Multi-motor multi-wheel drive massage instrument

Abstract

A multi-motor multi-wheel drive massage instrument, which comprises an upper shell, a lower shell, at least two tires, at least one group of massage heads, a wheel hub motor and a massage motor; wherein the wheel hub motor is arranged in at least one tire; the first sensor capable of sensing force is arranged on the upper shell; at least a part of the tire and a part of the massage head are exposed on the lower shell; when the upper shell is held by hand, the first sensor senses the direction and intensity of the force on the upper shell, so that the wheel hub motor drives the tire to move, and the massage head is also driven by the massage motor. Therefore, the massage robot with an innovative structure is realized, which is mainly used for back massage, and realizes more labor-saving and convenient operation massage physiotherapy function.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of robots and sensor technology, in particular to a multi-motor multi-wheel drive massage instrument. BACKGROUND

[0002] With people paying more and more attention to health, there is a new development opportunity for massage robots. How to integrate sensor technology and robot technology to better save effort during massage and realize a labor-saving massage robot in the field of health physiotherapy has become a technical problem that needs to be researched and solved in the new field of massage robots. SUMMARY

[0003] To solve the above technical problems, the present disclosure discloses a multi-motor multi-wheel drive massage instrument, characterized in that:

[0004] The massage instrument comprises an upper shell, a lower shell, at least two tires, at least one set of massage heads, a hub motor and a massage motor;

[0005] Among them,

[0006] At least one tire is provided with a hub motor;

[0007] The upper shell is provided with a first sensor capable of sensing force;

[0008] The lower shell exposes at least part of the tire and part of the massage head;

[0009] When the upper shell is held with hands and the first sensor senses the direction and intensity of the force on the upper shell, the hub motor drives the tire to move, and the massage head is also driven by the massage motor.

[0010] Preferably,

[0011] The massage instrument is preferably a back massage instrument.

[0012] Preferably,

[0013] The upper shell and the lower shell are provided with a battery pack and a massage motor, wherein,

[0014] The battery pack supplies power to the power-consuming components of the massage instrument.

[0015] Preferably,

[0016] The first sensor is arranged on the top surface or side surface of the upper shell.

[0017] Preferably,

[0018] The top surface or side surface of the upper shell is also provided with a second sensor;

[0019] When the upper shell is held by hand, the second sensor senses the direction and intensity of the force on the upper shell, so that the hub motor drives the tire movement, and the massage head is also driven by the massage motor.

[0020] Preferably,

[0021] The upper shell and the lower shell of the massage instrument are provided with an atmosphere light strip.

[0022] Preferably,

[0023] The hand is a human hand or a mechanical hand.

[0024] Preferably,

[0025] When the hand is a mechanical hand, the massage instrument further comprises a third sensor for sensing the rotating speed of the massage head and transmitting the sensed signal to the control system of the mechanical hand for the control system of the mechanical hand to adjust the force of the mechanical hand.

[0026] Preferably,

[0027] When the hand is a mechanical hand, the massage instrument further comprises a fourth sensor for sensing the deformation occurring at the contact surface between the massage head and the object being massaged and transmitting the sensed signal to the control system of the mechanical hand for the control system of the mechanical hand to adjust the force of the mechanical hand.

[0028] Preferably,

[0029] The massage instrument adopts a low-speed direct-drive motor, which is free of any speed reduction mechanism, cooperates with the planned operation mode, relies on the massage head group, and can realize various human hand massages, and the overall structure is simple, stable and efficient.

[0030] Preferably,

[0031] The 1 group of massage heads are distributed in a triangular orientation with the two tires.

[0032] Preferably,

[0033] Above the massage head, the massage motor is arranged.

[0034] Preferably,

[0035] Inside the shell between the two tires, the battery pack is arranged.

[0036] Therefore, the massage robot with the innovative structure is mainly used for back massage, and realizes the massage and physiotherapy functions which are more labor-saving and convenient to operate. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is the overall schematic diagram of the massage instrument in an embodiment of the present disclosure;

[0038] Reference signs are as follows:

[0039] 1 upper shell, 2 knob button, 3 charging / data port, 4 atmosphere light strip, 5 control board, 6 battery pack, 7 hub motor, 8 tire, 9 massage motor, 10 massage head (group), 11 lower shell. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to understand the technical solutions disclosed in the present disclosure, the technical solutions of various embodiments will be described below in conjunction with the embodiments and related drawings. The described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. The terms "first", "second", etc. used in the present disclosure are used to distinguish different objects, rather than to describe a specific order. In addition, "including" and "having" and any variations thereof are intended to cover and not exclusive. For example, a process, or method, or system, or product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, system, product or device.

[0041] Reference herein to "embodiments" means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive or alternative to other embodiments. Those skilled in the art can understand that the embodiments described herein can be combined with other embodiments.

[0042] Reference is made to Figure 1 In one embodiment, the present disclosure discloses a multi-motor multi-wheel drive massage instrument, characterized in that:

[0043] The massage instrument comprises an upper shell, a lower shell, at least two tires, at least one group of massage heads, a hub motor and a massage motor;

[0044] Among them,

[0045] At least one tire is provided with a hub motor;

[0046] The upper shell is provided with a first sensor capable of sensing force;

[0047] The lower shell exposes at least part of the tire and part of the massage head;

[0048] When the upper shell is held with the hand, the first sensor senses the direction and intensity of the force on the upper shell, so that the hub motor drives the tire to move, and the massage head is also driven by the massage motor.

[0049] The above embodiments innovatively propose a simplified massage device or massage robot, the innovation of which is mainly reflected in the following points:

[0050] Firstly, it senses the direction and force of the hand's movement through the upper shell, and then drives the hub motor and the massage motor accordingly; in other words, the force sensing essentially drives not only the hub motor but also the massage motor.

[0051] It is understood that the hand can be a human hand, in which case the technical solution disclosed herein can greatly reduce the labor intensity of massage therapists; the hand can also be a robotic hand, in which case it can partially replace a human in performing some basic massages. The basic massage patterns and their signals can be used to drive the massage motor, thereby partially replacing a human in performing massages.

[0052] Secondly, since the massager can sense the direction of the force on the upper shell, this means that the above-mentioned technical solution can adjust the driving direction in real time. This involves not only the driving direction of the tires but also the driving direction of the massage heads. Especially when the direction of the force involves turning in a plane, the movement direction of the tires and massage heads can be further changed in real time and dynamically. This demonstrates the advantages of a multi-motor, multi-wheel drive massager.

[0053] Thirdly, since the massager can sense the force exerted by the upper housing, this means that the aforementioned technical solution can adjust the driving speed in real time. This involves not only the driving speed of the tires but also the driving speed of the massage heads. Especially when the force involves the contact surface of the object being massaged, for example, when the force sensed by the upper housing is primarily in terms of force rather than any directional forward or backward movement, the rotation of the tires can be further reduced, while the focus remains on the movement of the massage heads. Typically, in this case, it may be necessary to focus on a specific area of ​​the body surface being massaged, pausing there with minimal forward or backward movement, and repeatedly massaging that area within a certain timeframe using the stationary or even faster stationary movements of the massage heads.

[0054] It should be noted that the massage head assembly can be a massage head assembly with various functions, just like the massage head assemblies with various massage functions and modes in the prior art; in addition, each massage head in the massage head assembly can also be a flexible, tactile massage head, thereby providing a better user experience. Specifically, the massage head can be driven to rotate by a massage motor, thus not only providing a massage function but also acting like a tire.

[0055] In one embodiment,

[0056] The massager is preferably a back massager.

[0057] In one embodiment,

[0058] A battery pack and a massage motor are arranged between the upper shell and the lower shell.

[0059] The battery pack supplies power to the power-consuming components of the massage device.

[0060] In one embodiment,

[0061] The first sensor is arranged on the top surface or the side surface of the upper shell.

[0062] In this way, the force can be sensed from the top surface or the side surface of the upper shell as conveniently as possible.

[0063] In one embodiment,

[0064] The top surface or the side surface of the upper shell is further provided with a second sensor.

[0065] When the upper shell is held by a hand, the second sensor senses the direction and intensity of the force on the upper shell, so that the hub motor drives the tire to move, and the massage head is also driven by the massage motor.

[0066] It can be understood that the arrangement of multiple sensors facilitates more accurate control of the massage device.

[0067] In one embodiment,

[0068] The upper shell and the lower shell of the massage device are further provided with an atmosphere light strip.

[0069] It should be noted that the atmosphere light strip can indicate various working states such as power on, charging, and data transmission through flashing at different frequencies.

[0070] In one embodiment,

[0071] The hand is a human hand or a mechanical hand.

[0072] In one embodiment,

[0073] When the hand is a mechanical hand, the massage device further comprises a third sensor for sensing the rotation speed of the massage head and transmitting the sensed signal to the control system of the mechanical hand, so that the control system of the mechanical hand adjusts the force of the mechanical hand.

[0074] In one embodiment,

[0075] When the hand is a mechanical hand, the massage device further comprises a fourth sensor for sensing the deformation occurring at the contact surface between the massage head and the object being massaged, and transmitting the sensed signal to the control system of the mechanical hand, so that the control system of the mechanical hand adjusts the force of the mechanical hand.

[0076] It can be understood that the third sensor and the fourth sensor are both for better responding to the situation of the massage instrument controlled by the manipulator, so that the manipulator can better cooperate with the massage instrument under the control of its control system and maximize the utilization of energy. It is known that the force refers not only to the direction of the force, but also to the degree of force.

[0077] In one embodiment,

[0078] The massage instrument adopts a low-speed direct-drive motor, without setting any speed reduction mechanism, cooperates with the planned operation mode, and relies on the massage head group to realize various hand massages. The overall structure is simple, stable and efficient.

[0079] In one embodiment,

[0080] The 1 group of massage heads is distributed in a triangular orientation with two tires.

[0081] In one embodiment,

[0082] Above the massage head, the massage motor is arranged.

[0083] In one embodiment,

[0084] The battery pack is arranged inside the shell between the two tires.

[0085] In combination Figure 1 In one embodiment,

[0086] When the massage instrument is used as a back massage instrument, it includes an upper shell 1, a rotary knob 2, a charging / data port 3 (note: it is not only used for charging, but also can be used to obtain historical running data of the massage instrument, or update the controlled instructions of the massage motor to provide updated movement mode of the massage head and various massage functions), an atmosphere light strip 4, a control panel 5, a battery pack 6, a hub motor 7, a tire 8, a massage motor 9, a massage head (group) 10, a lower shell 11. The front massage head (group) 10 and the rear at least two tires 8 together ensure the stable movement of the massage instrument. The massage head can be driven by the massage motor, which plays a similar role to the tire while also playing a massage role.

[0087] The massage instrument upper shell and the massage instrument lower shell are composed of light, relatively solid and not easy to deform materials;

[0088] The rotary knob has power on, off, massage mode adjustment, obtaining historical running data of the massage instrument, updating the controlled instructions of the massage motor / updating the movement mode of the massage head and various massage functions, etc.

[0089] The atmosphere light strip can indicate the working modes of power on, charging, various massage modes, obtaining the historical operation data of the massage instrument, updating the controlled instructions of the massage motor, updating the motion mode of the massage head, and various massage functions, etc. through different frequency flashes;

[0090] The battery pack is a large-capacity rechargeable lithium battery or other battery;

[0091] The control board is the core control device, which realizes the functions of charging management, transceiving of signals obtained by sensors, communication management, massage motor and hub motor control, etc. The control board can be installed in the area close to the lower surface of the upper shell as much as possible;

[0092] The hub motor and the tire can adjust the speed according to the force and direction sensed by the sensor of the massage instrument upper shell, guide, move on the back, adapt to the movement of the massage instrument on the back, and provide auxiliary massage function;

[0093] The massage motor acts according to the instructions of the control and sensor board;

[0094] The battery pack and the massage motor are preferentially arranged on an axis to better maintain the balance of the massage instrument during operation; the massage head and the two tires are arranged in a three-wheeled manner, i.e. the massage head is located at the front end of the central dividing line between the two tires, and the two tires are equivalent to rear drive. For example, according to the needs of the scene and energy saving, only one of the two tires can be installed with a hub motor.

[0095] The massage head group is preferably a quick-release massage head, which can be replaced according to different massage needs of people, has a certain elasticity, and improves the massage comfort; among them, the massage head suitable for essential oil massage can automatically or semi-automatically release essential oil, etc. in the essential oil massage mode;

[0096] For example, the massage instrument can also include one or more front, rear, and lateral cameras to better accumulate the operation data of the massage instrument through the scenes captured by the cameras, and continuously improve the massage function. Or, better cooperate with the mechanical hand to operate the massage instrument.

[0097] In summary, when the massage instrument is configured with suitable massage heads, the power switch is turned on, the massage mode is selected, and the massage motor and the hub motor enter the corresponding working mode:

[0098] When the hand of the operator holds the upper shell of the massage instrument, the massage instrument wheel hub motor can be driven by the force direction and force on the upper shell; the massage motor of the massage instrument also operates in the corresponding mode, and better follow-up operation is realized under the action of the force on the upper shell. Thus, the technical solution of the present disclosure brings great convenience to the operator or the mechanical hand of the massage instrument, and a larger force is not needed to press or push the massage instrument, only a initial light force in a certain direction is needed, the hand is lightly held on the massage instrument, the massage instrument is driven automatically, and the forward movement, left turn, right turn and appropriate massage function are realized according to the force and direction of the hand, so that better operation experience and user experience are realized, and labor is saved and automation is realized. The atmosphere lamp flashes according to the preset instruction, releases warm light, can simulate the breathing frequency, brings better experience to the user, makes the user immerse in the pleasure of massage, and better realizes the effect of massage and physiotherapy.

[0099] Those skilled in the art should also know that the embodiments described in the specification all belong to preferred embodiments, and the actions, modules and units involved are not necessarily necessary for the present disclosure.

[0100] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0101] In several embodiments provided by the present disclosure, it should be understood that the disclosed method can be implemented as a corresponding functional unit, processor, or even a system, wherein each part of the system can be located in one place or distributed to multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiment according to actual needs. In addition, each functional unit can be integrated in one processing unit, or each unit can exist independently, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present disclosure, essentially or in the form of a contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a smart phone, a personal digital assistant, a wearable device, a notebook computer, a tablet computer) to execute all or part of the steps of the methods described in each embodiment of the present disclosure. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0102] The above-described embodiments are merely used to illustrate the technical solutions of the present disclosure, rather than limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A massager, characterized in that: The massager includes an upper shell, a lower shell, two tires, a set of massage heads, a hub motor, and a massage motor; in, At least one tire has a hub motor installed; The upper housing is equipped with a first sensor capable of sensing force; At least part of the tire and part of the massage head are exposed at the lower housing; When the upper housing is held by hand, the first sensor senses the direction and force of the force on the upper housing, so that the hub motor drives the tire to move, and the massage head is also driven by the massage motor. The first sensor is disposed on the top or side surface of the upper housing; The massage head and two tires are arranged in a triangular pattern; the front massage head and the two rear tires work together to ensure the smooth movement of the massager; the massage head is driven to rotate by the massage motor, acting as a tire while also providing a massage effect. Force sensing not only drives the hub motor, but also the massage motor; Because the massager senses the direction of the force on the upper shell, it can adjust the driving direction in real time. This involves not only the driving direction of the tires but also the driving direction of the massage heads. When the direction of the force involves turning in a plane, the movement direction of the tires and massage heads is further changed in real time and dynamically. Because the massager senses the force of the upper shell, it can adjust the driving speed in real time. This involves not only the driving speed of the tires but also the driving speed of the massage head. When the force is related to the contact surface of the object being massaged, including when the force of the upper shell is sensed to be mainly in terms of force rather than in any direction of forward or backward movement, the rotation of the tires is further reduced, but the focus is on the movement of the massage head. At this time, it is necessary to focus on a certain area of ​​the body surface of the object being massaged, and without moving forward or backward, repeatedly massage this area of ​​the body surface by the stationary movement of the massage head or the stationary movement at a higher speed for a certain period of time.

2. The massager according to claim 1, wherein, The massager is a back massager.

3. The massager according to claim 1, wherein, A battery pack and a massage motor are disposed between the upper and lower housings. The battery pack supplies power to the electrical components of the massager.

4. The massager according to claim 1, wherein, A second sensor is also provided on the top or side surface of the upper housing; When the upper housing is held by hand, the second sensor senses the direction and force of the force on the upper housing, causing the hub motor to drive the tire to move, and causing the massage head to be driven by the massage motor as well.

5. The massager according to claim 1, wherein, The massager is also equipped with an ambient light strip on either the upper or lower shell.

6. The massager according to claim 1, wherein, The hand referred to is either a human hand or a robotic hand.

7. The massager according to claim 6, wherein, When the hand is a robotic hand, the massager also includes a third sensor, which is used to sense the rotation speed of the massage head and transmit the sensed signal to the control system of the robotic hand so that the control system of the robotic hand can adjust the force applied by the robotic hand.

8. The massager according to claim 6, wherein, When the hand is a robotic hand, the massager also includes a fourth sensor, which is used to sense the deformation that occurs at the contact surface between the massage head and the object being massaged, and transmits the sensed signal to the control system of the robotic hand so that the control system of the robotic hand can adjust the force applied by the robotic hand.

9. The massager according to claim 1, wherein, The massager uses a low-speed direct-drive motor, eliminating the need for any speed reduction mechanism. With the planned operating mode and relying on the massage head assembly, it can achieve various hand massage functions. The overall structure is simple, stable, and highly efficient.

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