5D massage movement core with precise force feedback and massage chair

Abstract

The application discloses a 5D massage core with precise force feedback and a massage chair. The massage core adopts a fan-shaped gear ejection core, a sensor is fixed on a rack and abuts against a strong-weak box assembly, and the force of a user on the massage swing arm is transmitted to the strong-weak shaft through the fan-shaped gear and makes the strong-weak box assembly extrude the sensor. Meanwhile, the user extrudes the massage head, so that at least part of the force detector detects the pressure applied by the massage head, and the sensor and the force detector transmit the detected pressure to the main control board, and the main control board calculates the force of the user on the massage swing arm according to the pressure data. In this way, the measurement of the torque applied by the user on the massage swing arm is ingeniously converted into the measurement of the pressure value on the sensor, greatly simplifying the complexity of the force measurement and improving the precision of the massage force control of the user.

Description

Technical Field

[0001] This invention relates to the field of massage technology, specifically to a 5D massage mechanism and massage chair with precise force feedback. Background Technology

[0002] With the increasing popularity of massage chairs, many massage mechanisms on the market now incorporate sensors to control the pressure applied during massage. However, due to factors such as the non-straight contours of the human back and buttocks, the shape of the guide rails, the angle of the backrest, and the different upward or downward force angles of the massage mechanism, existing mechanisms often fail to accurately detect the massage pressure, resulting in unsatisfactory massage effects. Therefore, this application is hereby submitted. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by proposing a 5D massage mechanism and massage chair with precise force feedback, thereby solving the problems of inaccurate detection of massage intensity and poor massage effect in existing massage mechanisms.

[0004] This invention provides a 5D massage mechanism with precise force feedback, comprising: a main control board and a frame. The frame is equipped with a strong and weak axis, a kneading axis, and a strong and weak drive assembly. The strong and weak axis is equipped with a strong and weak gear, and the kneading axis is equipped with a sector tooth and a massage arm. The sector tooth is connected to one end of the massage arm to drive the massage arm to massage the user. The sector tooth meshes with the strong and weak gear, and the strong and weak drive assembly drives the strong and weak axis to rotate.

[0005] The strong / weak drive assembly includes a strong / weak motor, a strong / weak housing assembly, and a sensor. The strong / weak motor is mounted on the strong / weak housing assembly, the strong / weak housing assembly is rotatably connected to the strong / weak shaft, the strong / weak housing assembly abuts against the sensor, and the sensor is fixed to the frame.

[0006] The end of the massage arm is provided with a rotating shaft and a massage head. The rotating shaft is fixed to the end of the massage arm, and the massage head is rotatably mounted on the rotating shaft. Several force detectors are provided on the rotating shaft, and the force detectors are located between the massage head and the rotating shaft.

[0007] When the massage arm massages the user, the force exerted by the user on the massage arm is transmitted to the strong and weak axis through the fan-shaped teeth, causing the strong and weak housing assembly to squeeze the sensor. At the same time, the user squeezes the massage head, causing at least part of the force detector to detect the pressure applied by the massage head. The sensor and the force sensor transmit the detected pressure to the main control board, and the main control board calculates the force exerted by the user on the massage arm based on the pressure data.

[0008] Furthermore, as an executable solution, the present invention also provides a massage chair, which includes the massage mechanism described above, as well as a control device and a chair frame. The control device controls the massage mechanism to move on the chair frame to massage the user.

[0009] By adopting the above technical solution, the present invention achieves the following technical effects: Compared with the prior art, this massage mechanism uses a sector gear to eject the mechanism, and the sensor is fixed on the frame and abuts against the strong / weak shaft assembly. The force exerted by the user on the massage arm is transmitted to the strong / weak shaft through the sector gear, causing the strong / weak shaft assembly to press the sensor. Simultaneously, the user presses the massage head, causing at least part of the force detector to detect the pressure applied by the massage head. The sensor and force detector transmit the detected pressure to the main control board, which calculates the force exerted by the user on the massage arm based on the pressure data. In this way, the measurement of the torque exerted by the user on the massage arm is cleverly transformed into the measurement of the pressure value on the sensor and force detector, greatly simplifying the complexity of force measurement and improving the accuracy of controlling the user's massage intensity. In addition, the massage mechanism's force feedback is achieved through multiple force detectors and a single-axis pressure sensor. The multiple force detectors, arranged in an even layout, can detect the direction of force on the massage rollers, while the single-axis pressure sensor can detect and calculate the magnitude of the force on the massage rollers. The combination of the two sensors can both detect the direction and magnitude of the force on the massage rollers and significantly reduce the cost of the sensors. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 and Figure 2 A schematic diagram of the structure of the massage mechanism according to an embodiment of the present invention is shown;

[0012] Figure 3 It is illustrated Figure 1 A schematic diagram of the structure of the strong and weak drive components in the diagram;

[0013] Figure 4 and 5 It is illustrated Figure 1 A magnified structural diagram of the strong and weak driving components in the diagram;

[0014] Figure 6 It is illustrated Figure 1 A cross-sectional schematic diagram of the massage mechanism in the image;

[0015] Figure 7 It is illustrated Figure 1 Another structural diagram of the massage mechanism in the image;

[0016] Figure 8 It is illustrated Figure 7 A schematic diagram of the installation of the first and second sensors in the diagram;

[0017] Figure 9 It is illustrated Figure 8 A schematic diagram of the exploded structure of the second sensor in the image;

[0018] Figure 10 It is illustrated Figure 8 A schematic diagram of the exploded structure of the first sensor in the image;

[0019] Figure 11 It is illustrated Figure 7 A schematic diagram of the human body compression massage force structure of the massage head in the image;

[0020] Figure 12 It is illustrated Figure 7 A schematic diagram of the force analysis structure of the massage head in the image;

[0021] Figure 13 It is illustrated Figure 1 A schematic diagram of the massage head in the image;

[0022] Figure 14 It is illustrated Figure 1 A schematic diagram of the structure of the rotating shaft in the middle;

[0023] Figure 15-16 It is illustrated Figure 13 A schematic diagram of the force detector on the massage head;

[0024] Figure Labels

[0025] 1-Frame, 11-Strong and weak axes, 12-Kneading axis, 13-Strong and weak drive assembly, 14-Strong and weak gears, 15-Sector gear, 16-Massage swing arm, 131-Strong and weak motors, 132-Strong and weak housing assembly, 134-Sensor, 1321-Housing, 161-Rotating shaft, 162-Massage head, 1611-Force detector, 1612-Groove, 1621-Massage head mounting base, 17-Limit screw, 18-Rubber pad, 19-Sensor mounting bracket, 135-Sheet metal housing part, 2-First bearing seat assembly, 24-First sensor, 3-Second bearing seat assembly, 34-Second sensor, 21-First bearing seat, 22-First bearing, 23-First guide block, 31-Second bearing seat, 32-Second bearing, 33-Second guide block. Detailed Implementation

[0026] 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. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0027] Combination Figure 1-16 As shown in the figure, this embodiment of the invention provides a 5D massage mechanism with precise force feedback, including: a main control board (not shown) and a frame 1. The frame 1 is provided with a strong and weak axis 11, a kneading axis 12 and a strong and weak drive assembly 13. The strong and weak axis 11 is provided with a strong and weak gear 14. The kneading axis 12 is provided with a sector tooth 15 and a massage swing arm 16. The sector tooth 15 is connected to one end of the massage swing arm 16 to drive the massage swing arm 16 to massage the user. The sector tooth 15 meshes with the strong and weak gear 14, and the strong and weak drive assembly 13 drives the strong and weak axis 11 to rotate.

[0028] The strong / weak drive assembly 13 includes a strong / weak motor 131, a strong / weak housing assembly 132, and a sensor 134. The strong / weak housing assembly 132 includes a housing 1321 and a drive component (not shown in the figure) disposed within the housing. The strong / weak motor 131 is fixed to the housing 1321. The strong / weak motor 131 is mounted on the strong / weak housing assembly 132. The drive component within the strong / weak housing assembly 132 is rotatably connected to the strong / weak shaft 11. The sensor 134 is fixed to the frame 1. The housing 1321 of the strong / weak housing assembly 132 abuts against the sensor 134, thereby fixing the strong / weak housing assembly 132 relative to the frame 1.

[0029] The end of the massage arm 16 is provided with a rotating shaft 161 and a massage head 162. The rotating shaft 161 is fixed to the end of the massage arm 16, and the massage head 162 is rotatably mounted on the rotating shaft 161. A plurality of force detectors 1611 are provided on the rotating shaft, and the force detectors 1611 are located between the massage head 162 and the rotating shaft 161.

[0030] When the massage arm 16 massages the user, the force exerted by the user on the massage arm 16 is transmitted to the strong and weak axis 11 through the sector teeth 15, causing the strong and weak housing assembly 132 to press the sensor 134. At the same time, the user presses the massage head 162, causing at least part of the force detector 1611 to detect the pressure applied by the massage head. The sensor 134 and the force detector 1611 transmit the detected pressure to the main control board, and the main control board calculates the force exerted by the user on the massage arm 16 based on the pressure data.

[0031] The massage mechanism provided by this invention can accurately detect the force applied to the massage head in various application scenarios, and adjust the massage intensity in real time according to the force. In other words, this invention improves the accuracy of massage intensity detection, achieves adaptive control of massage intensity, and optimizes the massage effect of the massage mechanism.

[0032] This operation allows for real-time detection of the pressure value from sensor 134, thereby adjusting the thrust of the massage arm 16 in real time. This enables real-time adjustment of the massage intensity on the user's back, improving the user experience. For example, Figure 6 and 8 As shown, the end of the massage arm 16 is provided with a massage head 162, which is rotatably connected to one end of the massage arm 16. The sensor 134 is used to detect the pressure on the strong and weak axis 11 in the direction parallel to the user.

[0033] Furthermore, in one instance, such as Figure 13-14 As shown, several grooves 1612 are arranged adjacent to each other on the outer circumferential surface of the rotating shaft 161. The force detector 1611 is disposed in the groove 1612. When the massage head 162 is subjected to pressure, the massage head 162 transmits the pressure to the force detector 1611. Specifically, in one example, the massage head 162 is supported by an elastic material, and a through hole is provided corresponding to the massage head 162. There is a gap between the force detector 1611 and the through hole. When the massage head 162 is subjected to pressure, the massage head 162 can deform to overcome the gap and contact the force detector 1611. Specifically, a massage head fixing seat 1621 is disposed in the through hole of the massage head 162, and the massage head 162 is mounted on the rotating shaft 611 through the massage head fixing seat 1621. The massage head holder 1621 has several openings 1622, and force detectors 1611 are positioned between two adjacent openings 1622. The force detectors 1611 are evenly distributed so that when the massage head holder 1621 is subjected to force from the massage head 1622 in any direction, the adjacent openings can increase the deformation and improve detection accuracy. Thus, when the massage head 1622 is subjected to force in a certain direction, the force detectors 1611 corresponding to the two openings 1622 on the massage head holder 1621 will be triggered (the accuracy of the force direction is positively correlated with the distribution of the number of force detectors). The force detectors 1611 transmit the detected pressure data to the main control board, which can then determine the direction of the force on the massage head 162. Figure 15-16As shown, the force detector can be a tactile switch. When the massage head 162 is subjected to force, the opening 1622a of the massage head fixing seat 1621 is the deformation point, and point b is the support point of the massage head fixing seat 1621. When the massage head 162 is subjected to force F, the opening 1622a of the massage head fixing seat 1621 deforms, and point b provides support. This ensures that only the force detector 1611 between the two openings 1622a is active, thereby determining the direction of the force on the massage head 162.

[0034] This achieves force feedback for the massage mechanism by using multiple force detectors and a single-axis pressure sensor. The multiple force detectors, arranged equally, can detect the direction of force on the massage rollers, while the single-axis pressure sensor can detect and calculate the magnitude of the force on the massage rollers. The combination of the two sensors not only detects the direction and magnitude of the force on the massage rollers but also significantly reduces the cost of the sensors.

[0035] Furthermore, in one example, the force detectors 1611 are fixed on the rotating shaft 161 and spaced apart by a predetermined angle. When some of the force detectors 1611 are triggered by the pressure applied by the massage head 162, the main control board calculates the direction of the pressure applied by the user to the massage head 162 based on the orientation of the massage head 162. For example, if both force detectors detect pressure signals, the main control board can calculate the midpoint between the two force detectors as the direction of the force. Of course, there can be more complex calculation methods, such as combining the arm offset angle, the order in which the force detectors detect pressure signals, etc., to determine the direction of the force. This embodiment of the invention will not elaborate on this.

[0036] Furthermore, in one example, the force detector 1611 includes an elastic sheet, and the massage head 162 has a perforation corresponding to the elastic sheet, with the elastic sheet abutting against the perforation. When the massage head 162 is subjected to force, the corresponding elastic sheet deforms to generate a pressure signal, and the main control board can determine the direction of the force based on this pressure signal.

[0037] Furthermore, in one example, the frame 1 is also provided with a limiting screw 17 and a screw hole, a portion of the limiting screw 17 engages with the screw hole, and the other end of the limiting screw 17 passes through the frame 1 to press the strong and weak housing assembly 132;

[0038] Rotating the limiting screw 17 can adjust the pressure value of the strong and weak box assembly 132 on the sensor 134.

[0039] In other words, the initial pressure value of the sensor can be adjusted by adjusting the limit screw. The initial value of the sensor can be calibrated by mechanical adjustment, which is simpler than adjusting the sensor calibration value by software. It also avoids the problem of inconsistent set pressure of each massage mechanism due to different initial values ​​of the sensor, thus ensuring the stability of the massage mechanism and achieving standardization of the massage mechanism.

[0040] Rotate the limiting screw 17 to adjust the pressure value of the strong / weak box assembly 132 on the sensor. Specifically, the following operations can be performed:

[0041] Step S1: The main control board detects the initial pressure value of the sensor.

[0042] Step S2: Determine whether the initial pressure value is within the preset initial pressure value range. If not, rotate the limit screw to adjust the pressure value of the sensor to the preset initial pressure value range to achieve sensor initial pressure value calibration.

[0043] The preset initial pressure range can be determined based on the sensor model and empirical values, which will not be elaborated upon in this embodiment of the invention.

[0044] Furthermore, in one embodiment, such as Figure 3-6 As shown, the massage mechanism also includes a rubber pad 18, which abuts against the strength / weakness housing assembly 132 and the sensor 134. This rubber pad 18 increases the magnitude of the force exerted by the strength / weakness housing assembly 132 on the sensor 134 when adjusting the limit screw 17, thereby widening the initial value range of the adjustable sensor 134 and reducing the difficulty of control adjustment.

[0045] Furthermore, in one example, a sensor mounting bracket 19 is also provided on the rack 1, and the sensor 134 is fixed on the sensor mounting bracket 19.

[0046] Furthermore, in one embodiment, such as Figure 3-6 As shown, the strong and weak drive assembly also includes a housing sheet metal part 135, on which the strong and weak motor 131 and the strong and weak housing 132 are mounted. A sensor mounting bracket 19 is provided on the frame 1, and the sensor 134 is fixed on the sensor mounting bracket 19, with the housing sheet metal part 135 abutting against the sensor 134.

[0047] In practice, when the massage arm 16 of the massage mechanism extends, the strong / weak motor 131 drives the strong / weak gear 14 on the strong / weak shaft 11 to rotate clockwise via the strong / weak housing assembly 132, thus performing the extension action. The rotation of the strong / weak shaft 11 causes the massage arm 16 to massage the body. Due to the interaction of forces, the strong / weak housing assembly 132 receives a reaction force transmitted from the strong / weak gear 14 generated during the extension. Figure 6 As shown, the strong / weak pressure chamber assembly 132 rotates counterclockwise around the strong / weak pressure axis 11, causing the chamber 1321 to apply pressure to the sensor 134. Force analysis shows that the torque applied by the sensor 134 to the strong / weak pressure axis 11 through the chamber 1321 cancels out the torque applied by the massage arm 16 to the strong / weak pressure axis 11, thus achieving a state of force balance. The control device can monitor and adjust the massage intensity of the massage arm in real time by receiving signal transmission from the pressure sensor.

[0048] Furthermore, in one instance, such as Figure 6 As shown, the strong and weak motors 131 are arranged perpendicularly to the strong and weak shafts 11, making the core structure more compact. The reaction force of the box sheet metal part 135 can be directly applied to the sensor 134, making the detected sensor pressure value more direct and more accurate.

[0049] Furthermore, in one embodiment, such as Figure 6 As shown, the limiting screw 17 is perpendicular to the strong and weak axis 11, and the limiting screw 17 passes through the frame 1 and abuts against the sheet metal part 135 of the housing. This allows for direct adjustment of the force exerted by the limiting screw 17 on the sensor, thereby adjusting the initial pressure value of the sensor, making operation more convenient, simple, and relatively low-cost.

[0050] In practice, when the massage mechanism is unloaded, the strong / weak pressure chamber assembly 132 rotates slightly around the rotation center. At this time, the initial pressure on the sensor changes with the rotation of the strong / weak pressure chamber assembly 132. The limit screw 17, by pressing against one end of the chamber sheet metal part 135 (below the rotation center), fixes the strong / weak pressure chamber assembly 132 relative to the frame 1, preventing further slight rotation. Therefore, the initial pressure on the sensor 134 is stable. To adjust the initial pressure on the sensor 134, simply tighten or loosen the screw.

[0051] Furthermore, in one embodiment, the massage mechanism further includes a walking shaft and a walking drive (not shown in the figure), both of which are mounted on the frame, and the walking drive drives the walking shaft to rotate.

[0052] Furthermore, in one embodiment, the massage mechanism further includes a tapping drive (not shown in the figure), which drives the tapping shaft to rotate, thereby causing the massage arm 16 to perform a tapping action.

[0053] Furthermore, as shown in Figures 7 and 8, to further improve the accuracy of pressure detection on the massage head, a first bearing seat assembly 2 is provided at one end of the kneading shaft 12. The first bearing seat assembly 2 is fixed to the frame 1. A first sensor 24 is provided on the first bearing seat assembly 2. The first sensor 24 is used to detect the pressure applied to the first bearing seat assembly 2 by the kneading shaft 12 in the direction perpendicular to the user. The first sensor 24 is connected to the main control board, and the main control board calculates the force on the massage swing arm 16 based on the real-time data detected by the sensor 134 and the first sensor 24, as well as the deflection angle of the massage swing arm 16.

[0054] Furthermore, in one example, as shown in Figures 7 and 8, to further improve detection accuracy, a second bearing housing assembly 3 is provided at the other end of the kneading shaft. The second bearing housing assembly 3 is fixed to the frame 1, and a second sensor 34 is provided on the second bearing housing assembly 3. The second sensor 34 is used to detect the pressure applied by the kneading shaft 12 to the second bearing housing assembly 3 in the direction perpendicular to the user; the second sensor 34 is connected to the main control board.

[0055] The main control board calculates the force on the massage arm 16 based on the real-time data detected by the sensor 134, the first sensor 24, and the second sensor 34, as well as the deflection angle of the massage arm 16.

[0056] like Figure 10 As shown, the first bearing housing assembly 2 includes a first bearing housing 21, a first bearing 22, and a first guide block 23; the first bearing 22 is disposed in the first bearing housing 21, the first guide block 23 abuts against the first bearing 22, one end of the first sensor 24 abuts against the first guide block 23, and the other end is fixedly connected to the first bearing housing 21.

[0057] like Figure 9 As shown, the second sensor assembly 3 includes a second bearing seat 31, a second bearing 32, and a second guide block 33; the second bearing 32 is disposed in the second bearing seat 31, the second guide block 33 abuts against the second bearing 32, one end of the second sensor 34 abuts against the second guide block 33, and the other end is fixedly connected to the second bearing seat 31.

[0058] Specifically, a first bearing seat 21 is mounted on the frame 1, and a first bearing 22 is mounted on the first bearing seat 21. The first bearing 22 is sleeved on the kneading shaft 12, and a first guide block 23 abuts against the first bearing 22, placing the first bearing 22 between the first bearing seat 21 and the first guide block 23. One end of a first sensor 24 is in contact with the first guide block 23, and the other end is fixed inside the first bearing seat 21 by screws. A second bearing seat 31 is mounted on the frame 1 and is positioned opposite the first bearing seat 21. A second bearing 32 is mounted on the second bearing seat 31 and sleeved on the kneading shaft 12. A second guide block 33 abuts against the second bearing 32, placing the second bearing 32 between the second bearing seat 31 and the second guide block 33. One end of a second sensor 34 is in contact with the second guide block 33, and the other end is fixed inside the second bearing seat 31 by screws.

[0059] Furthermore, in one instance, such as Figure 7-12 As shown, when the kneading shaft 12 is subjected to force, the first sensor 24 and the second sensor 34 are used to measure the pressure exerted by the kneading shaft 12 on the first bearing seat assembly 2 and the second bearing seat assembly 3 in a direction perpendicular to the user. Specifically, the sum of the pressure values ​​detected by the first sensor 24 and the second sensor 34 can be converted into the force of the massage head 162 in a direction perpendicular to the user according to the planar force system equilibrium equation.

[0060] When the massage head 162 is unloaded, no pressure is applied to the kneading shaft 12, the kneading shaft does not move, and therefore the first sensor 24 and the second sensor 34 do not sense any force and do not detect any pressure value. When the massage head 162 is loaded with force, it acts on the kneading shaft 12, and the force on the kneading shaft 12 acts on the first sensor 24 and the second sensor 34. At this time, the sum of the pressure values ​​detected by the first sensor 24 and the second sensor 34 can be converted into a force F of the massage head 162 perpendicular to the user, according to the equilibrium equation of the planar force system and the deflection angle of the massage arm 16. r .

[0061] Furthermore, in one instance, such as Figure 7-12 As shown, when the massage head 162 is subjected to force, it acts on the strong and weak axes. The pressure value detected by the sensor 134 is the force acting on the strong and weak axes 11. The sensor 134 is used to detect the pressure acting on the strong and weak axes 11 in the direction parallel to the user, and converts it into a force F acting on the massage head 162 according to the planar force system equilibrium equation and the deflection angle of the massage arm 16. t ;

[0062] In specific implementation, such as Figure 11The diagram shows the force exerted on the massage head 162 by the human body's curve. Using a plane parallel to the kneading axis as the X-axis of the coordinate system, when the human body squeezes the massage head 162, the force acting on the massage head 162 is along the Z-axis. According to the quadrilateral law, the force on the massage head 162 can be converted as follows: Figure 12 The F shown S According to force analysis, the torque exerted by the sensor 134 on the strong and weak axis 11 through the housing 1321 cancels out the torque exerted by the massage arm 16 on the strong and weak axis 11, thus achieving a state of force balance. Therefore, based on the force value collected by the sensor 134, the principle of planar force system balance and the deflection angle of the massage arm 16 can be used to adjust F. t The solution is to determine the force acting in the direction parallel to the user. The component force F... r The force acts radially along the arm onto the massage head. It is transmitted through the massage head 162, massage arm 16, kneading shaft 12, bearing seat 21, and bearing seat 31. Specifically, it is the force acting in the kneading opening and closing direction on the kneading shaft 12. Finally, it is reflected in the first sensor 24 and the second sensor 34 at the kneading shaft 12. Based on the force detected by the first sensor 24 and the second sensor 34 and the deflection angle of the massage arm 16, the force can be adjusted. r The solution involves determining the force perpendicular to the user's direction. The resultant force can be determined using the planar quadrilateral rule.

[0063] Specifically, such as Figure 12 As shown, the force F applied to the massage head can be determined by detecting the pressure value detected by sensor 134 and the deflection angle of the massage arm 16. t The force F applied to the massage head 162 is determined by the pressure value detected by the first sensor 24 and the second sensor 34 and the deflection angle of the massage arm 16. r The deflection angle of the massage arm 16 can be determined by the rotation gear corresponding to the current rotation speed of the strong and weak motors 131, which in turn corresponds to the rotation angle of the sector teeth. Alternatively, an angle detector (not shown in the figure) can be installed on the sector teeth. This angle detector is used to detect the angle of the massage arm relative to the frame in real time. The angle detector is connected to the main control board, which calculates the torque applied by the human body to the massage arm based on the angle of the massage arm. Finally, the resultant force F on the massage head 162 is obtained through the resultant force calculation formula. S =√(F) t ^2+F r ^2).

[0064] This method of calculating the combined force from two directions is more accurate and better matches the actual massage intensity of the human body, resulting in a better massage experience for users.

[0065] The present invention provides a solution that enables the massage mechanism to accurately detect the massage intensity of the massage head in various application scenarios through a reasonable sensor layout structure design, thereby achieving adaptive control of the massage intensity and optimizing the massage effect of the mechanism.

[0066] Furthermore, embodiments of the present invention also include a massage chair, the massage chair including the above-mentioned massage mechanism and control device, the control device being used to control the massage mechanism to perform massage movements.

[0067] The massage mechanism of this invention employs a sector gear ejector mechanism. The sensor is fixed to the frame and abuts against the strength / weakness housing assembly. The frame is also provided with a limiting screw and a screw hole. Part of the limiting screw mates with the screw hole, and the other end of the limiting screw passes through the frame and abuts against the strength / weakness housing assembly. Rotating the limiting screw adjusts the pressure value of the strength / weakness housing assembly on the sensor. In other words, the initial pressure value of the sensor can be adjusted by adjusting the limiting screw, thus completing the initial value calibration of the sensor through mechanical adjustment. This is simpler than adjusting the sensor calibration value using software and avoids the problem of inconsistent set pressure of each massage mechanism due to different initial sensor values, thereby ensuring the stability of the massage mechanism and achieving standardization of the massage mechanism.

[0068] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0069] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A 5D massage mechanism with precise force feedback, characterized in that, include: The system includes a main control board and a frame. The frame is equipped with a strong and weak axis, a kneading axis, and a strong and weak drive assembly. The strong and weak axis is equipped with a strong and weak gear, and the kneading axis is equipped with a sector tooth and a massage arm. The sector tooth is connected to one end of the massage arm to drive the massage arm to massage the user. The sector tooth meshes with the strong and weak gear, and the strong and weak drive assembly drives the strong and weak axis to rotate. The strong / weak drive assembly includes a strong / weak motor, a strong / weak housing assembly, and a sensor. The strong / weak motor is mounted on the strong / weak housing assembly, the strong / weak housing assembly is rotatably connected to the strong / weak shaft, the strong / weak housing assembly abuts against the sensor, and the sensor is fixed to the frame. The end of the massage arm is provided with a rotating shaft and a massage head. The rotating shaft is fixed to the end of the massage arm, and the massage head is rotatably mounted on the rotating shaft. Several force detectors are provided on the rotating shaft, and the force detectors are located between the massage head and the rotating shaft. When the massage arm massages the user, the force exerted by the user on the massage arm is transmitted to the strong and weak axis through the fan-shaped teeth, causing the strong and weak housing assembly to squeeze the sensor. At the same time, the user squeezes the massage head, causing at least part of the force detector to detect the pressure applied by the massage head. The sensor and the force detector transmit the detected pressure to the main control board, and the main control board calculates the force exerted by the user on the massage arm based on the pressure data. The force detectors are fixed on the rotating shaft and spaced apart by a predetermined angle. When some of the force detectors are triggered by the pressure applied by the massage head, the main control board calculates the direction of the pressure applied by the user to the massage head based on the orientation of the massage head. It also includes an angle detector, which is used to detect the angle of the massage arm relative to the frame in real time. The angle detector is connected to the main control board, and the main control board calculates the torque applied by the human body to the massage arm based on the angle of the massage arm.

2. The massage mechanism according to claim 1, characterized in that, Several grooves are arranged adjacent to each other on the outer circumferential surface of the rotating shaft. The force detector is disposed in the groove. When the massage head is subjected to pressure, the massage head transmits the pressure to the force detector.

3. The massage mechanism according to claim 2, characterized in that, The force detector includes an elastic sheet, and the massage head has a perforation corresponding to the elastic sheet, with the elastic sheet abutting against the perforation.

4. The massage mechanism according to claim 1, characterized in that, The massage head is made of an elastic material and has a perforation. There is a gap between the force detector and the perforation. When the massage head is subjected to pressure, the massage head can deform to overcome the gap and contact the force detector.

5. The massage mechanism according to claim 1, characterized in that, The frame is also provided with a limiting screw and a screw hole. One part of the limiting screw mates with the screw hole, and the other end of the limiting screw passes through the frame to press the strong and weak box assembly. Rotating the limiting screw can adjust the pressure value of the strong and weak box assembly on the sensor.

6. The massage mechanism according to claim 5, characterized in that, The main control board detects the initial pressure value of the sensor; determines whether the initial pressure value falls within a preset initial pressure value range; if not, it rotates the limit screw to adjust the sensor pressure value to the preset initial pressure value range, thereby achieving sensor initial pressure value calibration.

7. The massage mechanism according to claim 6, characterized in that, The strong and weak drive assembly also includes a housing sheet metal part, and the strong and weak motors and the strong and weak housing assembly are mounted on the housing sheet metal part.

8. The massage mechanism according to claim 7, characterized in that, The limiting screw is perpendicular to the strong and weak axis, and the limiting screw passes through the frame and abuts against the sheet metal part of the housing.

9. The massage mechanism according to claim 1, characterized in that, A first bearing seat assembly is provided at one end of the kneading shaft. The first bearing seat assembly is fixed on the frame. A first sensor is provided on the first bearing seat assembly. The first sensor is used to detect the pressure applied by the kneading shaft to the first bearing seat assembly in the direction perpendicular to the user. The first sensor is connected to the main control board, and the main control board calculates the force on the massage arm based on the sensor, the data detected in real time by the first sensor, and the deflection angle of the massage arm movement.

10. The massage mechanism according to claim 1, characterized in that, A second bearing housing assembly is provided at the other end of the kneading shaft. The second bearing housing assembly is fixed to the frame. A second sensor is provided on the second bearing housing assembly. The second sensor is used to detect the pressure applied by the kneading shaft to the second bearing housing assembly in the direction perpendicular to the user. The second sensor is connected to the main control board. The main control board calculates the force acting on the massage arm based on the real-time data detected by the sensors, the first sensor, and the second sensor, as well as the deflection angle of the massage arm movement.

11. The massage mechanism according to claim 1, characterized in that, The current rotation speed of the strong and weak motors corresponds to the rotation gear, the rotation gear corresponds to the rotation angle of the sector teeth, and the deflection angle of the massage arm movement is determined by the rotation angle of the sector teeth.

12. A massage chair, characterized in that, The massage chair includes the massage mechanism as described in any one of claims 1 to 11, and further includes a control device and a chair frame. The control device controls the massage mechanism to move on the chair frame to massage the user.

Images