both sides of the housing. A lifting mechanism is installed inside the housing and is rotatably connected to the massage arms. The lifting mechanism includes an oil control mechanism, and a piston mechanism is slidably arranged inside the oil control mechanism. A connecting rod is fixed to the top of the piston mechanism, and the top of the connecting rod is rotatably connected to the massage arms. The oil control mechanism hydraulically drives the piston mechanism to move up and down, causing the connecting rod to push the swing arms up and down for tapping massage. This invention uses liquid compression and repulsive magnetism to block the swing stroke, providing a better buffer stage compared to the start / stop control of rigid components. Furthermore, the buffer distance is short, the response is fast, and the force exerted by the arms on the human body surface is closer to that of a real person, with moderate and non-stiff intensity, resulting in a better massage effect.

Description

Technical Field

[0001] This invention relates to the field of massage equipment, and more particularly to an intelligent hammer-tapping massage robot and its method of use. Background Technology

[0002] With the ever-increasing pace of life, people are experiencing greater work pressure, leading to various physical discomforts, the most common being lower back pain. Tapping and massage are relatively effective ways to relieve this condition. Traditionally, tapping and massage are performed manually, which is very effective. However, due to the limited number of practitioners, the industry cannot keep up with development. Therefore, it is of great significance to use robots to replace manual massage.

[0003] Traditional robots use mechanical linkage to control a bionic hand to pat and massage the user's lower back. By controlling different power output frequencies of the drive components, the massage intensity can be adjusted, which to some extent solves the problem of a shortage of massage personnel.

[0004] However, current patting massage robots use rigid mechanical structures to transmit power to the human body surface. The power has no buffer and the force applied to the human body surface is relatively hard, like a stiff arm hitting the human body. If soft materials are used in the contact area with the human body, the contact force will be softer, like a soft palm slapping the human body surface, and the artificial effect will be poor. Summary of the Invention

[0005] The purpose of this invention is to solve the following problems existing in the prior art: Currently, most lock bodies are made of bone joints for snap-fitting during production and installation. However, cutting the lock body off from the joint and then making a thermoplastic connection makes it difficult to detect, which leaves room for counterfeit products.

[0006] To address the problems existing in the prior art, this invention provides an intelligent hammering and patting massage robot, comprising a housing with an electronic control component and massage arms rotating on both sides of the housing. A lifting mechanism is installed inside the housing and is rotatably connected to the massage arms. The lifting mechanism includes an oil control mechanism, and a piston mechanism is slidably arranged inside the oil control mechanism. A connecting rod is fixed to the top of the piston mechanism, and the top of the connecting rod is rotatably connected to the massage arms. The oil control mechanism hydraulically drives the piston mechanism to move up and down, causing the connecting rod to push the swing arms to move up and down, performing patting massage.

[0007] Preferably, the oil control mechanism includes an outer cylinder and an inner cylinder disposed inside the outer cylinder. The outer wall of the inner cylinder is in contact with the inner wall of the outer cylinder. The length of the inner cylinder is less than the inner cavity length of the outer cylinder. The piston mechanism is slidably disposed inside the inner cylinder. The connecting rod slides out from the top of the inner and outer cylinders. An oil hole group for controlling the entry and exit of oil is opened on the surface of the outer and inner cylinders. The oil hole group is connected to an oil tank and a liquid pump through a pipe. An orientation mechanism is installed on the surface of the outer and inner cylinders. The liquid pump drives the oil in the oil tank to be conducted to the inner cylinder through the oil hole group, so that the piston mechanism drives the connecting rod to rise or fall in the inner cylinder, which is used to drive the massage arm to perform a patting massage action.

[0008] Preferably, the oil hole group includes a lower row of holes, an upper row of holes, an upper inlet hole, and a lower inlet hole. The upper row of holes and upper inlet holes are correspondingly opened on both sides of the top of the outer cylinder and the inner cylinder, and the lower row of holes and lower inlet holes are correspondingly opened on both sides of the bottom of the outer cylinder and the inner cylinder. The spacing between the lower row of holes and the upper row of holes, and the spacing between the upper inlet hole and the lower inlet hole on the surface of the inner cylinder are smaller than the spacing between the lower row of holes and the upper row of holes, and the spacing between the upper inlet hole and the lower inlet hole on the surface of the outer cylinder. Furthermore, the upper row of holes and the upper inlet hole, and the lower row of holes and the lower inlet hole on the surface of the outer cylinder are vertically aligned, while the upper row of holes and the upper inlet hole, and the lower row of holes and the lower inlet hole on the surface of the inner cylinder are vertically staggered. The lower row of holes and the upper row of holes are connected in series to the oil tank via pipes. The upper and lower inlet holes are connected to the discharge end of the hydraulic pump via a series of pipes. The inlet end of the hydraulic pump is connected to the oil tank. One of the upper and lower outlet holes is open, and the other of the upper and lower inlet holes is open. When the piston mechanism drives the inner cylinder to the top of the outer cylinder due to the impact of the oil, the upper and lower outlet holes are open and the upper and lower inlet holes are closed. The oil enters the upper part of the piston mechanism from the upper inlet hole and drives the piston mechanism to descend. The oil below the piston mechanism is guided back to the oil tank through the lower outlet hole until the piston mechanism presses down the oil and moves the inner cylinder to the bottom of the outer cylinder. This closes the upper and lower outlet holes and opens the upper and lower inlet holes, realizing the reversal of oil inlet and outlet, and causing the piston mechanism to drive the connecting rod to rise.

[0009] Preferably, electromagnets are installed at the top and bottom of the inner cylinder, and permanent magnets are installed at the top and bottom of the piston mechanism. The corresponding magnetic poles of the permanent magnets and electromagnets are the same. The permanent magnets move up and down with the piston mechanism, so that when the piston mechanism approaches the end of the inner cylinder, it generates a repulsive force with the electromagnet, causing the inner cylinder to shift relative to the outer cylinder, thereby realizing the switching and conduction of the oil hole group.

[0010] Preferably, the orientation mechanism includes an expansion shell, with an outwardly protruding expansion shell fixed to the surface of the outer cylinder, and a U-shaped shell fixed to the outer wall of the inner cylinder. The U-shaped shell is located inside the expansion shell, and a clamping plate is rotatably connected to the inner wall of the expansion shell. A spherical block adapted to the U-shaped shell is fixed to the end of the clamping plate. A spring is fixed at the horizontal position of the end of the expansion shell away from the U-shaped shell at the rotation point of the clamping plate. The spring is fixed to the end of the clamping plate near the spherical block. When the piston mechanism moves to the top or bottom under oil pressure, the repulsive force between the permanent magnet and the electromagnet pushes the inner cylinder to move relative to the outer cylinder. At this time, the U-shaped shell moves with the inner cylinder, thereby actuating the clamping plate to rotate. During this process, the clamping plate rotates to the horizontal position and the spring extends to its longest length. Then the clamping plate reverses direction and swings, causing the spring to shorten. The spring force keeps the moving inner cylinder in a fixed state.

[0011] Preferably, the piston mechanism includes an upper and lower stopper plate aligned vertically, which are adapted to the inner wall of the inner cylinder. A spring is fixed between the upper and lower stopper plates. Two sets of one-way valves with opposite communication directions are symmetrically installed through the surface of the upper stopper plate. The connecting rod is hollow inside and fixed to the outside of the one-way valves. A partition is fixed inside the connecting rod, and the bottom end of the partition is fixed between the one-way valves. Lubricating fluid is filled between the upper and lower stopper plates. The spring force maintains a balanced gap between the upper and lower stopper plates. When the piston mechanism is hydraulically driven to the reversing position of the inner cylinder, the repulsive force of the permanent magnet and electromagnet will compress it. The lubricating fluid inside is discharged to one side of the partition through a one-way valve. When the piston mechanism moves in the middle of the inner cylinder, it will return to its original state. The lubricating oil on the other side of the partition is drawn into the space between the upper and lower stopper plates. The reciprocating movement of the piston mechanism forms a transmission drive for the lubricating oil.

[0012] Preferably, the massage arm includes a fixed rod, which is fixed to the inner wall of the housing. Rotary cylinders are rotatably connected to both sides of the fixed rod via bearings. A spiral groove is formed on the inner wall of the rotating cylinder, and both ends of the spiral groove are connected to a connecting rod via flexible hoses. The connection points of the two sets of flexible hoses are located on both sides of a partition. The rotating cylinder rotates out of the housing and is fixedly connected to an arm. A swing arm, parallel to the arm, is fixed inside the housing. The lifting connecting rod drives the swing arm to rotate the rotating cylinder relative to the fixed rod, causing the arm to swing up and down for a patting massage. Meanwhile, lubricating oil from the piston mechanism is introduced through a hose to one end of the spiral groove and then guided back to the connecting rod from the other end of the spiral groove, forming a conduction circulation. This not only creates a better lubrication environment between the rotating cylinder and the fixed rod but also allows the conducted lubricating oil to carry away the heat generated by the friction between the rotating cylinder and the fixed rod, reducing the failure rate caused by wear.

[0013] Preferably, the swing arm includes a swing rod, which is fixedly connected to the rotating drum. A sliding sleeve is slidably fitted on the surface of the swing rod. The top end of the connecting rod is rotatably connected to the sliding sleeve. An oil guide groove is formed on the inner wall of the sliding sleeve. The two ends of the oil guide groove are connected to the connecting rod through hoses, and the connection position of the two sets of hoses is located on both sides of the partition. The two ends of the sliding sleeve are sealed to the swing rod through corrugated pipes. The vertically moving connecting rod causes the sliding sleeve to move vertically. The sliding sleeve drives the swing rod to swing up and down and slides adapted to the surface of the swing rod. The lubricating oil conducted in the piston mechanism is introduced to one end of the oil guide groove through the connecting rod and hoses, and then introduced to the connecting rod through the hoses at the other end of the oil guide groove, forming a circulating lubrication channel, reducing the friction between the sliding sleeve and the swing rod, and carrying away the heat generated by friction, thus reducing the failure rate.

[0014] A massage method using an intelligent hammer-tapping massage robot, with the following specific steps:

[0015] a. Move the machine to the side of the user, with the user lying flat and the end of the arm positioned above the area to be massaged.

[0016] b. The hydraulic pump is started by the electronic control components. The hydraulic pump guides the oil in the oil tank through the pipeline to the oil control mechanism, and the inner cylinder is filled with oil.

[0017] c. The starting positions of the two sets of inner cylinders are opposite. One is located at the bottom of the outer cylinder in the same group, so that the upper row holes and lower inlet holes on the surface of the outer cylinder and the inner cylinder are aligned and the lower row holes and the upper inlet holes are staggered. The other is located at the top of the outer cylinder in the same group, so that the upper row holes and lower inlet holes on the surface of the outer cylinder and the inner cylinder are staggered and the lower row holes and the upper inlet holes are aligned.

[0018] d. In the first group, the oil enters the piston mechanism below the inner cylinder through the aligned lower inlet hole, compresses the piston mechanism and drives the connecting rod to move upward, causing the arm to swing upward. The oil above the piston mechanism is guided back to the oil tank through the aligned upper outlet hole. When the piston mechanism moves to the top of the inner cylinder, the repulsive force of the permanent magnet and electromagnet causes the inner cylinder to move to the top relative to the outer cylinder. The positions of the upper outlet hole and the lower inlet hole are staggered, and the positions of the lower outlet hole and the upper inlet hole are aligned, thus forming the same state as the inner cylinder of the second group.

[0019] e. In the second group, the oil enters the inner cylinder through the upper inlet hole. The compression piston mechanism drives the connecting rod to move down, causing the arm to swing down and perform a massage action. The oil below the piston mechanism is guided back to the oil tank through the lower outlet hole until the piston mechanism moves down to the bottom, forming the state of step d. This cycle is repeated to realize the arm alternately patting the user's waist to perform a massage.

[0020] Compared with related technologies, the intelligent hammer-tapping massage robot and its usage method provided by the present invention have the following beneficial effects:

[0021] 1. This invention uses liquid compression and repulsive magnetism to block the swing stroke, which has a better buffer stage compared to the start and stop control of rigid parts. Moreover, the buffer distance is short, the response is fast, and the force of the arm on the human body surface is closer to that of a real person. The force is moderate and not stiff, and the massage effect is better.

[0022] 2. This invention adjusts the swing amplitude of the arm by controlling the magnetic strength of the electromagnet to shorten or lengthen the position of the piston mechanism when the inner cylinder is displaced relative to the outer cylinder. It is simple to operate and has a fast response.

[0023] 3. The present invention uses the extension and contraction force generated by the piston mechanism during the operation to drive the lubricating oil to circulate and lubricate at the rotation point of the equipment. This not only reduces the friction of the equipment, but also removes the heat generated by friction in time, thereby reducing the failure rate caused by friction. Attached Figure Description

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the internal structure of the base shell of the present invention;

[0026] Figure 3 This is a schematic diagram of the oil control mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the oil hole distribution structure of the present invention;

[0028] Figure 5 This is a schematic diagram of the piston mechanism structure of the present invention;

[0029] Figure 6 This is a schematic diagram of the swing arm structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the oil guide groove structure of the present invention;

[0031] Figure 8 This is a schematic diagram of the massage arm structure of the present invention;

[0032] Figure 9 This is a schematic diagram of the spiral groove structure of the present invention.

[0033] Numbered in the diagram: 1. Housing; 2. Massage arm; 21. Arm rod; 22. Rotary drum; 23. Fixed rod; 24. Spiral groove; 3. Oil control mechanism; 31. Outer cylinder; 32. Inner cylinder; 33. Lower row hole; 34. Upper row hole; 35. Upper inlet hole; 36. Lower inlet hole; 37. Permanent magnet; 38. Electromagnet; 4. Liquid pump; 5. Swing arm; 51. Swing rod; 52. Sliding sleeve; 53. Bellows; 54. Oil guide groove; 6. Connecting rod; 7. Piston mechanism; 71. Upper stopper plate; 72. Lower stopper plate; 73. One-way valve; 74. Partition plate; 8. Orientation mechanism; 81. Expansion shell; 82. U-shaped shell; 83. Clamping plate. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0035] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0036] Example 1

[0037] The lifting mechanism drives two sets of arms 21 to alternately tap and massage. The specific steps are as follows:

[0038] like Figure 1-2 As shown, an intelligent hammering and patting massage robot has an electronic control component installed at the bottom of the housing 1. The massage arm 2 is connected to the housing 1. The massage arm 2 includes a fixing rod 23, which is fixed to the inner wall of the housing 1. Two sets of rotating cylinders 22 are sleeved on both ends of the fixing rod 23 and connected by bearings. The side ends of the rotating cylinders 22 are inserted into the housing 1 and fixedly connected to the arm rod 21. Two sets of swing arms 5 are set inside the housing 1. The swing arms 5 are parallel to the arm rod 21 and are fixed to the rotating cylinders 22. The lifting mechanism is installed inside the housing 1 below the massage arm 2 and is rotatably connected to the swing arms 5.

[0039] The lifting mechanism drives the swing arm 5 to rotate the rotating cylinder 22 relative to the fixed rod 23, causing the arm 21 to swing up and down to perform patting massage.

[0040] The lifting mechanism has two sets of hydraulically driven lifting components, with the following specific structure:

[0041] like Figure 3 and Figure 4As shown, the lowering mechanism includes an oil control mechanism 3, a piston mechanism 7, and a connecting rod 6. The oil control mechanism 3 consists of an outer cylinder 31 and an inner cylinder 32. The inner cylinder 32 is located inside the outer cylinder 31 and slides in contact with it. The length of the inner cylinder 32 is less than the inner cavity length of the outer cylinder 31. Upper row holes 34 and upper inlet holes 35 are correspondingly opened on both sides of the top of the outer cylinder 31 and the inner cylinder 32, and lower row holes 33 and lower inlet holes 36 are correspondingly opened at the bottom. The distance between the lower row holes 33 and the upper row holes 34, and the distance between the upper inlet holes 35 and the lower inlet holes 36 on the surface of the inner cylinder 32 are less than the distance between the lower row holes 33 and the upper row holes 34, and the distance between the upper inlet holes 35 and the lower inlet holes 36 on the surface of the outer cylinder 31. The upper row holes 34 and the upper inlet holes 35, and the lower row holes 33 and the lower inlet holes 36 on the surface of the outer cylinder 31 are perpendicular in the vertical direction. The positions are aligned, and the upper row holes 34 and upper inlet holes 35, lower row holes 33 and lower inlet holes 36 on the surface of the inner cylinder 32 are staggered in the vertical direction. Two sets of pipes are used to connect the lower row holes 33 and the upper row holes 34 in series and connect them to the oil tank. The upper inlet holes 35 and lower inlet holes 36 are connected in series and connected to the discharge end of the liquid pump 4. The inlet end of the liquid pump 4 is connected to the oil tank. The piston mechanism 7 is fitted inside the inner cylinder 32. The connecting rod 6 is slidably inserted into the inner cylinder 32 from the top of the outer cylinder 31 and the inner cylinder 32 and fixed to the piston mechanism 7. Electromagnets 38 are installed at the top and bottom inside the outer cylinder 31. Permanent magnets 37 are fixed at the top and bottom of the piston mechanism 7. The permanent magnets 37 and electromagnets 38 on the same side are like poles and repel each other. The top of the connecting rod 6 is rotatably connected to the swing arm 5.

[0042] One of the upper row holes 34 and the lower row holes 33 is connected, and one of the upper inlet holes 35 and the lower inlet holes 36 is connected. When the upper inlet hole 35 and the lower row holes 33 are connected, the upper row holes 34 and the lower inlet holes 36 are blocked. The oil in the tank is driven by the hydraulic pump 4 to enter the inner cylinder 32 through the upper inlet hole 35. The oil pressure above the piston mechanism 7 increases, driving it to move the connecting rod 6 down. The oil below the piston mechanism 7 is guided back to the oil tank through the lower row holes 33. When the permanent magnet 37 approaches the bottom of the inner cylinder 32, the oil is drawn back to the tank through the lower row holes 33. The repulsion between magnet 37 and electromagnet 38 causes inner cylinder 32 to descend rapidly relative to outer cylinder 31, blocking upper inlet hole 35 and lower outlet hole 33, and opening lower inlet hole 36 and upper outlet hole 34. Oil enters below piston mechanism 7 through lower inlet hole 36, causing piston mechanism 7 to drive connecting rod 6 to move upward. Oil above piston mechanism 7 is guided back to oil tank through upper outlet hole 34, thus forming a hydraulic drive for reversing the up and down movement of piston mechanism 7, causing connecting rod 6 to drive massage arm 2 to swing and perform patting massage.

[0043] Because the end of each stroke is blocked by liquid compression and repulsive magnetism, it has a better buffer phase compared to the start and stop control of rigid parts. Moreover, the buffer distance is short and the response is fast. The force of the arm 21 on the human body surface is closer to that of a real person. The force is moderate and not stiff, and the massage effect is better.

[0044] The electromagnetic force of the electromagnet 38 is increased or decreased by controlling the electronic control components, thereby adjusting the repulsion between the permanent magnet 37 and the electromagnet 38, so that the position of the piston mechanism 7 is shortened or lengthened when the inner cylinder 32 is displaced relative to the outer cylinder 31, thereby adjusting the swing amplitude of the arm 21.

[0045] The swing frequency of the boom 21 is adjusted by the pressure connection of the liquid pump 4.

[0046] The power of the connecting rod 6 is transmitted to the boom 21 through the swing arm 5. The specific operation is as follows:

[0047] like Figure 6 As shown, the swing arm 51 is fixedly connected to the rotating drum 22 and kept flush with the arm 21. The sliding sleeve 52 is slidably sleeved on the outside of the swing arm 51, and the top of the connecting rod 6 is connected to the sliding sleeve 52 using a hinge.

[0048] The vertically moving link 6 is connected to the sliding sleeve 52, which moves up and down. The sliding sleeve 52 drives the swing arm 51 to swing up and down and slides on the surface of the swing arm 51, forming a stable power transmission mode.

[0049] To maintain the position of the inner cylinder 32, an orientation mechanism 8 is provided, the specific operation of which is as follows:

[0050] like Figure 4 As shown, the orientation mechanism 8 includes an expansion shell 81, an expansion shell 81 protruding outward is fixed on the surface of the outer cylinder 31, a U-shaped shell 82 is placed inside the expansion shell 81 and fixed to the outer wall of the inner cylinder 32, a clamping plate 83 is rotated on the inner wall of the expansion shell 81, a spherical block adapted to the U-shaped shell 82 is fixed at the end of the clamping plate 83, a spring is fixed at the horizontal position of the end of the expansion shell 81 away from the U-shaped shell 82 at the rotation point of the clamping plate 83, and the spring is fixed to the end of the clamping plate 83 near the spherical block;

[0051] When the piston mechanism 7 moves to the top or bottom under oil pressure, the repulsive force between the permanent magnet 37 and the electromagnet 38 pushes the inner cylinder 32 to move relative to the outer cylinder 31. At this time, the U-shaped shell 82 moves with the inner cylinder 32, thereby actuating the locking plate 83 to rotate. During this process, the locking plate 83 rotates to the horizontal position and the spring extends to its longest length. Then the locking plate 83 reverses direction and swings, causing the spring to shorten. The spring force keeps the moving inner cylinder 32 in its current state.

[0052] Because the tapping massage motions are frequent and prolonged, the sliding sleeve 52 and swing arm 51, and the rotating cylinder 22 and arm 21 are constantly in a state of friction, requiring alignment and lubrication. The specific operation is as follows:

[0053] like Figure 5-9As shown, the piston mechanism 7 is composed of an upper stopper plate 71 and a lower stopper plate 72 with diameters matching the inner diameter of the inner cylinder 32. The upper stopper plate 71 and the lower stopper plate 72 are distributed vertically and connected by a spring. Two sets of one-way valves 73 are installed through the upper stopper plate 71. The two sets of one-way valves 73 have opposite directions. The bottom of the hollow connecting rod 6 is sealed to the top of the one-way valves 73, and a partition plate 74 is used to isolate two channels within the connecting rod 6. The bottom end of the partition plate 74 is sealed between the one-way valves 73. An oil guide groove 54 is opened on the inner wall of the sliding sleeve 52, and... Two sets of corrugated pipes 53 are fitted over the outside of the swing rod 51 to seal both ends of the sliding sleeve 52. Two hoses are connected to the two ends of the oil guide groove 54, and the other end of the hoses is connected to the surface of the connecting rod 6 and connected to different channels inside the connecting rod 6. A spiral groove 24 is opened on the inner wall of the rotating drum 22. The port of the rotating drum 22 is sealed to the surface of the fixed rod 23 using a sealing ring. Two sets of hoses are connected to the two ends of the spiral groove 24, and the other end of the hoses is connected to the surface of the connecting rod 6 and connected to different channels inside the connecting rod 6.

[0054] Lubricating fluid is filled between the upper stopper plate 71 and the lower stopper plate 72. A spring maintains a balanced gap between them. When the piston mechanism 7 is hydraulically driven to the reversing position of the inner cylinder 32, the repulsive force of the permanent magnet 37 and the electromagnet 38 compresses it, and the lubricating fluid inside is discharged to one side of the partition plate 74 through a one-way valve 73. When the piston mechanism 7 moves to the middle of the inner cylinder 32, it returns to its original position, and the lubricating oil on the other side of the partition plate 74 is drawn into the space between the upper stopper plate 71 and the lower stopper plate 72. The reciprocating movement creates a transmission drive for the lubricating oil. The driven lubricating oil enters the hose through the channel on one side of the connecting rod 6 and is then guided into the oil guide groove 54 and the spiral groove 24 respectively. It is then guided back to the channel on the other side of the connecting rod 6 through the hose at the other end of the oil guide groove 54 and the spiral groove 24, forming a circulating lubricating oil channel in the oil guide groove 54 and the spiral groove 24. This not only lubricates the sliding sleeve 52 and the swing rod 51, and the rotating drum 22 and the arm 21, but also carries away the heat generated by friction, thereby greatly reducing the failure rate caused by friction.

Claims

1. A smart hammer-tapping massage robot, comprising a housing (1) housing electronically controlled components and massage arms (2) rotating on both sides of the housing (1), characterized in that, The housing (1) is equipped with a lifting mechanism, which is rotatably connected to the massage arm (2). The lifting mechanism includes an oil control mechanism (3). The oil control mechanism (3) is slidably equipped with a piston mechanism (7). A connecting rod (6) is fixed on the top of the piston mechanism (7). The top of the connecting rod (6) is rotatably connected to the massage arm (2). The oil control mechanism (3) drives the piston mechanism (7) to move up and down through hydraulic power, so that the connecting rod (6) pushes the swing arm (5) to move up and down to perform patting massage. The oil control mechanism (3) includes an outer cylinder (31) and an inner cylinder (32) disposed inside the outer cylinder (31). The outer wall of the inner cylinder (32) is in contact with the inner wall of the outer cylinder (31). The length of the inner cylinder (32) is less than the inner cavity length of the outer cylinder (31). The piston mechanism (7) is slidably disposed inside the inner cylinder (32). The connecting rod (6) slides out from the top of the inner cylinder (32) and the outer cylinder (31). The outer cylinder (31) and the inner cylinder (32) are provided with an oil hole group for controlling the entry and exit of oil. The oil hole group is connected to an oil tank and a liquid pump (4) through a pipe. The outer cylinder (31) and the inner cylinder (32) are provided with an orientation mechanism (8). The oil hole group includes a lower row of holes (33), an upper row of holes (34), an upper inlet hole (35), and a lower inlet hole (36). The upper row of holes (34) and the upper inlet hole (35) are correspondingly opened on both sides of the top of the outer cylinder (31) and the inner cylinder (32). The lower row of holes (33) and the lower inlet hole (36) are correspondingly opened on both sides of the bottom of the outer cylinder (31) and the inner cylinder (32). The spacing between the lower row of holes (33) and the upper row of holes (34) on the surface of the inner cylinder (32), and the spacing between the upper inlet hole (35) and the lower inlet hole (36) are smaller than the spacing between the lower row of holes (33) and the upper row of holes (34) on the surface of the outer cylinder (31). The spacing between the upper inlet hole (35) and the lower inlet hole (36) is such that the upper row holes (34) and the upper inlet hole (35), the lower row holes (33) and the lower inlet hole (36) on the surface of the outer cylinder (31) are vertically aligned, the upper row holes (34) and the upper inlet hole (35), the lower row holes (33) and the lower inlet hole (36) on the surface of the inner cylinder (32) are vertically staggered, the lower row holes (33) and the upper row holes (34) are connected to the oil tank in series through pipes, the upper inlet hole (35) and the lower inlet hole (36) are connected to the discharge end of the liquid pump (4) in series through pipes, and the inlet end of the liquid pump (4) is connected to the oil tank.

2. The intelligent hammering and patting massage robot according to claim 1, characterized in that, Electromagnets (38) are installed at the top and bottom of the inner cylinder (32), and permanent magnets (37) are installed at the top and bottom of the piston mechanism (7). The corresponding magnetic poles of the permanent magnets (37) and the electromagnets (38) are the same.

3. The intelligent hammering and patting massage robot according to claim 1, characterized in that, The orientation mechanism (8) includes an expansion shell (81). An outwardly protruding expansion shell (81) is fixed on the surface of the outer cylinder (31). A U-shaped shell (82) is fixed on the outer wall of the inner cylinder (32). The U-shaped shell (82) is located inside the expansion shell (81). A clamping plate (83) is rotatably connected to the inner wall of the expansion shell (81). A spherical block adapted to the U-shaped shell (82) is fixed at the end of the clamping plate (83). A spring is fixed at the horizontal position of the clamping plate (83) at the end of the expansion shell (81) away from the U-shaped shell (82). The spring is fixed to the end of the clamping plate (83) near the spherical block.

4. The intelligent hammering and patting massage robot according to claim 1, characterized in that, The piston mechanism (7) includes an upper piston plate (71) and a lower piston plate (72) aligned vertically. The upper piston plate (71) and the lower piston plate (72) are adapted to the inner wall of the inner cylinder (32). A spring is fixed between the upper piston plate (71) and the lower piston plate (72). Two sets of one-way valves (73) with opposite communication directions are symmetrically installed through the surface of the upper piston plate (71). The connecting rod (6) is hollow inside and is fixed outside the one-way valve (73). A partition plate (74) is fixed inside the connecting rod (6). The bottom end of the partition plate (74) is fixed between the one-way valves (73).

5. The intelligent hammering and patting massage robot according to claim 4, characterized in that, The massage arm (2) includes a fixed rod (23), which is fixed to the inner wall of the housing (1). The two sides of the fixed rod (23) are rotatably connected to a rotating cylinder (22) through bearings. The inner wall of the rotating cylinder (22) is provided with a spiral groove (24). The two ends of the spiral groove (24) are connected to the connecting rod (6) through a hose. The connection position of the two sets of hoses is located on both sides of the partition (74). The rotating cylinder (22) rotates out of the housing (1) and is fixedly connected to the arm rod (21). The rotating cylinder (22) is located inside the housing (1) and is fixed with a swing arm (5) parallel to the arm rod (21).

6. The intelligent hammering and patting massage robot according to claim 5, characterized in that, The swing arm (5) includes a swing rod (51), which is fixedly connected to the rotating drum (22). A sliding sleeve (52) is slidably fitted on the surface of the swing rod (51). The top end of the connecting rod (6) is rotatably connected to the sliding sleeve (52). An oil guide groove (54) is opened on the inner wall of the sliding sleeve (52). The two ends of the oil guide groove (54) are connected to the connecting rod (6) through a hose. The connection position of the two sets of hoses is located on both sides of the partition (74). The two ends of the sliding sleeve (52) are sealed to the swing rod (51) through a corrugated pipe (53).

7. A smart hammer-tapping massage robot based on any one of claims 1-6, the method of using it is as follows: a. Move the casing (1) to the side of the user, with the user lying flat and the end of the arm (21) positioned above the area to be massaged. b. The hydraulic pump (4) is turned on by the electronic control component. The hydraulic pump (4) guides the oil in the oil tank through the pipeline to the oil control mechanism (3), and the inner cylinder (32) is filled with oil. c. The starting positions of the two sets of inner cylinders (32) are opposite. One is located at the bottom of the outer cylinder (31) in the same group, so that the upper row holes (34) and lower inlet holes (36) on the surface of the outer cylinder (31) and the inner cylinder (32) are aligned, and the lower row holes (33) and the upper inlet holes (35) are staggered. The other is located at the top of the outer cylinder (31) in the same group, so that the upper row holes (34) and lower inlet holes (36) on the surface of the outer cylinder (31) and the inner cylinder (32) are staggered, and the lower row holes (33) and the upper inlet holes (35) are aligned. d. In the first group, the oil enters the inner cylinder (32) below the piston mechanism (7) through the aligned lower inlet hole (36), and compresses the piston mechanism (7) to drive the connecting rod (6) to move upward, causing the arm (21) to swing upward. The oil above the piston mechanism (7) is guided back to the oil tank through the aligned upper outlet hole (34). When the piston mechanism (7) moves upward to the top of the inner cylinder (32), the repulsive force of the permanent magnet (37) and the electromagnet (38) causes the inner cylinder (32) to move upward relative to the outer cylinder (31) to the top. The positions of the upper outlet hole (34) and the lower inlet hole (36) are staggered, and the positions of the lower outlet hole (33) and the upper inlet hole (35) are aligned, thus forming the same state as the second group of inner cylinders (32). e. In the second group, the oil enters the inner cylinder (32) through the upper inlet (35). The compression piston mechanism (7) drives the connecting rod (6) to move down, so that the arm (21) swings down to perform a massage action. The oil below the piston mechanism (7) is guided back to the oil tank through the lower outlet (33) until the piston mechanism (7) moves down to the bottom and forms the state of step d. The arm (21) alternately pats the user's waist to perform a massage in this cycle.

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