A control method for a massage device, a massage device, and a storage medium.

Abstract

A control method, massage device, and storage medium for a massage device are disclosed, relating to the field of massage equipment technology. The massage device acquires the currently set target massage mode and target massage level; determines the first motor parameters and first airbag adjustment parameters corresponding to the target massage mode and target massage level; controls the motor to operate according to the first motor parameters, so that the massage mechanism moves at the speed corresponding to the first motor parameters; and controls the airbag adjustment device to inflate or deflate the airbag according to the first airbag adjustment parameters, so that when the massage mechanism massages the massage area, the massage intensity of the massage mechanism reaches the massage intensity requirement corresponding to the target massage level. This massage device can intelligently control the movement of the massage mechanism and adjust the massage intensity of the massage head for different massage areas and different massage levels under different massage modes.

Description

Technical Field

[0001] This invention relates to the field of massage equipment technology, and more specifically, to a control method for a massage device. Background Technology

[0002] Currently, many massage devices on the market are small in size, and users use them to massage different parts of their bodies. However, the functions of these massage devices are relatively simple. They use the same control parameters to control the massage mechanism for different massage areas, and the way to adjust the massage intensity is also relatively simple. They all provide different massage intensities by setting multiple massage levels, and they cannot intelligently provide the massage intensity that users need for different massage areas. Summary of the Invention

[0003] The purpose of this invention is to provide a massage device that can intelligently control the movement of the massage mechanism and adjust the massage intensity of the massage head for different massage areas and different massage levels under different massage modes.

[0004] In a first aspect, embodiments of the present invention provide a control method for a massage device. The massage device includes a power mechanism, a drive mechanism, and a massage mechanism. The power mechanism is connected to the drive mechanism. The power mechanism includes a motor for driving the drive mechanism to rotate. The drive mechanism is connected to the massage mechanism and is capable of driving the massage mechanism to move. The massage mechanism includes a massage head and an airbag assembly. The airbag assembly includes an airbag and an airbag adjustment device. The airbag adjustment device is connected to the airbag and the airbag assembly is used to adjust the massage intensity of the massage head. The method includes:

[0005] Obtain the currently set target massage mode and target massage level, wherein the target massage mode corresponds to at least one massage area;

[0006] Determine the first motor parameters and the first airbag adjustment parameters corresponding to the target massage mode and the target massage level;

[0007] The motor is controlled to operate according to the first motor parameters so that the massage mechanism moves at the speed corresponding to the first motor parameters; the airbag adjustment device is controlled according to the first airbag adjustment parameters to inflate or deflate the airbag so that when the massage mechanism moves to the massage area, the massage intensity of the massage mechanism reaches the massage intensity requirement corresponding to the target massage level.

[0008] Secondly, embodiments of the present invention provide a massage device, the massage device including a power mechanism, a drive mechanism, a massage mechanism, and a control device. The power mechanism is connected to the drive mechanism, the power mechanism including a motor for driving the drive mechanism to rotate, the drive mechanism being connected to the massage mechanism and capable of driving the massage mechanism to move, the massage mechanism including a massage head and an airbag assembly, the airbag assembly including an airbag and an airbag adjustment device, the airbag adjustment device being connected to the airbag, and the airbag assembly being used to adjust the massage intensity of the massage head; the control device is electrically connected to the power mechanism and the airbag adjustment device.

[0009] The control device is used to perform the steps of the method as described in the first aspect.

[0010] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing computer-readable instructions thereon, which, when executed by a computer's processor, cause the computer to perform the control method for the massage device as described in the first aspect.

[0011] The beneficial effects of the embodiments of the present invention include:

[0012] This invention provides a control method for a massage device. The massage device includes a power mechanism, a drive mechanism, and a massage mechanism. The power mechanism is connected to the drive mechanism and includes a motor that drives the drive mechanism to rotate. The drive mechanism is connected to the massage mechanism and can drive the massage mechanism to move. The massage mechanism includes a massage head and an airbag assembly. The airbag assembly includes an airbag and an airbag adjustment device. The airbag adjustment device is connected to the airbag and is used to adjust the massage intensity of the massage head. The method involves: acquiring the currently set target massage mode and target massage level; determining the first motor parameters and first airbag adjustment parameters corresponding to the target massage mode and target massage level; controlling the motor to work according to the first motor parameters so that the massage mechanism moves at the speed corresponding to the first motor parameters; and controlling the airbag adjustment device to inflate or deflate the airbag according to the first airbag adjustment parameters so that when the massage mechanism massages the massage area, the massage intensity of the massage mechanism reaches the massage intensity requirement corresponding to the target massage level. This massage device can adaptably use different motor parameters and airbag adjustment parameters for different massage areas to ensure that the massage intensity of the massage mechanism reaches the massage intensity requirement corresponding to the target massage level, making the massage intensity more suitable. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of a massage mechanism in a massage device according to an embodiment of the present invention;

[0015] Figure 2 A schematic diagram of a power mechanism provided in an embodiment of the present invention;

[0016] Figure 3 A schematic diagram of a drive mechanism provided in an embodiment of the present invention;

[0017] Figure 4 An exploded view of a driving mechanism provided in an embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of the structure of a second transmission component provided in an embodiment of the present invention;

[0019] Figure 6 This is a schematic diagram of the structure of a first transmission component provided in an embodiment of the present invention;

[0020] Figure 7 This is a schematic diagram of the structure of a massage mechanism provided in an embodiment of the present invention;

[0021] Figure 8 An exploded view of a massage mechanism provided in an embodiment of the present invention;

[0022] Figure 9 This is a schematic diagram of the structure of a mobile frame provided in an embodiment of the present invention;

[0023] Figure 10 This is a schematic diagram of a fixing frame provided in an embodiment of the present invention;

[0024] Figure 11 A flowchart illustrating a control method for a massage device provided in an embodiment of the present invention;

[0025] Figure 12 This is a schematic diagram illustrating the mapping relationship between massage modes and massage levels and motor parameters and airbag adjustment parameters, provided as an embodiment of the present invention.

[0026] Figure 13 This is a schematic diagram showing how the first base plate of the movable frame pushes the massage head in a vertical direction after multiple airbags are inflated, according to an embodiment of the present invention.

[0027] Figure 14 This is a schematic diagram illustrating how, after the airbag inflates, the first base plate of the movable frame pushes the massage head at an inclined massage angle, according to an embodiment of the present invention. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. The flowcharts shown in the drawings are merely illustrative and do not necessarily include all contents and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps may be decomposed, while others may be combined or partially combined, so the actual order of execution may change depending on the actual situation. The term "multiple" as used in this application refers to two or more. The "AND / OR" operator describes the relationship between related objects, indicating that there can be three possible relationships. For example, A AND / OR B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the related objects before and after it are in an "OR" relationship.

[0029] The massage device of this invention is compact and can be flexibly used for different massage areas. For example, it can massage at least two of the following areas: neck, waist, back, calves, thighs, head, etc. Users can wear the massage device on the desired area for massage. However, considering that the massage range varies for different areas, using the same massage control parameters to control the massage mechanism may not yield good massage results. For example, some massage areas have a large massage range, while others have a small one. If the range of movement of the massage mechanism is fixed, there will be gaps in the massage when massaging areas with smaller massage ranges. That is, for a certain period of time, the massage mechanism moves outside the massage range of the massage area, and the massage head does not reach the massage area, so the user does not feel the massage intensity. Furthermore, the massage range varies for different areas; some massage areas have a large range, while others have a small range. Some massage areas are flat, while others have multiple surfaces. It is difficult to guarantee that the massage head can reach the required massage intensity for the target massage level in every massage area.

[0030] Therefore, this solution proposes a control method, massage device, and storage medium for a massage device, which can adjust the massage intensity of the massage mechanism to meet the requirements of the target massage mode and target massage level. In this way, users can feel a comfortable massage intensity when using the massage device to massage different massage areas.

[0031] The embodiments of the present invention will be described in detail below.

[0032] Please see Figures 1-10 This invention provides a massage device, which includes a massage mechanism 100. The massage mechanism 100 includes a power mechanism 10, a drive mechanism 20, and a massage mechanism 30. The power mechanism 10 is connected to the drive mechanism 20, and the drive mechanism 20 is connected to the massage mechanism 30. The power mechanism 10 includes a motor 101, which drives the drive mechanism 20 to rotate. The drive mechanism 20 can drive the massage mechanism 30 to move. The massage mechanism 30 includes a massage head 31 and an airbag assembly 32. The airbag assembly 32 includes an airbag 320 and an airbag adjustment device (not shown). The airbag adjustment device is connected to the airbag 320, and the airbag assembly 32 is used to adjust the massage intensity of the massage head 31.

[0033] The drive mechanism 20 can drive the massage mechanism 30 to move, causing the position of the massage head 31 to change, so that the massage head 31 can massage different parts of the massage area during the movement, thereby expanding the massage range of the massage head. The airbag adjustment device can inflate and deflate the airbag 320. After the airbag is inflated, it applies pressure to the massage head, increasing the massage intensity of the massage head on the massage area, thereby adjusting the massage intensity of the massage head.

[0034] The massage device also includes a control device (not shown), which is electrically connected to the power mechanism 10 and the airbag adjustment device. The control device can control the power mechanism to work. Specifically, it can control the motor parameters of the motor 101, such as the motor speed, rotation direction, current, voltage, power, and working time. It can also switch the motor rotation direction. The control device can also control the airbag adjustment device to work. Specifically, the airbag adjustment device may include an air pump and / or a solenoid valve. The control device can control the air pump to inflate the airbag 320. Specifically, it can control the air pump and also control the solenoid valve to deflate the airbag 320.

[0035] The control device of this solution is used to execute the steps of the control method for the following massage equipment, as detailed in the specific implementation steps of the control method for the massage equipment below.

[0036] like Figures 1-2 , Figures 7-8 As shown, the massage mechanism 30 also includes an airbag pressure detection device 322, a fixed frame 33, a movable frame 34, and a first elastic element 35. The fixed frame 33 is connected to the drive mechanism 20, the movable frame 34 is mounted on the fixed frame 33, the airbag 320 is mounted between the fixed frame 33 and the movable frame 34, the two ends of the first elastic element 35 are connected to the movable frame 34 and the fixed frame 33 respectively, and the massage head 31 is mounted on the movable frame 34. After the airbag 320 is inflated, it can overcome the elasticity of the first elastic element 35 to drive the massage head 31 to move towards the massage area to adjust the massage intensity. The first elastic element 35 can make the massage head 31 return to the original position of the fixed frame 33. The airbag pressure detection device 322 is used to detect the pressure generated by the airbag 320.

[0037] The fixed frame 33 is used to mount the massage mechanism 30 onto the drive mechanism 20. The movable frame 34 is equipped with a massage head 31. When the airbag 320 inflates, it pushes the movable frame 34 to move, causing the massage head 31 to move towards the massage area, thereby adjusting the massage depth and intensity. When the airbag 320 deflates, the movable frame 34 returns to the original position of the fixed frame 33 under the action of the first elastic element 35, relatively reducing the massage intensity of the massage head 31. The airbag pressure detection device 322 can be a pressure sensor. The airbag pressure detection device 322 can be positioned between the fixed frame 33 and the airbag 320, and in contact with the airbag 320, to detect the pressure generated by the airbag 320. The airbag pressure detection device 322 can also be positioned in other locations; no limitation is made here.

[0038] The massage mechanism of this solution, through the connection and cooperation of the airbag assembly, fixed frame, movable frame and first elastic element, can flexibly adjust the massage depth of the massage head, thereby adjusting the massage intensity. The control device can control the airbag adjustment parameters of the airbag adjustment device so that the massage head can reach the massage intensity required by the user's massage area at the appropriate time, thereby intelligently and accurately controlling the massage intensity of the massage head.

[0039] like Figures 7-10 As shown, the movable frame 34 is embedded in the fixed frame 33. The movable frame 34 includes a first base plate 341 and two first side plates 342. The two first side plates 342 are located at both ends of the first base plate 341 and protrude toward the massage mechanism 30. The fixed frame 33 includes a second base plate 331 and two second side plates 332. The two second side plates 332 are located at both ends of the second base plate 331 and protrude toward the massage mechanism 30.

[0040] One of the first side plate 342 and the second side plate 332 is provided with a sliding protrusion 333, and the other of the first side plate 342 and the second side plate 332 is provided with a sliding groove 343 adapted to the sliding protrusion 333. The airbag 320 is disposed between the first bottom plate 341 and the second bottom plate 331.

[0041] The massage mechanism 30 also includes a second pin 36, with both ends of the second pin 36 connected to the ends of the two first side plates 342 away from the first base plate 341 and extending outward from the outside of the first side plates 342. The massage head 31 is rotatably connected to the second pin 36. One end of the first elastic member 35 is connected to the end of the second pin 36 that extends outward from the first side plate 342, and the other end of the first elastic member 35 is connected to the connecting protrusion 334 on the outside of the second side plate 332.

[0042] The movable frame 34 is embedded in the fixed frame 33. The first base plate 341 of the movable frame 34 and the second base plate 331 of the fixed frame 33 are parallel to each other. An airbag 320 is provided in the middle. When the airbag 320 is inflated, it can push the first base plate 341. The sliding protrusions 333 and sliding grooves 343 on the first and second side plates cooperate with each other, so that the movable frame 34 moves relative to the fixed frame 33 along the sliding grooves 343. The sliding protrusions 333 and sliding grooves 343 can limit the movement of the movable frame 34, so that the movement of the movable frame 34 is relatively stable, that is, it moves towards the user's massage area. The first base plate 341 can contact the airbag, so that when the airbag 320 inflates, it will lift the massage head evenly as a whole, avoiding the non-planar surface of the airbag from lifting the massage head to one side higher and the other side lower.

[0043] The end of the first side plate 342 away from the first base plate 341 is a free end. Each of the two free ends of the first side plates 342 has a through hole 3421. Both ends of the second pin 36 pass through the through holes 3421. One end of the first elastic member 35 is fitted onto the end of the second pin 36 extending out of the through hole. The massage head 31 can be mounted on the second pin 36. When the pressure of the airbag 320 on the movable frame 34 decreases or disappears, the first elastic member 35, through the second pin 36, can both drive the massage head 31 and the movable frame 34 to move back to its original position on the fixed frame 33. The connecting protrusion 334 is located on the outside of the second side wall 332, specifically near the end of the second base plate. This allows the first base plate to move towards the second base plate and return to its original position on the fixed frame when the movable frame moves. Specifically, the first elastic member 35 may include two members, each corresponding to one of the two first side plates 342, enabling the massage head and the movable frame to move relatively smoothly back to their original positions on the fixed frame.

[0044] Specifically, a first limiting part 361 is provided at the position where the end of the second pin 36 connects to the first elastic member 35, and a second limiting part 3341 is provided on the connecting protrusion 334. The first limiting part 361 and the second limiting part 3341 can limit the first elastic member 35, so that both ends of the first elastic member 35 are stably connected to the second pin 36 and the fixed frame, respectively. The connecting protrusion 334 is located on the outside of the second side wall 332, and the second pin 36 extends out of the outside of the first side plate 342, so that the first elastic member 35 can be located on the outside of the fixed frame and the movable frame, without having to be located on the inside of the fixed frame and the movable frame, which can prevent interference between the first elastic member 35 and the airbag.

[0045] The sliding protrusion 333 can be set inside the second side plate 332, without needing to extend outside the fixing frame, which can reduce the volume of the fixing frame structure. The sliding groove 343 can be set outside the first side plate. Two symmetrical sliding grooves 343 can be set on each first side plate, and two symmetrical sliding protrusions 333 can be set on each second side plate 332. The sliding protrusion and the sliding groove cooperate with each other, and the sliding protrusion can move within the length range of the sliding groove.

[0046] like Figure 2 As shown, the power mechanism 10 includes a motor 101, a gear 11, a first pin 12, a second elastic element 13, and a first transmission element 14. The output shaft of the motor 101 meshes with the gear 11. The first pin 12 passes through the gear 11 and rotates coaxially with the gear 11. The first transmission element 14 is located at the first end of the first pin 12. The second elastic element 13 is located between the gear 11 and the first transmission element 14 and is sleeved on the first pin 12.

[0047] like Figures 3-4 As shown, the drive mechanism 20 includes a second transmission member 21, a screw 22, and an adjusting seat 23. The second transmission member 21 is located at the end of the screw 22 near the power mechanism 10. The second transmission member 21 is connected to the first transmission member 14, which can drive the second transmission member 21 to rotate. The second transmission member 21 can drive the screw 22 to rotate. The adjusting seat 23 is rotatably connected to the screw 22. When the screw 22 rotates, the adjusting seat 23 can move along the length of the screw 22. The massage mechanism 30 is located on the adjusting seat 23 so that the adjusting seat drives the 23 to move the massage mechanism 30.

[0048] In this system, motor 101 drives gear 11 to rotate, and gear 11 drives first transmission component 14 to rotate via first pin 12. First transmission component 14 has mounting holes and is sleeved on the first end of first pin 12. The elastic force of second elastic component 13 enables first transmission component 14 and second transmission component to be tightly connected. One end of screw 22 includes connecting section 221, and second transmission component 21 is sleeved on connecting section 221. Adjusting seat 23 is sleeved on threaded section 222 of screw and can move along the length of threaded section 222. Massage mechanism 30 is mounted on adjusting seat 23. When adjusting seat 23 moves, it can drive massage mechanism 30 to move along the length of screw 22.

[0049] Specifically, the power mechanism 10 also includes an upper motor housing 15 and a lower motor housing 16. The upper motor housing and the lower motor housing are connected and form a space in the middle to accommodate the motor 101, the first pin 12, the gear 11, and the second elastic element 13. The upper motor housing 15 and the lower motor housing 16 are provided with a vent hole 17 and an opening 18. One end of the first pin 12 extends out of the opening 18, and the extended part of the first pin 12 is connected to the first transmission element 14.

[0050] like Figure 4 As shown, the adjusting seat 23 includes a sliding sleeve 231 and a nut sleeve 232. The sliding sleeve 231 and the nut sleeve 232 are nested together. The nut sleeve 232 is sleeved on the screw 22 and threadedly connected to the screw 22. The sliding sleeve 231 is provided with a connecting groove 233. The massage mechanism 30 is fixedly connected to the connecting groove 233 through a connector 236.

[0051] The sliding sleeve 231 is a ring with a certain thickness and is made of hard metal to support the massage mechanism 30 with a certain weight. The side wall of the sliding sleeve 231 is provided with a connecting groove 233. The fixing frame of the massage mechanism and the adjusting seat 23 are connected by the connector 236 extending into the connecting groove 233. It is not necessary to set a protruding connecting structure on the ring structure, which can reduce the structural volume of the adjusting seat 23 and save assembly space. The connector 236 can be, for example, a screw.

[0052] The nut sleeve 232 includes a connecting ring portion 234. The outer diameter of the connecting ring portion 234 matches the inner diameter of the sliding sleeve 231, so that the connecting ring portion 234 of the nut sleeve 232 extends into the sliding sleeve 231 and connects with the sliding sleeve 231. The outer end of the connecting ring portion 234 is a limiting ring portion 235. The limiting ring portion 235 has a basically the same outer diameter as the sliding sleeve 231. The limiting ring portion 235 is used to limit the sliding sleeve 231, so that the connection between the sliding sleeve 231 and the nut sleeve 232 is more stable.

[0053] like Figures 3-4 As shown, the drive mechanism 20 also includes a fixed housing 25 and a wear-resistant sleeve 26. The fixed housing 25 is provided with a mounting groove 27. The fixed housing 25 is provided with a fixing groove 24 at both ends of the mounting groove 27. The screw 22 is located in the mounting groove 27. Both ends of the screw 22 extend into the fixing groove 24. The two ends of the screw 22 are provided with a wear-resistant sleeve 26 at both ends of the screw 22. The wear-resistant sleeve 26 is located in the fixing groove 24.

[0054] The screw 22 is located in the mounting groove 27, and both ends of the screw 22 extend into the fixing groove 24 to connect the screw 22 with the fixing shell 25. Considering that the screw 22 rotates and generates friction with the fixing groove 24, the fixing groove 24 will wear after a period of use, which will affect the connection between the screw 22 and the fixing shell 25 and cause the screw 22 to wobble when rotating. Therefore, this solution provides wear-resistant sleeves 23 at both ends of the screw 22, which can reduce the wear of the fixing groove 24 and ensure that the screw does not affect its operation after long-term use.

[0055] Specifically, the fixed shell 25 includes a fixed upper shell 251 and a fixed lower shell 252, which are separately arranged. The mounting groove 27 and the fixing groove 24 are provided on the fixed lower shell 252. The fixed upper shell 251 covers the fixed lower shell 252. The fixed upper shell 251 and the fixed lower shell 252 can be fixedly connected by screws. The screw 22, the adjusting seat 23, the second transmission component 21 and the wear-resistant sleeve 26 are provided inside the fixed shell 25. One end of the fixed shell 25 has an opening 28. One end of the screw with the connecting section 221 is provided at the opening 28. The first transmission component 14 and the second transmission component 21 are connected at the opening 28. The fixed upper shell 251 has an extension hole 253, which is provided along the length of the screw 22. One end of the connecting component 236 is connected to the adjusting seat 23. The connecting component 236 extends out from the extension hole 253. The other end of the connecting component 236 is connected to the massage mechanism 30. The connecting component 236 can move within the range of the extension hole 353.

[0056] like Figures 5-6 As shown, one end of the first transmission member 14 is provided with a plurality of protruding teeth 141 at intervals. The side ends of the protruding teeth 141 are inclined relative to the outer ends of the protruding teeth 141. One end of the second transmission member 21 is provided with a receiving groove 210. The bottom surface of the receiving groove 210 is provided with a plurality of recesses 211 that are adapted to the plurality of protruding teeth 141. The first transmission member 14 extends into the receiving groove 210. The plurality of protruding teeth 141 and the plurality of recesses 211 abut against each other and limit each other, preventing the first transmission member 14 and the second transmission member 21 from shifting in the circumferential direction.

[0057] The elastic force of the second elastic member 12 enables the first transmission member 14 and the second transmission member to be tightly connected. Through the mutual cooperation and limiting between the multiple protrusions 141 and the multiple recesses 211, they are in close contact, which can prevent the first transmission member 14 and the second transmission member 21 from shifting in the circumferential direction, making the connection between the first transmission member and the second transmission member more stable and preventing the power mechanism 10 from shaking when driving the drive mechanism 20.

[0058] Consistent with the above, please refer to Figure 11 This invention provides a control method for a massage device, applicable to, for example... Figures 1-10 The massage device shown, the method includes the following steps:

[0059] S101. Obtain the currently set target massage mode and target massage level, wherein the target massage mode corresponds to at least one massage area;

[0060] The massage device may include multiple massage modes, for example, each corresponding to a specific massage area. Users can set the desired massage mode via buttons, control panel, or other modules, and then wear the massage device on the desired area to receive a massage. After completing a massage on one area, the user can adjust the massage area, thus enabling the device to massage different areas. The massage device may also include different intensity levels, which users can set via buttons, control panel, or other modules.

[0061] In practice, the massage device can also include a variety of different massage modes. Each massage mode corresponds to a massage area and a massage level. After receiving the massage setting operation, the massage device can determine the corresponding massage area and massage level. For example, if the user sets the neck soothing mode, the massage device can determine the target massage area as the neck massage area and the target massage level as level one.

[0062] S102. Determine the first motor parameters and the first airbag adjustment parameters corresponding to the target massage mode and the target massage level.

[0063] like Figure 12 As shown, the massage device can be set with different massage modes and massage levels, corresponding to motor parameters and airbag adjustment parameters. In this way, when executing step S102, the first motor parameters and first airbag adjustment parameters corresponding to the target massage mode and target massage level can be determined. For example, if the user sets the neck soothing mode, the target massage area can be determined as the neck massage area, and the target massage level can be determined as level one. Then, the first motor parameter D1 and the first airbag adjustment parameter Q1 corresponding to the neck massage area and level one massage level can be determined.

[0064] The first motor parameters may include at least one of the following: motor speed, rotation direction, current, voltage, power, and operating time. Through these first motor parameters, the massage device can control the movement speed, direction, and duration of the massage mechanism driven by the motor, thereby controlling the movement of the massage mechanism within the massage area. Since different massage areas have different tolerance levels for massage intensity and vary in size, the massage mechanism can be controlled to move within the massage area and provide appropriate massage intensity by setting the first motor parameters and first airbag adjustment parameters corresponding to the target massage mode and target massage level.

[0065] The first airbag adjustment parameters may include at least one of the following: air pressure of the air pump, airflow of the air pump, control signal of the solenoid valve, etc. Through the first airbag adjustment parameters, the massage device can inflate or deflate the airbag through the airbag adjustment device. During the inflation or deflation of the airbag, the massage intensity of the massage head can be flexibly adjusted so that when the massage mechanism or massage head moves to the massage area, the massage intensity reaches the massage intensity requirement corresponding to the target massage level.

[0066] S103. Control the motor to work according to the first motor parameters so that the massage mechanism moves at the moving speed corresponding to the first motor parameters; control the airbag adjustment device to inflate or deflate the airbag according to the first airbag adjustment parameters so that when the massage mechanism massages the massage area, the massage intensity of the massage mechanism reaches the massage intensity requirement corresponding to the target massage level.

[0067] Different motor parameters correspond to different moving speeds of the massage mechanism. By controlling the motor according to the first motor parameter, the massage mechanism can move at the speed corresponding to the first motor parameter, thus moving within the massage range corresponding to the massage area. Different airbag adjustment parameters result in different times for the massage mechanism to reach the target massage intensity level. By controlling the airbag adjustment device to inflate or deflate the airbag according to the first airbag adjustment parameter, the massage intensity can reach the required level when massaging the area. This massage device can adaptably use different motor and airbag adjustment parameters for different massage areas, ensuring that the massage intensity reaches the required level when massaging the area, making the massage intensity more suitable.

[0068] Optionally, in step S103 above, controlling the airbag adjustment device to inflate or deflate the airbag according to the first airbag adjustment parameter may include the following steps:

[0069] S31. When the massage mechanism moves closer to the massage area, the airbag adjustment device is controlled to inflate the airbag according to the first airbag adjustment parameter.

[0070] S32. When the massage mechanism reaches the massage area, control the airbag adjustment device to stop inflating.

[0071] When the motor drives the massage mechanism to move, as the massage mechanism approaches the acupoint, the airbag adjustment device is controlled according to the first airbag adjustment parameter to inflate the airbag, thereby increasing the massage depth and massage intensity. When the massage mechanism reaches the acupoint, the massage intensity of the massage head reaches the massage intensity requirement corresponding to the target massage level. At this time, the airbag adjustment device can be controlled to stop inflating, and the massage intensity will no longer increase.

[0072] Optionally, in step S103 above, the method further includes:

[0073] S33. When the massage mechanism leaves an acupoint on the massage site, compare the inflation volume or airbag inflation height corresponding to the current acupoint position and the next acupoint position.

[0074] S34. If the inflation volume or airbag height corresponding to the current acupoint position is greater than the inflation volume or airbag height corresponding to the next acupoint position, then control the airbag adjustment device to deflate the airbag.

[0075] S35. If the inflation volume or airbag height corresponding to the current acupoint position is less than the inflation volume or airbag height corresponding to the next acupoint position, then when the massage mechanism moves closer to the next acupoint position, the airbag adjustment device is controlled to inflate the airbag according to the first airbag adjustment parameter.

[0076] The massage mechanism is driven by a motor. When the massage mechanism moves away from an acupoint, it compares the inflation volume or airbag height corresponding to the current acupoint with that of the next acupoint. This allows the airbag adjustment device to deflate or inflate the airbag. Specifically, if the inflation volume or airbag height of the current acupoint is greater than that of the next acupoint, the airbag adjustment device deflates the airbag, allowing for different massage intensities at different acupoints and providing a richer massage experience. Conversely, if the inflation volume or airbag height of the current acupoint is less than that of the next acupoint, the airbag adjustment device inflates the airbag as the massage mechanism moves towards the next acupoint, based on the first airbag adjustment parameter. This ensures the massage intensity reaches the target massage level. The massage intensity of the massage head continuously changes as it massages different acupoints, enriching the user's massage experience.

[0077] Optionally, in step S103 above, the method further includes:

[0078] S36. Control the motor to switch rotation directions according to the set movement duration, causing the massage mechanism to reciprocate. The movement duration is the duration for which the motor drives the massage mechanism to move; or...

[0079] S37. Determine the movement duration of the massage mechanism driven by the motor based on the preset massage range corresponding to the massage area; control the motor to switch the rotation direction based on the movement duration of the motor, so that the massage mechanism can move back and forth.

[0080] The motor drives the massage head to move. The motor's rotation direction is switched according to the set movement time corresponding to the massage area. After the massage head moves in one direction for the set movement time, it moves in the opposite direction for the set movement time. The movement time is related to the massage range of the massage area and the movement speed of the massage head. The movement speed of the massage head is related to the parameters of the first motor. Thus, the massage mechanism can be controlled to move back and forth within the massage range of the massage area. Since the massage range of different massage areas is different, different movement times can be set for different areas.

[0081] This solution also allows setting a preset massage range for the massage area, and determining the corresponding motor movement duration based on the preset massage range. Since different massage areas have different massage ranges, different movement durations can be set for different areas, and the motor can be controlled to switch rotation directions based on the movement duration, so that it can move back and forth within the massage range of the massage area.

[0082] Optionally, in step S103 above, the method further includes:

[0083] S38. The inflation time required for the airbag assembly to adjust the massage mechanism to achieve different preset massage intensities is obtained in advance, wherein the multiple preset massage intensities correspond to multiple massage levels, and the airbag assembly is controlled according to different preset airbag adjustment parameters under different multiple massage levels.

[0084] S39. Determine the moving speed of the massage mechanism in each of the multiple massage modes based on the inflation time corresponding to each preset massage intensity and the acupoint distance corresponding to the massage area in different multiple massage modes. The acupoint distance refers to the moving distance of the massage head of the massage mechanism from the initial position of the massage area to the acupoint position.

[0085] S40. Determine the preset motor parameters for the corresponding massage mode based on the moving speed of the massage mechanism in each of the multiple massage modes, and obtain multiple preset motor parameters.

[0086] S41. Set the mapping relationship between the massage mode and massage level and the motor parameters and airbag adjustment parameters according to the multiple massage levels, the multiple massage modes, the multiple preset motor parameters and the multiple preset airbag adjustment parameters.

[0087] In this solution, the mapping relationship between massage modes and massage levels and the parameters of the first motor and the airbag adjustment parameters can be preset in a test environment. Specifically, for different massage areas and different massage levels, the time required for the massage mechanism to reach the acupoint can be determined, thereby determining the corresponding motor parameters; and the airbag adjustment parameters corresponding to the massage intensity of the massage head at the corresponding massage level can be determined. Thus, the corresponding preset motor parameters and preset airbag adjustment parameters can be preset for multiple different massage areas and multiple different massage levels as needed, so as to intelligently control the massage device and enable the massage device to intelligently massage the massage areas and massage levels in different massage modes and accurately adjust the massage intensity.

[0088] In step S102 above, determining the first motor parameters and first airbag adjustment parameters corresponding to the target massage mode and the target massage level may include the following steps:

[0089] The first motor parameters and first airbag adjustment parameters corresponding to the target massage mode and the target massage level are determined based on the mapping relationship between the massage mode and massage level and the first motor parameters and airbag adjustment parameters.

[0090] The massage mechanism further includes an airbag pressure detection device, a fixed frame, a movable frame, and a first elastic element. The fixed frame is connected to the drive mechanism, the movable frame is mounted on the fixed frame, the airbag is positioned between the fixed frame and the movable frame, and the two ends of the first elastic element are respectively connected to the movable frame and the fixed frame. The massage head is mounted on the movable frame. After the airbag is inflated, it can overcome the elasticity of the first elastic element to drive the massage head towards the massage area to adjust the massage intensity. The first elastic element can return the massage head to the original position of the fixed frame. The airbag pressure detection device is used to detect the pressure generated by the airbag. The driving mechanism includes a second transmission component, a screw, and an adjusting seat. The second transmission component is disposed at the end of the screw near the power mechanism and is drively connected to the power mechanism. The power mechanism can drive the second transmission component to rotate, and the second transmission component can drive the screw to rotate. The adjusting seat is rotatably connected to the screw. When the screw rotates, the adjusting seat can move along the length of the screw. The fixed frame is disposed on the adjusting seat so that the adjusting seat drives the fixed frame to move. During massage, the power mechanism drives the screw to rotate, the adjusting seat moves relative to the screw, and drives the fixed frame to move.

[0091] Optionally, in step S103 above, the method further includes:

[0092] After controlling the airbag adjustment device to inflate the airbag according to the first airbag adjustment parameters, the method further includes:

[0093] S42. Obtain the first airbag pressure detection value of the airbag pressure detection device;

[0094] S43. Determine the first massage force value based on the first airbag pressure detection value and the elastic force value corresponding to the first elastic element;

[0095] S44. If the first massage intensity value is less than the massage intensity value corresponding to the target massage level, control the airbag adjustment device to make the airbag continue to inflate.

[0096] S45. If the first massage intensity value is equal to the massage intensity value corresponding to the target massage level, control the airbag adjustment device to stop the airbag from inflating.

[0097] S46. If the first massage intensity value is greater than the massage intensity value corresponding to the target massage level, control the airbag adjustment device to continue deflating the airbag.

[0098] In this application, an airbag pressure detection device may also be provided. This device can be a pressure sensor. In this solution, the massage intensity of the massage mechanism is related to the pressure generated by the airbag and the elastic force of the first elastic element. The airbag needs to overcome the elastic force of the first elastic element. The airbag pressure detection device can detect the pressure F generated by the airbag, i.e., the first airbag pressure detection value. The first massage intensity value N can be determined based on the first airbag pressure detection value F and the corresponding elastic force value Ft of the first elastic element, where N = F - Ft. The elastic force value Ft of the first elastic element can be detected by setting an elastic deformation detection device to measure the elastic deformation Δ of the first elastic element. X Furthermore, based on the elastic deformation Δ X The elastic coefficient K determines Ft, where Ft = KΔ X Alternatively, the elastic deformation detection device may not be required. Since the elastic deformation corresponding to the airbag pressure detection value is basically the same when the airbag pressure detection value and the elastic coefficient are constant, the elastic force value of the first elastic element corresponding to different airbag pressure detection values ​​can be determined in advance under the test environment. Then, the mapping relationship between the airbag pressure detection value and the elastic force value can be set. Thus, when the massage device is used, after the massage device determines the first airbag pressure detection value, the elastic force value Ft of the first elastic element corresponding to the first airbag pressure detection value can be determined according to the mapping relationship, without the need to set the elastic deformation detection device on the massage device.

[0099] The massage intensity level refers to the massage intensity value corresponding to a specific massage level. A mapping relationship between massage levels and massage intensity levels can be preset. After determining the target massage unit, the massage intensity level corresponding to the target massage level can be determined. If the first massage intensity value is less than the massage intensity level corresponding to the target massage level, it indicates that the massage intensity is too low. The airbag adjustment device can be controlled to continue inflating the airbag to accurately adjust the massage intensity to the required level for the target massage level. If the first massage intensity value is equal to the massage intensity level corresponding to the target massage level, the airbag adjustment device can be controlled to stop inflating the airbag. If the first massage intensity value is greater than the massage intensity level corresponding to the target massage level, it indicates that the massage intensity is too high. The airbag adjustment device can be controlled to continue deflating the airbag to reduce the massage intensity. Through steps S41-S46, the massage device can accurately adjust the massage intensity to the level corresponding to the target massage level.

[0100] Optionally, in step S103 above, the airbag assembly includes multiple airbags in contact with the movable frame and multiple airbag adjustment devices corresponding to the multiple airbags; the movable frame includes a contact surface adjacent to the massage head; and the method further includes:

[0101] Determine the massage angle corresponding to the massage area, wherein the massage angle is the tilt angle of the contact surface of the movable frame during massage;

[0102] The inflation volume or airbag inflation height of the multiple airbags is determined according to the massage angle.

[0103] The multiple airbag adjustment devices are controlled to inflate the multiple airbags according to their respective inflation volume or airbag inflation height, so that the inflation height of the multiple airbags pushes the moving frame to a state of tilting the massage angle.

[0104] like Figures 13-14 As shown, multiple airbags 320 can be arranged side by side. The first base plate 341 includes a contact surface 344 adjacent to the massage head. The multiple airbags 320 can be distributed along the width direction of the first base plate 341 of the movable frame, and can also be distributed along the direction of movement of the massage head. Figure 13 A schematic diagram showing how the first base plate of the movable frame pushes the massage head vertically after multiple airbags are inflated. Figure 14 The diagram illustrates how the first base plate of the movable frame pushes the massage head at an inclined massage angle after the airbags are inflated. By setting different inflation volumes or airbag inflation heights for different airbags, different massage areas can be massaged at different inclined angles, thus enriching the massage experience.

[0105] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the massage device as described above. This computer-readable storage medium may be included in the massage device described in the above embodiments, or it may exist independently and not incorporated into the massage device.

[0106] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method for the massage device provided in the various embodiments described above.

[0107] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method of a massage apparatus, characterized by, The massage device comprises a power mechanism, a driving mechanism and a massage mechanism, the power mechanism is connected with the driving mechanism, the power mechanism comprises a motor, the motor is used for driving the driving mechanism to rotate, the driving mechanism is connected with the massage mechanism, the driving mechanism can drive the massage mechanism to move, the massage mechanism comprises a massage head and an air bag assembly, the air bag assembly comprises an air bag and an air bag adjusting device, the air bag adjusting device is connected with the air bag, and the air bag assembly is used for adjusting the massage intensity of the massage head; the method comprises: obtaining a target massage mode and a target massage gear set currently, the target massage mode corresponds to at least one massage part; determining first motor parameters and first air bag adjusting parameters corresponding to the target massage mode and the target massage gear; controlling the motor to work according to the first motor parameters, so that the massage mechanism moves at a moving speed corresponding to the first motor parameters; and controlling the air bag adjusting device to inflate or deflate the air bag according to the first air bag adjusting parameters, so that when the massage mechanism massages the massage part, the massage intensity of the massage mechanism reaches the massage intensity requirement corresponding to the target massage gear. The massage mechanism further comprises an air bag pressure detection device, a fixed frame, a moving frame and a first elastic member, the fixed frame is connected with the driving mechanism, the moving frame is arranged on the fixed frame, the air bag is arranged between the fixed frame and the moving frame, the two ends of the first elastic member are connected with the moving frame and the fixed frame respectively, the massage head is arranged on the moving frame, and after the air bag is inflated, the air bag can overcome the elastic force of the first elastic member to drive the massage head to move towards the massage part, so as to adjust the massage intensity; the first elastic member can make the massage head return to the original position of the fixed frame, and the air bag pressure detection device is used for detecting the pressure generated by the air bag.

2. The control method of the massage apparatus according to claim 1, characterized by, The control of the air bag adjusting device according to the first air bag adjusting parameters to inflate or deflate the air bag comprises: when the massage mechanism approaches the massage part, the air bag adjusting device is controlled to inflate the air bag according to the first air bag adjusting parameters; when the massage mechanism reaches the massage part, the air bag adjusting device is controlled to stop inflating.

3. The control method of a massage apparatus according to claim 2, characterized by, The method further comprises: when the massage mechanism moves away from one acupoint position of the massage part, the inflation amount or the air bag bulging height corresponding to the current acupoint position and the next acupoint position are compared; if the inflation amount or the air bag bulging height corresponding to the current acupoint position is greater than that corresponding to the next acupoint position, the air bag adjusting device is controlled to deflate the air bag; if the inflation amount or the air bag bulging height corresponding to the current acupoint position is less than that corresponding to the next acupoint position, the air bag adjusting device is controlled to inflate the air bag according to the first air bag adjusting parameters when the massage mechanism approaches the next acupoint position.

4. The control method of the massage device according to claim 1, further comprising: According to the set moving time length, the motor is controlled to switch the rotating direction, so that the massage mechanism moves back and forth. Or, According to the preset massage range corresponding to the massage part, the moving time length of the motor driving the massage mechanism to move is determined. According to the moving time length, the motor is controlled to switch the rotating direction, so that the massage mechanism moves back and forth.

5. The control method of the massage apparatus according to any one of claims 1 to 4, characterized by, The method further comprises: Pre-acquire the inflation time length required for the air bag assembly to adjust the massage mechanism to different multiple preset massage intensities, wherein the multiple preset massage intensities correspond to multiple massage gears, and the air bag assembly is controlled according to different multiple preset air bag adjustment parameters at different multiple massage gears; According to the inflation time length corresponding to each preset massage intensity in the multiple preset massage intensities and the massage distance corresponding to the massage part in different multiple massage modes, the moving speed of the massage mechanism in each massage mode in the multiple massage modes is determined, and the massage distance refers to the moving distance of the massage head of the massage mechanism from the initial position of the massage part to the massage position; According to the moving speed of the massage mechanism in each massage mode in the multiple massage modes, the preset motor parameters in the corresponding massage mode are determined, and multiple preset motor parameters are obtained; According to the multiple massage gears, the multiple massage modes, the multiple preset motor parameters and the multiple preset air bag adjustment parameters, the mapping relationship between the massage mode and the massage gear and the motor parameter and the air bag adjustment parameter is set; The determination of the first motor parameter and the first air bag adjustment parameter corresponding to the target massage mode and the target massage gear comprises: According to the mapping relationship between the massage mode and the massage gear and the motor parameter and the air bag adjustment parameter, the first motor parameter and the first air bag adjustment parameter corresponding to the target massage mode and the target massage gear are determined.

6. The control method of a massage apparatus according to claim 1, wherein The driving mechanism comprises a second transmission member, a screw rod and an adjusting seat, the second transmission member is arranged at one end of the screw rod close to the power mechanism, the second transmission member is in transmission connection with the power mechanism, the power mechanism can drive the second transmission member to rotate, the second transmission member can drive the screw rod to rotate, the adjusting seat is in rotation connection with the screw rod, and the adjusting seat can move along the length direction of the screw rod when the screw rod rotates; the fixing frame is arranged on the adjusting seat, so that the adjusting seat drives the fixing frame to move, and during massage, the power mechanism drives the screw rod to rotate, the adjusting seat moves relative to the screw rod and drives the fixing frame to move.

7. The control method of the massage device according to claim 6, wherein After the air bag is inflated by controlling the air bag adjusting device according to the first air bag adjustment parameter, the method further comprises: Obtaining a first air bag pressure detection value of the air bag pressure detection device; According to the first air bag pressure detection value and the elastic force value corresponding to the first elastic member, a first massage intensity value is determined. If the first massage intensity value is less than the massage intensity level value corresponding to the target massage level, the air bag adjusting device is controlled to continue inflating the air bag; If the first massage intensity value is equal to the massage intensity level value corresponding to the target massage level, the air bag adjusting device is controlled to continue stopping the air bag from inflating; If the first massage intensity value is greater than the massage intensity level value corresponding to the target massage level, the air bag adjusting device is controlled to continue deflating the air bag. 8.The control method of a massage device according to claim 6 or 7, the air bag assembly comprising a plurality of air bags in contact with the moving frame and a plurality of air bag adjusting means corresponding to the plurality of air bags, the moving frame comprising a contact surface adjacent to the massage head, characterized in that, The method further comprises: determining a massage angle corresponding to the massage part, the massage angle being the inclination angle of the contact surface of the moving frame during massage; determining the inflation amount or air bag bulging height corresponding to each of the plurality of air bags according to the massage angle; controlling the plurality of air bag adjusting devices to inflate the plurality of air bags respectively according to the inflation amount or air bag bulging height corresponding to each of the plurality of air bags, so that the height of the plurality of air bags bulging pushes the moving frame to an inclined state of the massage angle.

9. A massaging apparatus characterized by comprising: The massage device comprises a power mechanism, a driving mechanism, a massage mechanism, and a control device. The power mechanism is connected with the driving mechanism. The power mechanism comprises a motor for driving the driving mechanism to rotate. The driving mechanism is connected with the massage mechanism and can drive the massage mechanism to move. The massage mechanism comprises a massage head and an air bag assembly. The air bag assembly comprises an air bag and an air bag adjusting device. The air bag adjusting device is connected with the air bag and is used to adjust the massage intensity of the massage head. The control device is electrically connected with the power mechanism and the air bag adjusting device. The control device is used to execute the steps of the method according to any one of claims 1-5.

10. The massaging apparatus according to claim 9, wherein After the air bag adjusting device is controlled to inflate the air bag according to the first air bag adjusting parameter, the control device is further used to acquire a first air bag pressure detection value of the air bag pressure detection device, determine a first massage intensity value according to the first air bag pressure detection value and the elastic force value corresponding to the first elastic member, control the air bag adjusting device to continue inflating the air bag if the first massage intensity value is less than the massage intensity level value corresponding to the target massage level, control the air bag adjusting device to continue stopping the air bag from inflating if the first massage intensity value is equal to the massage intensity level value corresponding to the target massage level, and control the air bag adjusting device to continue deflating the air bag if the first massage intensity value is greater than the massage intensity level value corresponding to the target massage level.

11. The massage apparatus according to claim 10, wherein The moving frame is embedded on the fixed frame. The moving frame comprises a first bottom plate and two first side plates. The two first side plates are arranged at two ends of the first bottom plate and protrude towards the massage mechanism. The fixed frame comprises a second bottom plate and two second side plates. The two second side plates are arranged at two ends of the second bottom plate and protrude towards the massage mechanism. One of the first side plate and the second side plate is provided with a sliding protrusion, the other of the first side plate and the second side plate is provided with a sliding groove matched with the sliding protrusion, and the air bag is arranged between the first bottom plate and the second bottom plate; The massage mechanism further comprises a second pin shaft, two ends of the second pin shaft are connected to one end of the two first side plates away from the first bottom plate and extend out of the first side plates, the massage head is rotationally connected to the second pin shaft, one end of the first elastic member is connected to the end of the second pin shaft extending out of the first side plate, and the other end of the first elastic member is connected to the connecting protrusion outside the second side plate.

12. The massage device according to claim 10, wherein, The power mechanism comprises a motor, a gear, a first pin shaft, a second elastic member and a first transmission member, the output shaft of the motor is engaged with the gear, the first pin shaft is arranged through the gear, the first pin shaft rotates coaxially with the gear, the first transmission member is arranged at the first end of the first pin shaft, the second elastic member is located between the gear and the first transmission member, and the second elastic member is sleeved on the first pin shaft; The driving mechanism comprises a second transmission member, a screw rod and an adjusting seat, the second transmission member is arranged at one end of the screw rod close to the power mechanism, the second transmission member is in transmission connection with the first transmission member, the first transmission member can drive the second transmission member to rotate, the second transmission member can drive the screw rod to rotate, the adjusting seat is in rotational connection with the screw rod, and the adjusting seat can move along the length direction of the screw rod when the screw rod rotates; and the massage mechanism is arranged on the adjusting seat, so that the adjusting seat drives the massage mechanism to move.

13. The massage apparatus according to claim 12, characterized by The adjusting seat comprises a sliding sleeve and a nut sleeve, the sliding sleeve and the nut sleeve are nested, the nut sleeve is sleeved on the screw rod and is in threaded connection with the screw rod, the sliding sleeve is provided with a connecting groove, and the massage mechanism is fixedly connected to the connecting groove through a connecting member.

14. The massaging apparatus according to claim 12, wherein The driving mechanism further comprises a fixed shell and a wear-resistant sleeve, the fixed shell is provided with a mounting groove, the fixed shell is provided with a fixed groove at two ends of the mounting groove, the screw rod is arranged in the mounting groove, two ends of the screw rod extend into the fixed grooves (24), the wear-resistant sleeves are arranged at the two ends of the screw rod respectively, and the wear-resistant sleeves are arranged in the fixed grooves.

15. The massaging apparatus according to claim 12, wherein One end of the first transmission member is provided with a plurality of protruding teeth at intervals, the side end of the protruding teeth is inclined relative to the outer end of the protruding teeth, one end of the second transmission member is provided with a containing groove, the bottom surface of the containing groove is provided with a plurality of recesses matched with the plurality of protruding teeth, the first transmission member extends into the containing groove, and the plurality of protruding teeth and the plurality of recesses abut and limit each other to prevent the first transmission member and the second transmission member from being deviated in the circumferential direction.

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