A pressure-controllable multi-mode wearable flexible massager

Abstract

The application relates to the technical field of massagers, in particular to a multi-mode wearable flexible massager with controllable pressure, which comprises a shell, two identical limiting supports arranged in the shell, rotating assemblies arranged at the front and rear parts of the limiting supports, drive air bag fixing plates and pressing air bag fixing plates of the rotating assemblies, drive air bag groups arranged between the drive air bag fixing plates and the limiting supports, pressing air bag groups fixed in the pressing air bag fixing plates, and pressure sensors arranged on the surfaces of the pressing air bag groups. The massager further comprises a controller which can control the realization of two massage modes of pressing and twisting, and the pressing pressure can be monitored and adjusted during the working process. The flexible massager has the advantages of light structure, safe wearing and various modes, the multi-air bag groups can work cooperatively to simulate the real massage effect, the comfortable and safe limb muscle massage can be realized, blood circulation can be promoted, and muscle atrophy can be prevented.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation and physiotherapy equipment technology, specifically a pressure-controllable multi-mode wearable flexible massager. Background Technology

[0002] Massagers are common rehabilitation and physiotherapy devices. Their design and application not only serve the needs of healthy individuals to relax muscles, relieve fatigue, and soothe mood, but also possess significant clinical medical rehabilitation value. Especially for those who are bedridden for extended periods or otherwise immobile, their muscles are at risk of gradual atrophy and even necrosis due to lack of exercise. Clinical studies have shown that muscle massage can promote blood circulation, prevent muscle atrophy, reduce inflammatory signal transduction, and promote muscle tissue recovery and regeneration. Therefore, muscle massage can reduce the risk of muscle atrophy, and is particularly suitable for individuals with stiff joints, poor physical condition, and difficulty in undergoing effective rehabilitation training. However, providing continuous massage to this population places a significant burden on manpower; labor costs are high, and training massage therapists takes time. Therefore, it is necessary to develop reliable massagers to replace massage therapists.

[0003] Current massager technology is mostly integrated into massage chairs, which fails to meet the portability and wearability requirements of medical rehabilitation scenarios. Furthermore, it heavily utilizes rigid structures and is primarily driven by motors, resulting in bulky designs and safety risks. While fully flexible massagers derived from circulating air-pressurization devices offer good comfort and massage effects, they primarily rely on pressure and lack other massage modes, making it difficult to simulate a realistic massage experience. In addition, current massager technology rarely focuses on monitoring and adjusting massage pressure, leading to insufficient safety assurance during operation. In summary, there is a current lack of massager technology that simultaneously utilizes flexible structures and flexible drive methods, enables multiple massage modes, and ensures safety and comfort. Summary of the Invention

[0004] The purpose of this invention is to provide a pressure-controllable, multi-mode wearable flexible massager to solve the problems mentioned in the background art.

[0005] The technical solution of this invention is:

[0006] A pressure-controllable, multi-mode wearable flexible massager is characterized by comprising a shell 2, inside which are two identical limiting brackets 1. Rotating components 3 are respectively provided at the front and rear of each limiting bracket. Each rotating component 3 includes a drive airbag fixing plate 31 and a pressing airbag fixing plate 32. A drive airbag assembly 4 is arranged between the drive airbag fixing plate 31 and the limiting brackets 1. A pressing airbag assembly 5 is fixed inside the pressing airbag fixing plate. Pressure sensors 6 are arranged on the surface of the pressing airbag assembly. The massager also includes a control device located in the middle region of the limiting brackets, including a controller and an air pump. The controller controls the inflation and deflation of the airbag assembly to achieve two massage modes: pressing and twisting. The pressing pressure can be monitored and adjusted during operation.

[0007] Furthermore, the outer contour of the outer shell 2 is cylindrical or frustum-shaped, with a thickness of no more than 3mm. The outer shell 2 is composed of two identical and separate semi-cylindrical parts, and each part of the outer shell edge also includes a first mounting hole 21.

[0008] Furthermore, the front and rear structures of the limiting bracket 1 are similar, with a slot 13 provided at the middle connection. The limiting bracket 1 also includes a second mounting hole 11 and a sliding groove 12. The second mounting hole 11 is aligned with the first mounting hole 21, and the sliding groove 12 provides rotation space and limitation for the rotating assembly.

[0009] Furthermore, the rotating assembly 3 also includes a third mounting hole 33, which connects and fixes the driving airbag fixing plate 31 and the pressing airbag fixing plate 32 to the slide groove 12.

[0010] Furthermore, the driving airbag assembly includes a first driving airbag assembly 41 and a second driving airbag assembly 42, which are respectively controlled for inflation and deflation during operation. The first driving airbag assembly 41 and the second driving airbag assembly 42 are respectively arranged on both sides of each driving airbag fixing plate. For the front and rear portions of the same limiting bracket, the driving airbag assemblies 4 adopt an opposite arrangement; for the upper and lower limiting brackets, the driving airbag assemblies 4 adopt a centrally symmetrical arrangement.

[0011] Furthermore, the airbag assembly 5 is evenly arranged in a circular array on the inner surface of the upper and lower airbag fixing plates; a pressure sensor 6 is arranged at the center of the inner surface of the airbag assembly 5.

[0012] Furthermore, the massager operates in a pressing massage mode, including the following steps:

[0013] S1. The user presses the power button and selects the pressing mode through the interactive display screen, and the massager enters the pressing massage working mode. The controller begins to receive the pressure signals transmitted back by the pressure sensor sequence PS1-PSn, selects a sliding average window according to the sensor sampling rate, calculates the pressure value of a single sensor within a certain period of time, and then averages the values ​​of all sensors to obtain the pressing pressure Pt at that moment;

[0014] S2. The user selects three levels of pressure intensity (low, medium, and high) on the display screen. After receiving the instruction, the controller outputs the corresponding three target massage pressure levels P11, P12, and P13.

[0015] S3. The controller uses a PID algorithm to control the airbag group 5 to inflate together until the pressing pressure Pt stabilizes within 10% of the corresponding pressure threshold P1i and is maintained for 0.5 seconds. The time parameter can then be set by the controller.

[0016] S4. After confirming that the pressing pressure is stable, the controller continues to maintain the inflation pressure for time t11 to perform continuous pressing;

[0017] S5, The controller controls the airbag assembly 5 to fully deflate within time t12;

[0018] S6. Return to S3 and continue the pressing and massaging cycle;

[0019] S7. Users can choose to turn off the press mode or switch to other modes. At this time, the controller controls the press airbag assembly to fully deflate and waits for the user's next instruction.

[0020] Furthermore, the massager operates in a twisting massage mode, including the following steps:

[0021] S1. The user presses the power button and selects the twisting mode through the interactive display screen, and the massager enters the twisting massage working mode. The controller begins to receive the pressure signals transmitted back by the pressure sensor sequence PS1-PSn, selects a sliding average window according to the sensor sampling rate, calculates the pressure value of a single sensor within a certain period of time, and then averages the pressure values ​​of all sensors to obtain the pressing pressure Pt at that moment; at the same time, the controller controls the first and second drive airbag groups to inflate to the preset air pressure AP0 to ensure that the drive airbag fixing plate is in the intermediate balance position;

[0022] S2. The user selects the three levels of twisting massage intensity (low, medium, and high) through the display screen. After receiving the instruction, the controller outputs the preset pressing pressure P20 and outputs the air pressure thresholds AP1, AP2, and AP3 of the drive airbag group according to the established air pressure-rotation angle relationship.

[0023] S3. The controller uses a PID algorithm to control the airbag group 5 to inflate together until the pressing pressure Pt stabilizes within 10% of the preset pressure P20 and is maintained for 0.2 seconds. The time parameter can then be set by the controller.

[0024] S4. The controller controls the first driver airbag group 41 to inflate to the corresponding air pressure threshold APi within time t21, and at the same time controls the second driver airbag group to deflate to the preset low air pressure APL within time t21. Then, the controller controls the first driver airbag group 41 and the second driver airbag group 42 to simultaneously restore to the preset air pressure P0 within time t22.

[0025] S5. The controller controls the second driver airbag group 42 to inflate to the corresponding air pressure threshold APi within time t21, and at the same time controls the first driver airbag group 41 to deflate to the preset low air pressure APL within time t21. Then, the controller controls the second driver airbag group 42 and the first driver airbag group 41 to simultaneously restore to the preset air pressure P0 within time t22.

[0026] S6. The controller controls the airbag assembly 5 to fully deflate within time t23.

[0027] S7. Return to S3 and continue the twisting massage cycle;

[0028] S8. Users can choose to turn off the twist mode or switch to other modes. At this time, the controller controls the press airbag assembly to fully deflate and waits for the user's next instruction.

[0029] Furthermore, the massager is equipped with a safety check mode. When the pressure value returned by a single pressure sensor exceeds the danger threshold Ph, the controller controls all airbags to deflate, returning to the initial state.

[0030] This invention provides a pressure-controllable, multi-mode wearable flexible massager, which has the following advantages compared with the prior art:

[0031] 1. This invention utilizes a flexible structure as its main body in both structure and drive, solving the problems of large size and weight, difficulty in carrying and wearing traditional rigid drive methods. The pressing and twisting operation of the massager is achieved through pneumatic drive and airbag interaction, which is lightweight, compact, easy to wear, and the interaction process is safer. In addition, the structural design of the limiting bracket and rotating components makes full use of space and further ensures lightweight portability. The array design of the pressing airbag group increases the contact area between the airbag and the human skin, further improving comfort and avoiding the risk of excessive local pressure, thus ensuring safety.

[0032] 2. This invention, based on the application of flexible mechanisms and driving methods, realizes multiple massage modes and solves the problem that traditional flexible driving technologies struggle to reproduce torsional massage. Building upon the application of pressure airbags for massaging the human body, this invention further proposes a torsional massage method based on driving airbags. The driving airbag group and the pressure airbag group are respectively fixed to corresponding fixed plates of the rotating component. After the pressure airbags are inflated and come into contact with the human body, the driving airbag group is inflated, driving the rotating component to rotate, achieving the effect of torturing the skin on the human body surface. Furthermore, by designing different layouts for the first and second driving airbag groups, a realistic torsional massage effect simulating a massage therapist performing torsional movements in opposite directions is achieved.

[0033] 3. Building upon the structural and driving safety design of the massager, this invention further enhances control safety, resolving the issue of insufficient pressure monitoring and feedback during the massage process. By arranging pressure sensors on the internal surface of each airbag in the pressure airbag assembly and employing corresponding algorithms to evaluate the overall pressure level during the massage process, the pressure can be adjusted according to preset pressure thresholds and massage strategies. Furthermore, setting a pressure safety threshold further prevents potential safety issues during the massage process. Attached Figure Description

[0034] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0035] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0036] Figure 2 This is a top view of the limiting bracket and rotating component of the massager of the present invention.

[0037] Figure 3 This is a schematic diagram illustrating the effect of the massage mode of the massager of the present invention.

[0038] Figure 4 This is a schematic diagram illustrating the effect of the twisting massage mode of the massager of the present invention.

[0039] Explanation of reference numerals in the attached drawings: 1-Limit bracket, 11-First mounting hole, 12-Slide groove, 13-Slot, 2-Outer shell, 21-Second mounting hole, 3-Rotating assembly, 31-Drive airbag fixing plate, 32-Press airbag fixing plate, 33-Third mounting hole, 4-Drive airbag assembly, 41-First drive airbag assembly, 42-Second drive airbag assembly, 5-Press airbag assembly, 6-Pressure sensor. Detailed Implementation

[0040] The present invention will now be described in detail, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] The following is for reference. Figures 1 to 4 A massager according to an embodiment of the present invention is described.

[0042] like Figures 1 to 4 As shown, an embodiment of the present invention provides a pressure-controllable multi-mode wearable flexible massager. The technical solution of the embodiment of the present invention is as follows:

[0043] A pressure-controllable, multi-mode wearable flexible massager is characterized by comprising a shell 2, inside which are two identical limiting brackets 1. Rotating components 3 are respectively provided at the front and rear of each limiting bracket. Each rotating component 3 includes a drive airbag fixing plate 31 and a pressing airbag fixing plate 32. A drive airbag assembly 4 is arranged between the drive airbag fixing plate 31 and the limiting brackets 1. A pressing airbag assembly 5 is fixed inside the pressing airbag fixing plate. Pressure sensors 6 are arranged on the surface of the pressing airbag assembly. The massager also includes a control device located in the middle region of the limiting brackets, including a controller, an air pump, and a power module. The controller controls the inflation and deflation of the airbag assembly to achieve two massage modes: pressing and twisting. The pressing pressure can be monitored and adjusted during operation.

[0044] Preferably, the outer contour of the outer shell 2 is cylindrical or frustum-shaped to facilitate fitting with parts such as the human arm. The thickness of the outer shell is no more than 3mm to ensure the lightweight nature of the overall structure. The outer shell 2 is composed of two identical and separate semi-cylindrical parts. Each part of the outer shell also includes a first mounting hole 21 at its edge for assembly between the two parts of the outer shell. Specifically, horn buckles can be used for auxiliary assembly.

[0045] Preferably, the outer surface of the housing 2 is provided with buttons and a display screen for interaction with the controller and the user, providing the user with an interface to turn the massager on and off and input massage mode commands, and transmitting relevant commands to the controller.

[0046] Preferably, the front and rear parts of the limiting bracket 1 are completely symmetrical, and a slot 13 is provided at the middle connection to meet the wiring requirements of the system. The limiting bracket 1 also includes a second mounting hole 11 and a sliding groove 12. The second mounting hole 11 is aligned with the first mounting hole 21 to connect with external fasteners such as horn buckles, thereby fixing the two parts of the limiting bracket together. The sliding groove 12 provides rotation space and limiting for the rotating component.

[0047] Preferably, the rotating assembly 3 further includes a third mounting hole 33, which connects and fixes the driving airbag fixing plate 31 and the pressing airbag fixing plate 32 to the slide groove 12.

[0048] Preferably, the driving airbag group 4 includes a first driving airbag group 41 and a second driving airbag group 42, which are respectively controlled for inflation and deflation during operation. The first driving airbag group 41 and the second driving airbag group 42 are respectively arranged on both sides of each driving airbag fixing plate. For the front and rear parts of the same limiting bracket, the driving airbag group 4 adopts an opposite arrangement; for the upper and lower limiting brackets, the driving airbag group 4 adopts a centrally symmetrical arrangement. Therefore, in this embodiment, there are a total of 8 driving airbag groups, with 4 airbags in each group inflating and deflating together, and the two groups of airbags respectively achieve two opposite rotation directions.

[0049] Preferably, the airbags in the driving airbag assembly 4 and the pressing airbag assembly 5 are made of composite materials. One side is an elastic thermoplastic material, such as TPU (thermoplastic polyurethane), and the other side is a low-elastic fabric material, such as nylon fabric. The two TPU sides of the composite materials are bonded together and hot-pressed to produce the airbag. The airbag with a low-elastic outer layer has a larger output force with relatively smaller deformation, which helps to reduce the air pump pressure requirement. At the same time, the larger output force is also beneficial to drive the rotating component to rotate.

[0050] Preferably, the individual airbags of the driving airbag assembly 4 are connected together through connecting holes. This can be achieved by stacking multiple perforated airbags together and performing localized heat pressing. This interconnected design prevents the driving airbag assembly from detaching after inflation, while also reducing the required number of airbag inlet and outlet tubes and simplifying the airway system.

[0051] Preferably, the number of individual airbags in the driving airbag group 4 should not be too large or too small, preferably 6-10. In this embodiment, 6 airbags are selected.

[0052] Preferably, the airbag assembly 5 is evenly arranged in a circular array on the inner surface of the upper and lower airbag fixing plates; a pressure sensor 6 is arranged at the center of the inner surface of the airbag assembly 5.

[0053] Preferably, the size and number of the pressure airbag group 6 should not be too large or too small, and taking into account both the number and size can achieve a larger massage area.

[0054] Preferably, the massager can adopt a pressing massage mode when working, including the following steps:

[0055] S1. The user presses the power button and selects the pressing mode through the interactive display screen, and the massager enters the pressing massage working mode. The controller begins to receive the pressure signals transmitted back by the pressure sensor sequence PS1-PSn, selects a sliding average window according to the sensor sampling rate, calculates the pressure value of a single sensor within a certain period of time, and then averages the values ​​of all sensors to obtain the pressing pressure Pt at that moment;

[0056] S2. The user selects three levels of pressure intensity (low, medium, and high) on the display screen. After receiving the instruction, the controller outputs the corresponding three target massage pressure levels P11, P12, and P13.

[0057] S3. The controller uses a PID algorithm to control the airbag group 5 to inflate together until the pressing pressure Pt stabilizes within 10% of the corresponding pressure threshold P1i and is maintained for 0.5 seconds.

[0058] S4. After confirming that the pressing pressure is stable, the controller continues to maintain the inflation pressure for time t11 to perform continuous pressing;

[0059] S5, The controller controls the airbag assembly 5 to fully deflate within time t12;

[0060] S6. Return to S3 and continue the pressing and massaging cycle;

[0061] S7. Users can choose to turn off the press mode or switch to other modes. At this time, the controller controls the press airbag assembly to fully deflate and waits for the user's next instruction.

[0062] Preferably, the massager can adopt a twisting massage working mode when it is working, including the following steps:

[0063] S1. The user presses the power button and selects the twist mode through the interactive display screen, and the massager enters the twist massage working mode. The controller begins to receive the pressure signals transmitted back by the pressure sensor sequence PS1-PSn, selects a sliding average window according to the sensor sampling rate, calculates the pressure value of a single sensor within a certain period of time, and then averages the pressure values ​​of all sensors to obtain the pressing pressure Pt at that moment; at the same time, the controller controls the first and second drive airbag groups to inflate to the preset air pressure AP0 to ensure that the drive airbag fixing plate is in the intermediate balance position;

[0064] S2. The user selects the three levels of twisting massage intensity (low, medium, and high) through the display screen. After receiving the instruction, the controller outputs the preset pressing pressure P20 and outputs the air pressure thresholds AP1, AP2, and AP3 of the drive airbag group according to the established air pressure-rotation angle relationship.

[0065] S3. The controller uses a PID algorithm to control the airbag group 5 to inflate together until the pressing pressure Pt stabilizes within 10% of the preset pressure P20 and is maintained for 0.2 seconds. The time parameter can then be set by the controller.

[0066] S4. The controller controls the first driver airbag group 41 to inflate to the corresponding air pressure threshold APi within time t21, and at the same time controls the second driver airbag group to deflate to the preset low air pressure APL within time t21. Then, the controller controls the first driver airbag group 41 and the second driver airbag group 42 to simultaneously restore to the preset air pressure P0 within time t22.

[0067] S5. The controller controls the second driver airbag group 42 to inflate to the corresponding air pressure threshold APi within time t21, and at the same time controls the first driver airbag group 41 to deflate to the preset low air pressure APL within time t21. Then, the controller controls the second driver airbag group 42 and the first driver airbag group 41 to simultaneously restore to the preset air pressure P0 within time t22.

[0068] S6. The controller controls the airbag assembly 5 to fully deflate within time t23.

[0069] S7. Return to S3 and continue the twisting massage cycle;

[0070] S8. Users can choose to turn off the twist mode or switch to other modes. At this time, the controller controls the press airbag assembly to fully deflate and waits for the user's next instruction.

[0071] Specifically, the massager is equipped with a safety check mode. When the pressure value returned by a single pressure sensor exceeds the danger threshold Ph, the controller controls all airbags to deflate and return to the initial state.

[0072] The foregoing description enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the parameters and thresholds involved in the present invention can be determined by limited experimentation with the relevant population; that is, the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0073] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "joined" should be understood in a literal sense, for example, they can be fixed connections, detachable connections, or integral machined connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

Claims

1. A pressure-controllable, multi-mode wearable flexible massager, characterized in that, The system includes an outer shell (2), the outer contour of which is cylindrical or frustum-shaped and the thickness is no more than 3mm. The outer shell (2) is composed of two identical and separate semi-cylindrical parts. Each part of the outer shell also includes a first mounting hole (21) at its edge. The inner part of the outer shell is provided with two identical upper and lower limiting brackets (1). The front and rear structures of the limiting brackets (1) are completely symmetrical, and a slot (13) is provided at the middle connection. The front and rear of the limiting brackets are each provided with a rotating component (3). The limiting brackets (1) also include a sliding groove (12), which provides rotation space and limiting for the rotating component. The rotating component (3) includes a driving airbag fixing plate (31) and a pressing airbag fixing plate (32). A driving airbag assembly (4) is arranged between the driving airbag fixing plate (31) and the limiting brackets (1). The driving airbag assembly includes The first driving airbag group (41) and the second driving airbag group (42) are inflated and deflated respectively during operation. The first driving airbag group (41) and the second driving airbag group (42) are respectively arranged on both sides of each driving airbag fixing plate. For the front and rear parts of the same limiting bracket, the driving airbag group (4) adopts an opposite arrangement. For the upper and lower limiting brackets, the driving airbag group (4) adopts a centrally symmetrical arrangement. The pressing airbag fixing plate (32) has a pressing airbag group (5) fixed inside. The pressing airbag group has a pressure sensor (6) arranged on its surface. The massager also includes a control device. The control device is arranged in the middle area of ​​the limiting bracket and includes a controller and an air pump. The controller controls the inflation and deflation of the driving airbag group and the pressing airbag group to realize two massage modes: pressing and twisting. The pressing pressure can be monitored and adjusted during operation.

2. The pressure-controllable multi-mode wearable flexible massager according to claim 1, characterized in that: The limiting bracket (1) also includes a second mounting hole (11), which is aligned with the first mounting hole (21).

3. The pressure-controllable multi-mode wearable flexible massager according to claim 1, characterized in that: The pressure airbag assembly (5) is evenly arranged in a circular array on the inner surface of the upper and lower pressure airbag fixing plates; a pressure sensor (6) is arranged at the center of the inner surface of the pressure airbag assembly (5).

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