Massage mechanical arm and massage method

Abstract

The massage mechanical arm comprises a mechanical arm body, an electric sliding block machine base is installed at the bottom end of the mechanical arm body, a reference block is rotatably installed at the tail end of the mechanical arm body, a stroke cylinder is installed on the bottom face of the reference block, a hydraulic cylinder is installed at the top end of the interior of the stroke cylinder, and a first electric rotating disc is arranged below the stroke cylinder; a vibration transmission pipe is installed on the bottom face of the first electric rotating disc, massage rolling balls are installed at the bottom end of the vibration transmission pipe, a massage auxiliary liquid bottle is arranged on the bottom face of the first electric rotating disc, and a distance measuring sensor probe is arranged on the left side of the massage auxiliary liquid bottle. According to the massage mechanical arm and the massage method, the resistance between the massage mechanical arm and the skin is more flexibly and effectively reduced, the massage experience is greatly optimized, the massage rolling ball can be switched into the distance measuring sensor and the massage auxiliary liquid bottle, lubricating or essential oil liquid medicine and the like can be automatically put into the body surface while distance measurement is conducted, the automation degree is improved, and the massage experience is improved. And convenience is provided for operators.

Description

Technical Field

[0001] The present invention relates to the technical field of traditional Chinese medicine massage equipment, in particular to a massage mechanical arm and a massage method. Background Art

[0002] Massage is an important part of the traditional Chinese medicine system. It can promote blood circulation, relieve pain, stimulate the body's nervous system, reduce emotional problems such as anxiety, depression and stress, help improve sleep quality, and stimulate the body's lymphatic system. It promotes lymphatic circulation and detoxification, and helps enhance immunity. Therefore, massage can not only be used as a traditional Chinese medicine treatment method, but also as a daily body care method. However, with the advancement of technology, traditional Chinese medicine massage consumes a lot of physical energy for doctors and is no longer suitable for the growing demand. Therefore, robotic arms have gradually been used in the massage field to replace manpower for massage.

[0003] Most of the existing massage robot arms only have a single massage head and lack additional auxiliary automation functions. In addition, most of the massage heads are fixed. During massage, they are prone to friction with the skin due to the single force angle, causing skin pain. The movement of the massage head is not smooth enough, which leads to a poor physical sensation. Summary of the invention

[0004] The first object of the present invention is to provide a massage mechanical arm in view of the deficiencies in the prior art.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: A massage mechanical arm comprises an electric slider base and a mechanical arm fixedly mounted on the electric slider base; a reference block is rotatably mounted on the end of the mechanical arm, a travel cylinder is fixedly mounted on the bottom surface of the reference block, a first electric turntable is fixedly arranged below the travel cylinder, a vibration transmission tube is fixedly mounted on the left end of the bottom surface of the first electric turntable, a massage ball is movably mounted on the bottom end of the vibration transmission tube, a massage auxiliary liquid bottle is fixedly mounted on the right end of the bottom surface of the first electric turntable, and a distance measuring sensor probe is arranged on the left side of the massage auxiliary liquid bottle.

[0006] As a preferred technical solution of the present invention, a telescopic bin is provided at the bottom end of the stroke cylinder, the inner diameter of the telescopic bin is larger than the inner diameter of the top end of the stroke cylinder, a hydraulic telescopic rod is telescopically arranged at the center of the bottom surface of the hydraulic cylinder, a hydraulic block is fixed to the hydraulic telescopic rod by screws, the outer diameter of the hydraulic block is equal to the inner diameter of the telescopic bin, and the height is smaller than the depth of the telescopic bin.

[0007] As a preferred technical solution of the present invention, the left end of the top surface of the first electric turntable is fixedly connected to the bottom surface of the hydraulic block by screws, a pressure sensor is arranged between the hydraulic block and the first electric turntable, an equipment plate is rotatably installed on the bottom surface of the first electric turntable through a bearing, a transmission box is fixedly welded to the center of the top surface of the first electric turntable, a first motor box is fixedly welded to the right side of the transmission box, the bottom of the first motor box is fixedly welded to the top surface of the first electric turntable, a first motor is arranged inside the first motor box, a first bevel gear is rotatably installed on the right end inside the transmission box, a second bevel gear is meshed at the bottom of the left side of the first bevel gear, the right end of the first bevel gear is coaxially fixedly connected to the rotating shaft of the first motor, the top of the rotating shaft of the second bevel gear is rotatably connected to the center of the top surface of the inner wall of the transmission box, and the bottom of the rotating shaft of the second bevel gear passes through the center channel of the bearing and is fixedly connected to the center of the top surface of the equipment plate by screws.

[0008] As a preferred technical solution of the present invention, a second motor box is fixedly installed on the left end of the bottom surface of the equipment plate by screws, a second motor is fixedly installed on the right end inside the second motor box by screws, the rotating shaft of the second motor is coaxially fixedly connected with a third bevel gear, a fourth bevel gear is meshedly provided at the bottom left side of the third bevel gear, the top and bottom of the rotating shaft of the fourth bevel gear are respectively rotatably connected to the center of the top and bottom surfaces of the inner wall of the second motor box, the bottom surface outside the second motor box is rotatably connected to the second electric turntable through a bearing, and the bottom of the rotating shaft of the fourth bevel gear passes through the second motor box and the bearing center channel and is fixedly connected to the top surface center of the second electric turntable by screws.

[0009] As a preferred technical solution of the present invention, the bottom surface of the second electric turntable is fixedly connected to the vibration transmission tube by bolts, a third motor is fixedly installed on the left end of the top end of the vibration transmission tube by bolts, a rotating wheel disc is rotatably installed on the right end of the rotating shaft of the third motor, a connecting rod is hinged on the right edge of the rotating wheel disc, a vibration block is slidably and telescopically arranged at the bottom end of the vibration transmission tube, and the bottom of the connecting rod is hinged to the center of the top surface of the vibration block.

[0010] As a preferred technical solution of the present invention, a limiting ring plate is fixedly welded to the middle of the inner wall of the vibration transmission tube, and when the top end of the connecting rod is located at the top end of the rotating wheel, the top edge of the vibration block contacts the bottom surface of the limiting ring plate, and a massage ball seat is fixedly welded to the bottom surface of the vibration block, and the front and back centers of the massage roller are rotatably connected to the front and back centers of the inner wall of the massage ball seat respectively.

[0011] As a preferred technical solution of the present invention, a bracket is fixedly installed on the right end of the bottom surface of the equipment plate by screws, the massage auxiliary liquid bottle is placed inside the bracket, a adding port is connected to the right side of the top of the massage auxiliary liquid bottle, and an electric control valve is fixedly connected to the bottom end of the massage auxiliary liquid bottle. The ranging sensor probe is fixedly connected to the left side of the bracket by screws, and the horizontal position of the ranging sensor probe and the horizontal position of the massage ball are symmetrical with respect to the center of the equipment plate.

[0012] As a preferred technical solution of the present invention, the massage robotic arm includes a control system, which is used to control various components including the first motor, the second motor, the third motor, the hydraulic cylinder, the electric control valve, the ranging sensor probe, the robotic arm, etc.

[0013] A second object of the present invention is to provide a massage method comprising the following steps: S1. Control the first motor to drive the first electric turntable to rotate through the first bevel gear and the second bevel gear, so that the distance sensor probe and the hydraulic block are in a vertical line, start the distance sensor probe to obtain the vertical distance between the current height and the skin and set it as △x. After the system obtains the data, it automatically subtracts the height difference x between the bottom of the distance sensor probe and the bottom of the massage ball to obtain the reference distance h between the bottom of the massage ball and the skin; S2. Then, according to the specific situation, add the corresponding lubricating oil and other auxiliary liquids in the massage auxiliary liquid bottle, and release them to the skin surface through the electronically controlled valve, and then rotate the device board through the first motor control device to return the vibration transmission tube to the position in a vertical line with the hydraulic block; S3. Pressing can be achieved by controlling the hydraulic block to descend a distance △h greater than h, and by setting the force value, that is, controlling the difference between △h and h, the pressure intensity can be regulated before the first pressing. After pressing the skin, the force is adjusted according to the body sensation and the data transmitted by the pressure sensor. After starting to press, the massage ball can be moved by the mechanical arm and the electric slider base, and the rolling pressing route of the massage ball can be set by setting the moving stroke data of the mechanical arm and the electric slider base; S4. The second electric turntable rotates according to the set rolling and pressing route, so that the massage ball moves and presses in all directions. The pressure sensor uploads the pressure data in real time. The hydraulic block determines the movement of the massage ball on the body surface of different heights according to the pressure data. According to the changes in the pressure data, the hydraulic block is adjusted to carry the massage ball up or down, thereby achieving the conservation of pressure data, that is, ensuring that the somatosensory force of the massage ball on the body surface remains constant during the movement and pressing of the body surface.

[0014] The beneficial effects of the present invention are: This massage robot arm and massage method are improved on the basis of the existing fixed massage head to become a universally movable massage ball, which is more flexible, and the rotating ball can effectively reduce the resistance between the ball and the skin, improve the smoothness of movement and pressing, reduce the pain caused by friction of the skin during massage, and greatly optimize the massage experience. The equipment is equipped with an electric turntable that can switch the equipment, which can switch the massage ball to a distance measuring sensor and a massage auxiliary liquid bottle. It can measure the distance and automatically put lubricant or essential oil liquid for massage assistance to the body surface, which greatly improves the degree of automation and provides convenience for operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a structural schematic diagram of a massage mechanical arm of the present invention; Figure 2 It is a schematic diagram of the cross-sectional structure of a travel cylinder of a massage mechanical arm of the present invention; Figure 3 It is a schematic diagram of the cross-sectional structure of a motor box of a massage mechanical arm of the present invention; Figure 4 It is a schematic diagram of the cross-sectional structure of a vibration transmission tube of a massage mechanical arm of the present invention; Figure 5 It is a schematic diagram of the enlarged structure of a massage auxiliary liquid bottle of a massage mechanical arm of the present invention; In the figure: 1. electric slider base; 2. mechanical arm; 3. reference block; 4. stroke cylinder; 5. telescopic bin; 6. hydraulic cylinder; 7. hydraulic telescopic rod; 8. hydraulic block; 9. first electric turntable; 10. equipment plate; 11. transmission box; 12. first motor box; 13. first motor; 14. first bevel gear; 15. second bevel gear; 16. second motor box; 17. second motor; 18. third bevel gear; 19. fourth bevel gear; 20. second electric turntable; 21. vibration transmission pipe; 22. third motor; 23. rotating wheel; 24. connecting rod; 25. vibration block; 26. limit ring plate; 27. massage ball seat; 28. massage roller ball; 29. ​​bracket; 30. massage auxiliary liquid bottle; 31. addition port; 32. electric control valve; 33. distance sensor probe. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0018] Example: Figure 1-5As shown, a massage mechanical arm comprises a mechanical arm 2, the bottom end of the mechanical arm 2 is fixedly installed with an electric slider base 1 by bolts, the electric slider base 1 is slidably installed on the surface of the electric guide rail, the end of the mechanical arm 2 is rotatably installed with a reference block 3, the bottom surface of the reference block 3 is fixedly installed with a stroke cylinder 4 by bolts, the inner top end of the stroke cylinder 4 is fixedly installed with a hydraulic cylinder 6 by bolts, a first electric turntable 9 is fixedly arranged below the stroke cylinder 4, a vibration transmission tube 21 is fixedly installed at the left end of the bottom surface of the first electric turntable 9, a massage roller 28 is movably installed at the bottom end of the vibration transmission tube 21, a massage auxiliary liquid bottle 30 is fixedly arranged at the right end of the bottom surface of the first electric turntable 9, and a distance measuring sensor probe 33 is arranged on the left side of the massage auxiliary liquid bottle 30.

[0019] A telescopic bin 5 is provided at the bottom end of the stroke cylinder 4, and the inner diameter of the telescopic bin 5 is larger than the inner diameter of the top end of the stroke cylinder 4. A hydraulic telescopic rod 7 is telescopically provided at the bottom center of the hydraulic cylinder 6. A hydraulic block 8 is fixed to the hydraulic telescopic rod 7 by screws. The outer diameter of the hydraulic block 8 is equal to the inner diameter of the telescopic bin 5, and the height is less than the depth of the telescopic bin 5.

[0020] The left end of the top surface of the first electric turntable 9 is fixedly connected to the bottom surface of the hydraulic block 8 by screws, a pressure sensor is arranged between the hydraulic block 8 and the first electric turntable 9, an equipment plate 10 is rotatably installed on the bottom surface of the first electric turntable 9 through a bearing, a transmission box 11 is fixedly welded to the center of the top surface of the first electric turntable 9, a first motor box 12 is fixedly welded to the right side of the transmission box 11, the bottom of the first motor box 12 is fixedly welded to the top surface of the first electric turntable 9, a first motor 13 is arranged inside the first motor box 12, a first bevel gear 14 is rotatably installed on the right end inside the transmission box 11, a second bevel gear 15 is meshed at the bottom left side of the first bevel gear 14, the right end of the first bevel gear 14 is coaxially fixedly connected to the rotating shaft of the first motor 13, the top of the rotating shaft of the second bevel gear 15 is rotatably connected to the top center of the inner wall of the transmission box 11, and the bottom of the rotating shaft of the second bevel gear 15 passes through the central channel of the bearing and is fixedly connected to the center of the top surface of the equipment plate 10 by screws.

[0021] A second motor box 16 is fixedly installed on the left end of the bottom surface of the equipment plate 10 by screws, and a second motor 17 is fixedly installed on the right end inside the second motor box 16 by screws. The rotating shaft of the second motor 17 is coaxially fixedly connected with a third bevel gear 18, and a fourth bevel gear 19 is meshed at the bottom left side of the third bevel gear 18. The top and bottom of the rotating shaft of the fourth bevel gear 19 are respectively rotatably connected to the center of the top and bottom surfaces of the inner wall of the second motor box 16, and the bottom surface of the outside of the second motor box 16 is rotatably connected to the second electric turntable 20 through a bearing, and the bottom of the rotating shaft of the fourth bevel gear 19 passes through the second motor box 16 and the bearing center channel and is fixedly connected to the top center of the second electric turntable 20 by screws.

[0022] The bottom surface of the second electric turntable 20 is fixedly connected to the vibration transmission tube 21 by bolts, and a third motor 22 is fixedly installed on the left end of the top inside the vibration transmission tube 21 by bolts, and a rotating wheel plate 23 is rotatably installed on the right end of the rotating shaft of the third motor 22, and a connecting rod 24 is hinged on the right edge of the rotating wheel plate 23. A vibration block 25 is slidably and telescopically arranged at the bottom end of the vibration transmission tube 21, and the bottom of the connecting rod 24 is hinged to the center of the top surface of the vibration block 25.

[0023] A limiting ring plate 26 is fixedly welded to the middle of the inner wall of the vibration transmission tube 21. When the top end of the connecting rod 24 is located at the top end of the rotating wheel 23, the top edge of the vibration block 25 contacts the bottom surface of the limiting ring plate 26. A massage ball seat 27 is fixedly welded to the bottom surface of the vibration block 25. The front and back centers of the massage roller 28 are rotatably connected to the front and back centers of the inner wall of the massage ball seat 27 respectively.

[0024] A bracket 29 is fixedly installed on the right end of the bottom surface of the equipment plate 10 by screws, and a massage auxiliary liquid bottle 30 is placed inside the bracket 29. A filling port 31 is connected to the right side of the top of the massage auxiliary liquid bottle 30, and an electric control valve 32 is fixedly connected to the bottom end of the massage auxiliary liquid bottle 30. A distance measuring sensor probe 33 is fixedly connected to the left side of the bracket 29 by screws. The horizontal position of the distance measuring sensor probe 33 and the horizontal position of the massage ball 28 are symmetrical with respect to the center of the equipment plate 10.

[0025] The massage robot arm includes a control system, which is used to control the mechanical control components required for the entire massage robot arm, including a first motor, a second motor, a third motor, a hydraulic cylinder, an electric control valve, a distance sensor probe, a robot arm, etc.

[0026] The present invention also provides a massage method, comprising the following steps: S1. Control the first motor 13 to drive the equipment plate 10 of the first electric turntable 9 to rotate through the first bevel gear 14 and the second bevel gear 15, so that the distance sensor probe 33 and the hydraulic block 8 are in a vertical straight line, start the distance sensor probe 33 to obtain the vertical distance between the current height and the skin and set it as △x. After the system obtains the data, it automatically subtracts the height difference x between the bottom end of the distance sensor probe 33 and the bottom of the massage ball 28 to obtain the reference distance h between the bottom of the massage ball 28 and the skin; S2. Then, according to the specific situation, add the corresponding lubricating oil or other auxiliary liquid into the massage auxiliary liquid bottle 30, and release it to the skin surface through the electric control valve 32, and then control the rotation of the device plate 10 through the first motor 13, so that the vibration transmission tube 21 returns to the position in a vertical line with the hydraulic block 8; S3. Pressing can be achieved by controlling the hydraulic block 8 to descend a distance △h greater than h, and by setting the force value, that is, controlling the difference between △h and h, the pressure intensity can be regulated before the first pressing. After pressing the skin, the force is adjusted according to the body sensation and the data transmitted by the pressure sensor. After starting to press, the massage ball 28 can be moved by the mechanical arm 2 and the electric slider base 1, and the rolling pressing route of the massage ball 28 can be set by setting the moving stroke data of the mechanical arm 2 and the electric slider base 1; S4. The second electric turntable 20 rotates according to the set rolling and pressing route, so that the massage ball 28 performs universal movement and pressing. The pressure sensor will upload the pressure data in real time. The hydraulic block 8 determines the movement of the massage ball 28 on the body surface of different heights according to the pressure data, and adjusts the hydraulic block 8 to carry the massage ball 28 up or down according to the change in the size of the pressure data, so as to realize the conservation of pressure data, that is, to ensure that the somatosensory force of the massage ball 28 on the body surface remains constant during the movement and pressing process of the body surface.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A massage mechanical arm, comprising an electric slider base (1) and a mechanical arm (2) fixedly mounted on the electric slider base (1); characterized in that: A reference block (3) is rotatably mounted on the end of the mechanical arm (2); a travel cylinder (4) is fixedly mounted on the bottom surface of the reference block (3); a first electric turntable (9) is fixedly mounted below the travel cylinder (4); a hydraulic system is provided at the top end of the interior of the travel cylinder (4); a vibration transmission tube (21) is fixedly mounted on the left end of the bottom surface of the first electric turntable (9); a massage roller (28) is movably mounted on the bottom end of the vibration transmission tube (21); a massage auxiliary liquid bottle (30) is fixedly mounted on the right end of the bottom surface of the first electric turntable (9); and a distance sensor probe (33) is provided on the left side of the massage auxiliary liquid bottle (30).

2. A massage mechanical arm according to claim 1, characterized in that: A telescopic bin (5) is provided at the bottom end of the stroke cylinder (4), and the inner diameter of the telescopic bin (5) is larger than the inner diameter of the top end of the stroke cylinder (4); the hydraulic system comprises a hydraulic cylinder (6), a hydraulic telescopic rod (7) and a hydraulic block (8); the hydraulic cylinder (6) is arranged at the top end of the stroke cylinder (4); a hydraulic telescopic rod (7) is telescopically arranged at the center of the bottom surface of the hydraulic cylinder (6); a hydraulic block (8) is fixedly mounted at one end of the hydraulic telescopic rod (7); the outer diameter of the hydraulic block (8) is equal to the inner diameter of the telescopic bin (5), and the height of the hydraulic block (8) is smaller than the depth of the telescopic bin (5).

3. A massage mechanical arm according to claim 2, characterized in that: The left end of the top surface of the first electric turntable (9) is fixedly connected to the bottom surface of the hydraulic block (8), a pressure sensor is provided between the hydraulic block (8) and the first electric turntable (9), an equipment plate (10) is rotatably mounted on the bottom surface of the first electric turntable (9) via a bearing, a transmission box (11) is fixedly welded to the center of the top surface of the first electric turntable (9), a first motor box (12) is fixedly welded to the right side of the transmission box (11), the bottom of the first motor box (12) is fixedly connected to the top surface of the first electric turntable (9), and the first motor box (12) is fixedly welded to the bottom of the first motor box (12). 2) is provided with a first motor (13), a first bevel gear (14) is rotatably mounted on the right end of the transmission box (11), a second bevel gear (15) is meshed with the left bottom of the first bevel gear (14), the right end of the first bevel gear (14) is coaxially fixedly connected to the rotating shaft of the first motor (13), the top of the rotating shaft of the second bevel gear (15) is rotatably connected to the center of the top surface of the inner wall of the transmission box (11), and the bottom of the rotating shaft of the second bevel gear (15) passes through the central channel of the bearing and is fixedly connected to the center of the top surface of the equipment plate (10).

4. A massage mechanical arm according to claim 3, characterized in that: A second motor box (16) is fixedly mounted on the left end of the bottom surface of the equipment plate (10), a second motor (17) is fixedly mounted on the right end inside the second motor box (16), a third bevel gear (18) is coaxially fixedly connected to the rotating shaft of the second motor (17), a fourth bevel gear (19) is meshedly arranged at the left bottom of the third bevel gear (18), the top and bottom of the rotating shaft of the fourth bevel gear (19) are respectively rotatably connected to the center of the top and bottom surfaces of the inner wall of the second motor box (16), the bottom surface of the outside of the second motor box (16) is rotatably connected to the second electric turntable (20) via a bearing, and the bottom of the rotating shaft of the fourth bevel gear (19) passes through the second motor box (16) and the bearing center channel and is fixedly connected to the center of the top surface of the second electric turntable (20).

5. A massage mechanical arm according to claim 4, characterized in that: The bottom surface of the second electric turntable (20) is fixedly connected to the vibration transmission tube (21); a third motor (22) is fixedly mounted on the left end of the top of the vibration transmission tube (21); a rotating wheel disc (23) is rotatably mounted on the right end of the rotating shaft of the third motor (22); a connecting rod (24) is hingedly connected to the right edge of the rotating wheel disc (23); a vibration block (25) is slidably and telescopically arranged at the bottom end of the vibration transmission tube (21); and the bottom of the connecting rod (24) is hingedly connected to the center of the top surface of the vibration block (25).

6. A massage mechanical arm according to claim 5, characterized in that: A limiting ring plate (26) is fixedly welded to the middle of the inner wall of the vibration transmission tube (21); when the top end of the connecting rod (24) is located at the top end of the rotating wheel (23), the top edge of the vibration block (25) contacts the bottom surface of the limiting ring plate (26); a massage ball seat (27) is fixedly welded to the bottom surface of the vibration block (25); and the front and back centers of the massage roller (28) are rotatably connected to the front and back centers of the inner wall of the massage ball seat (27).

7. The massage mechanical arm according to claim 3, characterized in that: A bracket (29) is fixedly mounted on the right end of the bottom surface of the equipment plate (10), the massage auxiliary liquid bottle (30) is placed inside the bracket (29), a top right side of the massage auxiliary liquid bottle (30) is connected to a filling port (31), and a bottom end of the massage auxiliary liquid bottle (30) is fixedly connected to an electric control valve (32), the distance sensor probe (33) is fixedly connected to the left side of the bracket (29), and the horizontal position of the distance sensor probe (33) and the horizontal position of the massage roller (28) are symmetrical with respect to the center of the equipment plate (10).

8. The massage robot arm according to claim 1, characterized in that: The massage mechanical arm also includes a control system.

9. A massage method using a massage mechanical arm according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the control system controls the first motor (13) to drive the device plate (10) of the first electric turntable (9) to rotate through the first bevel gear (14) and the second bevel gear (15), so that the distance sensor probe (33) and the hydraulic block (8) are on a vertical line, the distance sensor probe (33) is started to obtain the vertical distance between the current height and the skin and set it as △x, and the control system obtains △x and subtracts the height difference x between the bottom end of the distance sensor probe (33) and the bottom end of the massage roller (28) to obtain the reference distance h between the bottom end of the massage roller (28) and the skin; S2. Add auxiliary liquid to the massage auxiliary liquid bottle (30) according to massage needs, and release it to the skin surface through the electric control valve (32), and then control the device plate (10) to rotate through the first motor (13) to return the vibration transmission tube (21) to a position in a vertical line with the hydraulic block (8); the auxiliary liquid includes lubricating essential oil; S3. Control the hydraulic block (8) to descend a distance △h greater than h to achieve pressing, control the difference between △h and h, and adjust the pressing force before the first pressing. After pressing the skin, adjust the force according to the body sensation and the data transmitted by the pressure sensor. After starting to press, the massage ball (28) can be moved by the mechanical arm (2) and the electric slider base (1). The rolling pressing route of the massage ball (28) is set by setting the moving stroke data of the mechanical arm (2) and the electric slider base (1); S4. The second electric turntable (20) rotates in coordination with the set rolling and pressing route, so that the massage ball (28) moves and presses in all directions. The pressure sensor uploads pressure data in real time. The hydraulic block (8) determines the movement of the massage ball (28) on the body surface of different heights based on the pressure data, and adjusts the hydraulic block (8) to carry the massage ball (28) up or down according to the change in the size of the pressure data, thereby achieving the conservation of pressure data, that is, ensuring that the somatosensory force of the massage ball (28) on the body surface remains constant during the movement and pressing process of the body surface.

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