Full-automatic massage instrument and massage control method

Abstract

The invention belongs to the technical field of massage, and provides a full-automatic massager and a massage control method.The full-automatic massager comprises a shell assembly, the top of the shell assembly is attached to the waist of the human body, and a plurality of working through holes are formed in the top of the shell assembly; the motor executing mechanisms are arranged in the shell assembly and comprise up-down vibration assemblies and driving assemblies, and the driving assemblies are in transmission connection with the up-down vibration assemblies; the plurality of massage head mechanisms are detachably connected to the plurality of vertical vibration assemblies respectively, and the plurality of massage head mechanisms penetrate through the plurality of working through holes respectively to hammer and beat the waist of the human body; the control unit comprises a controller and a force measuring sensor arranged between the massage head mechanism and the up-down vibration assembly, and the controller is electrically connected with the force measuring sensor and the driving assembly. By hammering and patting muscles of the lumbar vertebra part of a human body, the muscles of the lumbar vertebra part are quickly loosened and relieved, and meanwhile, the massage strength, frequency and the like can be automatically adjusted according to the recovery degree of the massage process.

Description

Technical Field

[0001] The invention belongs to the technical field of massage, and in particular relates to a full-automatic massager and a massage control method. Background Art

[0002] In daily life, the skeletal muscles of the lumbar spine of adults are very likely to be strained, thus affecting their ability to move. As a common electronic device for relieving muscle fatigue in people's lives, massagers have gradually entered thousands of households in recent years.

[0003] According to kinematic research, methods such as "hammering" or "patting" have a very obvious effect on relieving the looseness of lumbar muscles. However, there is a lack of similar massage instruments on the market. The basic principle of existing products is to use rotating motors to simulate the "kneading" and "pinching" of human muscles. It is not very effective in relieving common sports injuries such as lumbar muscle strain and lumbar degeneration. At the same time, as the human body is massaged, the muscles of the massaged part will recover from stiffness to normal elasticity as the massage progresses, while existing massagers can only massage at a fixed frequency or intensity, and cannot automatically adjust the massage intensity and frequency and other working parameters according to the degree of recovery of human muscle elasticity. The massage process has a low degree of intelligence. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic massager and a massage control method to solve the above-mentioned problems, so as to quickly loosen and relieve the muscles of the lumbar vertebrae by hammering, patting, etc., and at the same time automatically adjust the massage intensity, frequency, etc. according to the degree of recovery during the massage process.

[0005] To achieve the above object, the present invention provides the following solution: a fully automatic massager, comprising:

[0006] A shell assembly, the top of which fits the waist of a human body, and the top of which is provided with a plurality of working through holes;

[0007] A plurality of motor actuators, wherein the plurality of motor actuators are arranged in the housing assembly, the motor actuators include an upper and lower vibration assembly and a driving assembly, and the driving assembly is in transmission connection with the upper and lower vibration assembly;

[0008] A plurality of massage head mechanisms, each of which is detachably connected to the plurality of upper and lower vibration components, and each of which penetrates through the plurality of working through holes to hammer the waist of the human body;

[0009] The control unit includes a controller disposed in the housing assembly and a force sensor disposed between the massage head mechanism and the upper and lower vibration components. The controller is electrically connected to the force sensor and the drive component.

[0010] Preferably, the housing assembly includes a base, the top of the base is fixedly connected with an upper cover, and a plurality of the working through holes are opened on the upper cover.

[0011] Preferably, the up and down vibration assembly includes a slide rail member fixedly connected to the base, a connecting rod is vertically slidably connected to the slide rail member, the massage head mechanism is detachably connected to the top of the connecting rod, and the force sensor is arranged between the massage head mechanism and the connecting rod.

[0012] Preferably, the driving assembly includes a motor fixing support fixedly connected to the base, a motor is fixedly connected to the motor fixing support, a turntable is fixedly sleeved on the output shaft of the motor, a connecting pin is fixedly connected to the edge of the turntable, one end of an intermediate rod is hinged on the connecting pin, and the other end of the intermediate rod is hinged to the bottom of the connecting rod.

[0013] Preferably, a ball joint mounting hole is provided at the top of the connecting rod, a universal ball is hinged in the ball joint mounting hole, a blind hole is provided inwardly along an axis on the surface of the universal ball, the force sensor is placed in the blind hole, and the massage head mechanism is detachably connected to the universal ball through the blind hole.

[0014] Preferably, the massage head mechanism includes a small diameter massage head module, and the small diameter massage head module includes a first plug, the first plug is adapted to the blind hole, the first plug is fixedly connected to a support rod, and a plurality of small diameter massage heads are fixedly connected to the support rod.

[0015] Preferably, the massage head mechanism comprises a large-diameter massage head, and the large-diameter massage head comprises a second plug, the second plug is adapted to the blind hole, and the large-diameter massage head is fixedly connected to the second plug.

[0016] Preferably, a side of the upper cover away from the base is covered with a soft material.

[0017] A fully automatic massage control method, the control process includes:

[0018] S1. When used for the first time, the controller obtains the massage feedback force measured by each force sensor through calculation, and saves the value of the corresponding muscle area of ​​the user;

[0019] S2, starting the driving assembly through the controller, so that the massage head mechanisms and the force sensors start working, and each force sensor obtains feedback force data and transmits it to the controller;

[0020] S3, the algorithm in the controller reads the data measured by the massager last time, and compares it with the data measured this time. A percentage threshold a is set here. If the ratio drops by more than a, it means that the corresponding muscle has improved, and the process goes to S5; if the ratio drops by less than a, it means that there is no change, and the same intensity of load is continued to be applied for massage, and the process goes to S4;

[0021] S4. Since no improvement is detected, the driving component appropriately increases the load intensity, sets the threshold b, and the controller refreshes the feedback force data after the massage ends;

[0022] S5. After detecting that there is improvement, the drive component appropriately reduces the load intensity and sets the threshold c;

[0023] S6. The feedback force data of this massage is stored in the controller for updating and reserved for next comparison.

[0024] Compared with the prior art, the present invention has the following advantages and technical effects: the main function of the shell assembly is to enable the user to lie flat on the massager in a supine position, so that the massage head mechanism can finally realize the up and down hammering movement; the main function of the working through hole 2A is to ensure that the massage head mechanism can smoothly protrude from the shell assembly, so that the massage head mechanism can hammer the user's lumbar spine; the main function of the force sensor is to indirectly measure the force between the massage head mechanism and the human body muscles by detecting the force between the massage head mechanism and the upper and lower vibration components; the main function of the controller is to adjust the operating parameters of the drive component by collecting and calculating the measurement values ​​of the force sensor.

[0025] On the whole, the present invention allows users to perform massage in a supine position without the need for hand support, providing a good user experience; at the same time, it realizes vertical hammering and patting movements, and the massage technique is more effective in alleviating lumbar muscle injuries and lumbar degenerative changes; by providing a force sensor and a controller, the massage effect can be tracked and evaluated, and it is possible to determine whether a positive effect has been produced in alleviating the user's lumbar muscle problems, with a higher degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 is a schematic diagram of a massage device of the present invention;

[0028] Figure 2 It is an exploded schematic diagram of the massager of the present invention;

[0029] Figure 3 It is an exploded schematic diagram of the motor actuator and the massage head mechanism of the present invention;

[0030] Figure 4 Schematic diagram of a large diameter massage head and a connecting rod of the present invention;

[0031] Figure 5 This is a schematic diagram of Embodiment 3 of the present invention;

[0032] Figure 6 is a schematic diagram of a fourth embodiment of the present invention;

[0033] Figure 7 This is a control principle diagram of Embodiment 2 of the present invention;

[0034] Among them, 1. base; 1A. switch; 1B. adjustment button; 1C. emergency stop button; 2. upper cover; 2A. working through hole; 3. motor actuator; 3A. motor fixed support; 3B. motor; 3C. turntable; 3D. connecting rod pin; 3E. connecting rod; 3F1. small diameter massage head module; 3F2. large diameter massage head module; 3G. universal ball; 3H. force sensor; 3J. ball joint mounting hole; 3K. intermediate rod; 3L. blind hole; 4. control unit; 5. first plug; 6. support rod; 7. small diameter massage head; 8. second plug; 9. large diameter massage head; 10. second motor support; 11. second motor; 12. T-sleeve; 13. reversing connecting rod; 14. second connecting rod; 15. second universal joint; 16. motor stator; 17. motor mover; 18. linear motor assembly. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Embodiment 1:

[0038] Reference Figure 1-Figure 4 The present invention provides a fully automatic massager, comprising:

[0039] The outer shell assembly, the top of which fits the waist of the human body, and the top of which is provided with a plurality of working through holes 2A;

[0040] A plurality of motor actuators 3, wherein the plurality of motor actuators 3 are arranged in the housing assembly, and the motor actuators 3 include an upper and lower vibration assembly and a driving assembly, and the driving assembly is transmission-connected with the upper and lower vibration assembly;

[0041] A plurality of massage head mechanisms, the plurality of massage head mechanisms are detachably connected to a plurality of upper and lower vibration components, and the plurality of massage head mechanisms respectively penetrate a plurality of working through holes 2A to hammer the waist of the human body;

[0042] The control unit 4 includes a controller disposed in the housing assembly and a force sensor 3H disposed between the massage head mechanism and the upper and lower vibration components. The controller is electrically connected to the force sensor 3H and the driving component.

[0043] The main function of the shell assembly is to allow the user to lie flat on the massager in a supine position, so that the massage head mechanism can finally achieve the up and down hammering movement; the main function of the working through hole 2A is to ensure that the massage head mechanism can smoothly protrude from the shell assembly, so that the massage head mechanism can hammer the user's lumbar vertebrae; the main function of the up and down vibration component is to drive the massage head mechanism to vibrate up and down, so as to achieve the effect of hammering the lumbar vertebrae; the main function of the drive component is to drive the up and down vibration component to operate; the main function of the force sensor 3H is to indirectly measure the force between the massage head mechanism and the human body muscle by detecting the force between the massage head mechanism and the up and down vibration component; the main function of the controller is to adjust the operating parameters of the drive component by collecting and calculating the measured value of the force sensor 3H. On the whole, the present invention can enable the user to massage in a supine position without hand support, and the user experience is good; at the same time, the vertical hammering and slapping action is realized, and the massage technique has a stronger effect on relieving lumbar muscle injuries and lumbar degenerative changes; by setting the force sensor and the controller, the massage effect can be tracked and evaluated, and it is judged whether it has a positive effect on relieving the user's lumbar muscle problems, and the degree of intelligence is higher.

[0044] According to a further optimized solution, the housing assembly includes a base 1 , a top cover 2 is fixedly connected to the top of the base 1 , and a plurality of working through holes 2A are provided on the top cover 2 .

[0045] like Figure 1 As shown, the upper cover 2 is set to be concave, which is more in line with the human body structure and improves the comfort of use. Since the upper cover 2 is in direct contact with the human body, in order to facilitate cleaning of the upper cover 2, the upper cover 2 and the base 1 can be detachably connected through a conventional quick-release structure.

[0046] A further optimized solution is that the upper and lower vibration components include a slide rail member (not shown in the figure) fixedly connected to the base 1, a connecting rod 3E is vertically slidably connected to the slide rail member, the massage head mechanism is detachably connected to the top of the connecting rod 3E, and the force sensor 3H is arranged between the massage head mechanism and the connecting rod 3E.

[0047] like Figure 2 and Figure 3 As shown, the slide rail member is a conventional setting, and its main function is to provide track limit for the up and down reciprocating movement of the connecting rod 3E in the vertical direction, and its specific structure will not be described in detail.

[0048] A further optimized solution is that the drive assembly includes a motor fixed support 3A fixedly connected to the base 1, a motor 3B is fixedly connected to the motor fixed support 3A, a turntable 3C is fixedly sleeved on the output shaft of the motor 3B, a connecting pin 3D is fixedly connected to the edge of the turntable 3C, one end of an intermediate rod 3K is hinged on the connecting pin 3D, and the other end of the intermediate rod 3K is hinged to the bottom of the connecting rod 3E.

[0049] like Figure 3 As shown, the turntable 3C, the intermediate rod 3K and the connecting rod 3E constitute a crank connection mechanism. The controller controls the motor 3B to rotate. When the motor 3B rotates, it drives the turntable 3C to rotate synchronously. The turntable 3C drives the connecting rod 3E through the connecting pin 3D and the intermediate rod 3K to realize the up and down reciprocating motion of the connecting rod 3E on the slide rail.

[0050] To further optimize the solution, a ball joint mounting hole 3J is provided at the top of the connecting rod 3E, a universal ball 3G is hinged in the ball joint mounting hole 3J, a blind hole 3L is provided inwardly along an axis on the surface of the universal ball 3G, a force sensor 3H is placed in the blind hole 3L, and the massage head mechanism is detachably connected to the universal ball 3G through the blind hole 3L.

[0051] like Figure 3 and Figure 4 As shown, the massage head mechanism is installed on the connecting rod 3E through the blind hole 3L. Since the universal ball 3G can rotate in the spherical mounting hole 3J, the massage head mechanism can be driven to perform force hammer loading in different directions to meet the body shapes and waist curves of different users.

[0052] According to a further optimization scheme, the massage head mechanism includes a small diameter massage head module 3F1, and the small diameter massage head module 3F1 includes a first plug 5, which is adapted to the blind hole 3L, and a support rod 6 is fixedly connected to the first plug 5, and a plurality of small diameter massage heads 7 are fixedly connected to the support rod 6.

[0053] like Figure 3 As shown, a number of small diameter massage heads 7 can be specifically arranged according to product needs, and usually 2 groups, 4 groups, 6 groups, 8 groups or even more groups can be used. Figure 3 Shown in the figure are 4 sets of small diameter massage heads 7.

[0054] According to a further optimization scheme, the massage head mechanism includes a large-diameter massage head 3F2, and the large-diameter massage head 3F2 includes a second plug 8, the second plug 8 is adapted to the blind hole 3L, and the large-diameter massage head 9 is fixedly connected to the second plug 8.

[0055] As a further optimization scheme, the material of the small-diameter massage head 7 and the large-diameter massage head 9 can be rubber with a Shore hardness of 20 to 100. The actual product can be provided with a variety of massage heads according to the different hardness of the rubber, and the user can install a suitable massage head on the connecting rod 3E according to his own needs.

[0056] According to a further optimized solution, a side of the upper cover 2 away from the base 1 is covered with a soft material.

[0057] According to a further optimization scheme, the outer layer of the upper cover 2 can be covered with cotton or leather material.

[0058] Further optimization scheme, such as Figure 2 As shown, a switch 1A, an adjustment button 1B and an emergency stop button 1C are provided on the side wall of the base 1. The switch 1A, the adjustment button 1B and the emergency stop button 1C are electrically connected to the controller respectively. The user can adjust the running speed of the motor 3B by operating the adjustment button 1B, thereby adjusting the massage intensity, bringing a massage experience of different light and heavy feelings.

[0059] The controller controls the operating parameters of the motor 3B through the force measured by the force sensor 3H. The core logic is: when the waist muscles of the human body are knotted and strained, the muscles will become stiff and lose the elasticity of the skin and muscles in a normal state. At this time, for the massage head module, slapping, hammering and other force-applying actions on the muscles will measure a greater rebound force (that is, the feedback load that the force sensor 3H can sense). After a period of massage and loosening, the problems of muscle knots and stiffness can be gradually alleviated, and the feedback load measured by the force sensor 3H will be reduced accordingly.

[0060] A fully automatic massage control method, based on the above principle, the control process includes:

[0061] S1. When used for the first time, the controller calculates the massage feedback force measured by each force sensor for 3 hours and saves the value of the corresponding muscle area of ​​the user;

[0062] First, several sectors need to be opened in the Flash of the control chip in the controller to store the massage load data of each user. Each force measuring device corresponds to a storage space. In the first few massages, the program calculates the initial massage feedback force of each force measuring device and saves the data of the corresponding muscle area of ​​the user.

[0063] S2, starting the driving assembly through the controller, so that the massage head mechanisms and the force sensors 3H start to work, and each force sensor 3H obtains feedback force data and transmits it to the controller;

[0064] S3, the algorithm in the controller reads the data measured by the massager last time, and compares it with the data measured this time. A percentage threshold a is set here. If the ratio drops by more than a, it means that the corresponding muscle has improved, and the process goes to S5; if the ratio drops by less than a, it means that there is no change, and the same intensity of load is continued to be applied for massage, and the process goes to S4;

[0065] The algorithm in the control chip reads the data measured by the massager last time from the Flash and compares it with the data measured this time. A percentage threshold a is set here. If the ratio drops by more than a, it means that the corresponding muscle has improved and enters S5; if the ratio does not drop by more than a, it means that there is no change and the same intensity load continues to be applied for massage and enters S4.

[0066] S4. Since no improvement is detected, the driving component appropriately increases the load intensity, sets the threshold b, and the controller refreshes the feedback force data after the massage ends;

[0067] S5. After detecting that there is improvement, the drive component appropriately reduces the load intensity and sets the threshold c;

[0068] S6. The feedback force data of this massage is stored in the controller for updating and reserved for next comparison.

[0069] To further optimize the solution, when the control chip in the controller detects that the force measured by the force sensor 3H is too large and exceeds a threshold, the output load of the motor 3B can be automatically adjusted to avoid damage to the waist muscles due to excessive force.

[0070] To further optimize the solution, a communication module is set in the controller, which can send the evaluation effect after each massage to the user for reference through a mobile phone APP or other means based on the recorded feedback force value.

[0071] Embodiment 2:

[0072] The only difference between this embodiment and the first embodiment is that, since the control chip in the controller can obtain a large amount of long-term massage force data from the user, the control chip is also provided with a machine learning algorithm to label and classify the data of each massage. After reaching a certain number, the control chip can automatically analyze and modify the set threshold parameters a, b, and c to adapt to the waist muscle status of different users.

[0073] The specific approach is: the algorithm sets the initial values ​​a0, b0, and c0 by default, and stipulates the machine learning algorithm adjustment range of these three parameters [a_min a_max], [b_min b_max], and [c_min c_max]. When the system detects that the force measuring device has collected enough data, it starts the machine learning analysis algorithm and gives new estimated values ​​a1, b1, and c1.

[0074] Embodiment three:

[0075] The only difference between this embodiment and the second embodiment is that a second motor fixing support 10 is fixedly connected inside the base 1, a second motor 11 is fixedly connected to the second motor fixing support 10, a T-shaped sleeve 12 is fixedly sleeved on the output shaft of the second motor 11, a reversing link 13 is fixedly connected to the T-shaped sleeve 12, the T-shaped sleeve 12 is located in the middle of the reversing link 13, both ends of the reversing link 13 are respectively vertically fixedly connected to a second link 14, a second universal joint 15 is hinged on the top of the second link 14, the small diameter massage head module 3F1 or the large diameter massage head module 3F2 is detachably connected to the second link 14 via the second universal joint 15, and the small diameter massage head module 3F1 or the large diameter massage head module 3F2 is connected to the second link 14 through two adjacent working through holes 2A.

[0076] like Figure 5 As shown, the program in the control unit 4 controls the second motor 11 to rotate forward and reverse at a certain angle θ. When the second motor 11 rotates forward, the right massage head module is driven to unload downward through the reversing connecting rod 13, while the left massage head module is loaded upward. When the motor reverses, the massage working mode is also switched accordingly: the right massage head module is loaded and the left massage head module is unloaded. The stroke of the massage head module can be calculated by the rotation angle θ of the second motor 11 and the length of the reversing connecting rod 13.

[0077] This embodiment can achieve the effect of one motor controlling two massage heads to switch alternately, reducing the material cost of the motor while achieving a lightweight design of the product.

[0078] Embodiment 4:

[0079] The only difference between this embodiment and the first embodiment is that a linear motor assembly 18 is fixedly connected inside the base 1, and a large-diameter massage head 9 or a small-diameter massage head 7 is provided at the output end of the linear motor assembly.

[0080] Further optimization scheme, such as Figure 6 As shown, the linear motor assembly includes a motor stator 16 and a motor mover 17. The motor stator 16 is fixedly connected to the inner bottom of the base 1. The output end of the motor mover 17 is hinged with a universal ball 3G. The large-diameter massage head 9 or the small-diameter massage head 7 is fixedly connected in the universal ball 3G.

[0081] By providing a linear motor assembly, the connecting rod structures such as the connecting rod 3E and the intermediate rod 3K in the first embodiment can be omitted, which is beneficial to reducing the overall size of the massager of the present invention.

[0082] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0083] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A fully automatic massager, characterized in that ,include: A shell assembly, the top of which fits the waist of a human body, and the top of which is provided with a plurality of working through holes (2A); A plurality of motor actuators (3), wherein the plurality of motor actuators (3) are arranged in the housing assembly, the motor actuators (3) comprising an upper and lower vibration assembly and a drive assembly, the drive assembly being in transmission connection with the upper and lower vibration assembly; A plurality of massage head mechanisms, each of which is detachably connected to the plurality of upper and lower vibration components, and each of which penetrates through the plurality of working through holes (2A) to perform hammering on the waist of the human body; A control unit (4), the control unit comprising a controller arranged in the housing assembly and a force sensor (3H) arranged between the massage head mechanism and the upper and lower vibration components, the controller being electrically connected to the force sensor (3H) and the drive component.

2. A fully automatic massager according to claim 1, characterized in that: The housing assembly comprises a base (1), the top of the base (1) is fixedly connected to an upper cover (2), and a plurality of working through holes (2A) are provided on the upper cover (2).

3. A fully automatic massager according to claim 2, characterized in that: The up-and-down vibration assembly comprises a slide rail member fixedly connected to the base (1), a connecting rod (3E) being vertically slidably connected to the slide rail member, the massage head mechanism being detachably connected to the top of the connecting rod (3E), and the force sensor (3H) being arranged between the massage head mechanism and the connecting rod (3E).

4. A fully automatic massager according to claim 3, characterized in that: The driving assembly comprises a motor fixing support (3A) fixedly connected to the base (1), a motor (3B) fixedly connected to the motor fixing support (3A), a turntable (3C) fixedly sleeved on the output shaft of the motor (3B), a connecting pin (3D) fixedly connected to the edge of the turntable (3C), one end of an intermediate rod (3K) hinged to the connecting pin (3D), and the other end of the intermediate rod (3K) hinged to the bottom of the connecting rod (3E).

5. A fully automatic massager according to claim 3, characterized in that: A ball joint mounting hole (3J) is provided at the top of the connecting rod (3E), a universal ball (3G) is hinged in the ball joint mounting hole (3J), a blind hole (3L) is provided inwardly along an axis on the surface of the universal ball (3G), the force sensor (3H) is placed in the blind hole (3L), and the massage head mechanism is detachably connected to the universal ball (3G) through the blind hole (3L).

6. A fully automatic massager according to claim 5, characterized in that: The massage head mechanism comprises a small-diameter massage head module (3F1), the small-diameter massage head module (3F1) comprises a first plug (5), the first plug (5) is adapted to the blind hole (3L), a support rod (6) is fixedly connected to the first plug (5), and a plurality of small-diameter massage heads (7) are fixedly connected to the support rod (6).

7. A fully automatic massager according to claim 5, characterized in that: The massage head mechanism comprises a large-diameter massage head module (3F2), and the large-diameter massage head module (3F2) comprises a second plug (8), the second plug (8) is adapted to the blind hole (3L), and a large-diameter massage head (9) is fixedly connected to the second plug (8).

8. A fully automatic massager according to claim 2, characterized in that: The side of the upper cover (2) away from the base (1) is covered with a soft material.

9. A fully automatic massage control method, based on the fully automatic massager according to claim 1, characterized in that: The control process includes: S1. When used for the first time, the controller obtains the massage feedback force measured by each force sensor (3H) by calculation, and saves the value of the corresponding muscle area of ​​the user; S2, starting the driving assembly through the controller, so that the plurality of massage head mechanisms and the plurality of force sensors (3H) start to work, and each force sensor (3H) obtains feedback force data and transmits it to the controller; S3, the algorithm in the controller reads the data measured by the massager last time, and compares it with the data measured this time. A percentage threshold a is set here. If the ratio drops by more than a, it means that the corresponding muscle has improved, and the process goes to S5; if the ratio drops by less than a, it means that there is no change, and the same intensity of load is continued to be applied for massage, and the process goes to S4; S4. Since no improvement is detected, the driving component appropriately increases the load intensity, sets the threshold b, and the controller refreshes the feedback force data after the massage ends; S5. After detecting that there is improvement, the drive component appropriately reduces the load intensity and sets the threshold c; S6. The feedback force data of this massage is stored in the controller for updating and reserved for next comparison.

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