Massage force real-time detection self-adjusting closed-loop control method, technique and structure

Abstract

The invention discloses a massage force real-time detection self-adjusting closed-loop control method, manipulation and a structure thereof, a massage machine core control method comprises a control procedure of respectively controlling actions of a flapping motor, a kneading motor, a walking motor and a telescopic motor, and the kneading motor enables a massage arm to swing and drives a massage wheel to knead a human body; the beating motor enables a pair of beating shafts of the massage machine core to do beating motion; the walking motor enables the massage machine core to move along the massage frame guide rail, a 3D Hall sensor on the massage machine core detects the compression degree of the massage arms in real time, and the swing state of the pair of massage arms is adjusted according to compression degree data. The massage chair does not depend on the fixed body shape position of the human body, body shape data of the current massage point can be collected in real time, all the motors are controlled in real time according to analysis data, the telescopic motor is combined with other motors to form a comfortable massage manipulation for each massage chair point, and meanwhile different massage strengths can be set; therefore, the requirements of different crowds on real-time massage intensity can be met.

Description

Technical Field

[0001] The invention relates to a massage intensity real-time detection self-adjusting closed-loop control method, technique and structure thereof. Background Art

[0002] With the development of economy, the progress of science and technology, and the continuous improvement of living standards, health care and wellness have gradually become an important concept in today's social life, and physical health is increasingly valued by people.

[0003] Currently, the body shape data of most massage chairs on the market that support 3D robots is generally fixed after the initial detection. If the body position changes or the initial body shape detection is inaccurate, the massage will be uncomfortable. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a massage intensity real-time detection self-adjusting closed-loop control method, technique and structure thereof.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a method for real-time detection and self-adjustment of massage force closed-loop control, the control method comprising control procedures for respectively controlling the actions of a slapping motor, a kneading motor, a walking motor and a telescopic motor, the kneading motor causing a pair of massage arms of a massage movement to swing, and driving a pair of massage wheels of the massage arms to knead the human body; the slapping motor causing a pair of knocking shafts of the massage movement to perform knocking motions, and driving a pair of massage arms linked with the knocking shafts to move the massage wheels to perform knocking massages on the human body, the walking motor causing the massage movement to move along the guide rails of the massage frame, in the control procedure, the core processing unit of the movement controls the actions of each motor and receives feedback signals from each motor, the massage arm is linked with a force deformation sensor through the knocking shaft, the compression amount of the spring inside the force deformation sensor changes with the force of the massage wheel, and the core processing unit of the movement establishes communication with a detection element for detecting spring changes; the control method comprises the following steps: Step 1: Setting or adjusting the massage intensity acceptance threshold through the user interface, and displaying the current massage intensity information; Step 2: The detection element monitors the compression of the spring in real time, and converts these data into processable electrical signals or processable digital signals and sends them to the core processing unit of the movement, which processes these signals; Step 3: The core processing unit of the movement calculates the current massage force value based on the processed data and compares it with the acceptance threshold set by the user. If the current force value exceeds or does not reach the threshold set by the user, the core processing unit of the movement will make a decision to adjust the massage force. According to the instructions of the core processing unit of the movement, the massage movement adjusts its working parameters, including the speed of each motor or the position of the force deformation sensor. The change in the position of the force deformation sensor will cause the massage arm to swing up or down, thereby adjusting the massage force of the massage wheel; Step 4: Continue to provide feedback and form a closed-loop control. The adjusted massage force changes the compression of the spring installed inside again through the force deformation sensor. The change is captured by the detection element and fed back to the core processing unit of the movement. The core processing unit of the movement continuously monitors and adjusts the massage force to ensure that it always remains within the acceptable range for users, thus forming a closed-loop control.

[0006] As a preferred technical solution of the present invention, the detection element adopts a 3D Hall sensor. When a pair of massage arms of the massage movement contact different parts of the human body, the compression amount of the spring in the force deformation sensor changes. The magnet in the force deformation sensor will change relative to the 3D Hall sensor as the spring is compressed. The 3D Hall sensor collects the current 3D magnetic displacement angle and converts it into a processable digital signal. During massage, different 3D displacement thresholds are set according to the set intensity level. When the massage movement is moving, the massage arms are compressed and the 3D Hall sensor collects the current 3D magnetic displacement angle in real time and compares it with the 3D displacement threshold.

[0007] As a preferred technical solution of the present invention, the detection element adopts a travel encoder, which is installed on the spring or a mechanism closely connected thereto, for accurately measuring the compression of the spring and converting it into a processable electrical signal.

[0008] As a preferred technical solution of the present invention, it also includes shoulder and neck position detection and back and waist position detection. At the shoulder and neck position, the movement direction is from top to bottom, and the pressure direction is opposite thereto. At the back and waist position, the movement direction is from bottom to top, and the pressure direction is opposite thereto. The massage movement is driven by a walking motor to move, and the core processing unit of the movement receives the 3D magnetic displacement angle collected by the 3D Hall sensor at the neck or back and waist. Different orbits can be judged by different angle differences or different angle starting positions.

[0009] As a preferred technical solution of the present invention, each motor combination realizes real-time balanced force kneading in the horizontal and vertical directions in a small massage area at a fixed position. The telescopic force and kneading speed can be increased when kneading in a concave area, and the telescopic force and kneading speed can be reduced in a convex area.

[0010] As a preferred technical solution of the present invention, each motor combination can increase the extension force and kneading speed when kneading the concave parts of the entire area, and can reduce the extension force and kneading speed when kneading the convex parts of the entire area, so as to achieve self-regulating massage for various points and areas of the human body.

[0011] A massage technique includes shoulder pressing: controlling the lateral extension length of the two massage wheels, making different adjustments according to different areas near the shoulders, changing the longitudinal downward pressure, and controlling the intensity according to the 3D Hall sensor and the core processing unit of the movement. The combination of lateral and longitudinal pressure can achieve shoulder pressing in all ranges near the entire shoulder.

[0012] As a preferred technical solution of the present invention, the massage technique also includes: neck lifting: the neck lifting and shoulder pressing forces are in opposite directions, the lateral extension lengths of the two massage wheels are adjusted differently according to different areas near the neck and ear roots, and the longitudinal pulling force is controlled by the 3D Hall sensor in conjunction with the core processing unit of the movement. The lateral and longitudinal combinations can achieve lifting of the entire neck and various ranges near the ear roots.

[0013] As a preferred technical solution of the present invention, the massage technique also includes: grabbing the shoulders: At the beginning, the massage arm is placed in the widest position, the distance between the two massage balls is large and the massage balls protrude outward relative to one side of the massage movement. At this time, kneading in the downward direction makes the massage arm move toward the narrow position, reducing the distance between the two massage balls and retracting the massage balls toward one side of the massage movement. At the same time, the telescopic motor is started to retract and the 3D magnetic displacement angle is detected in real time. After reaching the narrow position, it runs in the opposite direction to achieve the shoulder grabbing technique. Upper back deltoid massage: According to the width and position adjustment of the two massage balls combined with 3D Hall sensor detection, the two balls are placed in the narrowest position at the beginning, and the 3D displacement threshold is set low. At this time, the telescopic motor is started, and the 3D displacement threshold is increased synchronously, and the kneading motor is started synchronously to make the two massage balls slowly change to the widest position; Outer shoulder blade massage: The massage mechanism is placed at the narrowest position in the center of the two shoulder blades. At this time, the kneading motor is started to make the two wheels move around the outer shoulder blade. The movement circumference is set according to the number of kneading circles. At the same time, the massage intensity is set in combination with the 3D displacement threshold to achieve the most perfect massage of the outer shoulder blade. Buttocks massage: Move the massage movement to the buttocks, knead the motor to put the two massage wheels in the middle position, start the telescopic motor to swing the massage arm outward, then start the walking motor to move upward, detect the 3D displacement threshold in real time, start the walking motor to move downward after half the journey, and do a back and forth sequence to lift the buttocks.

[0014] As a preferred technical solution of the present invention, the massage technique also includes: whole body arc scraping and pushing: the massage movement makes the massage ball move in an arc through the combination of various motors, and combines with the 3D Hall sensor to detect the 3D magnetic displacement angle to achieve a longer and larger range of arc scraping and pushing actions.

[0015] A structure for realizing a massage control method comprises a frame, a massage mechanism, the massage mechanism comprises a massage arm and a massage wheel, a rotating shaft and a kneading transmission mechanism for driving the rotating shaft to rotate are rotatably arranged on the frame, the massage arm is rotatably arranged on the rotating shaft, the rotating shaft can drive the massage arm and the massage wheel to perform kneading movement, a sliding frame and a slide seat moving along the length direction of the sliding frame are arranged on the frame, a knocking transmission mechanism for driving the massage arm and the massage wheel to perform knocking movement is arranged on the slide seat, when the massage arm is subjected to force forward and backward, the slide seat can be driven to move forward and backward along the sliding frame through the knocking transmission mechanism, a force deformation sensor for detecting the displacement of the slide seat to judge the massage force is arranged on the sliding frame or the slide seat; the force deformation sensor comprises a detection plate and a sensing block, the detection plate is fixed to the slide seat, the sensing block is arranged on the sliding frame, the detection plate moves with the slide seat, the detection plate can sense the relative position of the slide seat and the sensing block to identify the displacement, the detection plate slides forward and backward with the slider, when the slider moves, the detection plate and the magnet on the sensing block produce relative displacement, and a detection element is arranged on the detection plate.

[0016] A structure for realizing massage technique: comprising a frame, a massage mechanism, the massage mechanism comprising a massage arm and a massage wheel, a rotating shaft and a kneading transmission mechanism for driving the rotating shaft to rotate are rotatably arranged on the frame, the massage arm is rotatably arranged on the rotating shaft, the rotating shaft can drive the massage arm and the massage wheel to perform kneading movement, a sliding frame and a slide seat moving along the length direction of the sliding frame are arranged on the frame, a knocking transmission mechanism for driving the massage arm and the massage wheel to perform knocking movement is arranged on the slide seat, when the massage arm is subjected to force forward and backward, the slide seat can be driven to move forward and backward along the sliding frame through the knocking transmission mechanism, a force deformation sensor for detecting the displacement of the slide seat to judge the massage force is arranged on the sliding frame or the slide seat; the force deformation sensor comprises a detection plate and a sensing block, the detection plate is fixed to the slide seat, the sensing block is arranged on the sliding frame, the detection plate moves with the slide seat, the detection plate can sense the relative position of the slide seat and the sensing block to identify the displacement, the detection plate slides forward and backward with the slider, when the slider moves, the detection plate and the magnet on the sensing block produce relative displacement, and a detection element is arranged on the detection plate.

[0017] To sum up, the beneficial effects of the present invention are: the present invention does not rely on the fixed body shape and position of the human body and can collect the body shape (random body shape) data of the current massage point in real time and control each motor in real time according to the analysis data, and combine the telescopic motor with other motors to form a comfortable massage technique for each massage chair point. At the same time, different massage intensities can be set to adapt to the needs of different people for real-time massage intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the principle diagram of the massage movement of the present invention; Figure 2 It is a state diagram of the massage movement of the present invention corresponding to different parts of the human body; Figure 3 It is a schematic diagram of the force of the massage movement of the present invention; Figure 4 It is the logic judgment closed-loop control diagram of the present invention; Figure 5 It is a structural schematic diagram of the massage movement of the present invention; Figure 6 It is a structural schematic diagram of the sliding frame in the present invention; Figure 7 It is a partial structural schematic diagram of the sliding frame in the present invention; Figure 8 is a schematic structural diagram of a force deformation sensor in the present invention; Fig. 9 It is a structural schematic diagram of the knocking transmission mechanism in the present invention; Fig.10 It is a structural schematic diagram of the knocking shaft in the present invention; Fig.11 It is a structural schematic diagram of the massage mechanism in the present invention; Fig.12 It is a structural schematic diagram of the massage mechanism of the present invention without the massage arms and the massage wheels.

[0019] 1. The present invention relates to a massaging machine having a plurality of moving parts, wherein the plurality of moving parts are provided with a plurality of moving parts, and the plurality of moving parts are provided with a plurality of moving parts. The plurality of moving parts are provided with a plurality of moving parts. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments and drawings, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0021] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0022] like Figures 1 to 12 The present invention provides a method, technique and structure for real-time detection of massage force and self-adjustment in a closed loop. The control method includes control steps for controlling the movements of a beating motor 42, a kneading motor 231, a traveling motor 61 and a telescopic motor 36 respectively. The kneading motor 231 causes a pair of massage arms 21 of the massage movement to swing, and drives the massage wheels 22 of the pair of massage arms 21 to knead the human body; the beating motor 42 causes a pair of knocking shafts 41 of the massage movement to perform knocking movements, and drives a pair of massage arms 21 linked with the knocking shafts 41 to move so that the massage wheels 22 perform knocking massage on the human body; the traveling motor 61 causes the massage movement to move along the guide rails of the massage frame. In the control step, the core processing unit of the movement (i.e., the controller) controls the movements of each motor and receives feedback signals from each motor. The massage arm 21 is linked with the force deformation sensor 5 through the knocking shaft 41. The state of the spring inside the force deformation sensor 5 changes in real time as the force of the massage wheel 22 changes. The core processing unit of the movement establishes communication with the detection element for detecting the change of the spring. The control method includes the following steps: Step 1: The display screen is electrically connected to the controller, and the user sets or adjusts the acceptance threshold of the massage intensity through the user interface, and the current massage intensity information can be displayed; Step 2: The detection element monitors the compression of the spring in real time, and converts these data into processable electrical signals or processable digital signals and sends them to the core processing unit of the movement, which processes these signals; Step 3: The core processing unit of the movement calculates the current massage force value based on the processed data and compares it with the acceptance threshold set by the user. If the current force value exceeds or does not reach the threshold set by the user, the core processing unit of the movement will make a decision to adjust the massage force. According to the instructions of the core processing unit of the movement, the massage movement adjusts its working parameters, including the speed of each motor or the position of the force deformation sensor 5. The position change of the force deformation sensor 5 will cause the massage arm 21 to swing upward or downward, thereby adjusting the massage force of the massage wheel 22; Step 4: Continue to provide feedback and form a closed-loop control. The adjusted massage force changes the compression of the spring installed inside again through the force deformation sensor 5. The change is captured by the detection element and fed back to the core processing unit of the movement. The core processing unit of the movement continuously monitors and adjusts to ensure that the massage force is always kept within the acceptable range for the user, thus forming a closed-loop control.

[0023] The detection element adopts a 3D Hall sensor. When a pair of massage arms 21 of the massage movement come into contact with different parts of the human body, the compression amount of the spring in the force deformation sensor 5 changes. The position of the magnet 521 in the force deformation sensor 5 will change relatively with the compression of the spring. The position of the 3D Hall sensor and the magnet 521 will change relatively and collect the current 3D magnetic displacement angle, and convert it into a processable digital signal. During massage, different 3D displacement thresholds (i.e., acceptance thresholds) are set according to the set intensity level. When the massage movement is moving, the massage arm 21 is compressed, and the current 3D magnetic displacement angle is collected in real time by the 3D Hall sensor and compared with the 3D displacement threshold, and an adjustment is made according to the compression degree data. For the swinging state of the massage arm 21, the telescopic motor 36 makes the massage arm 21 swing upward or downward to adjust the contact strength between the massage wheel 22 and the human body. When the current 3D magnetic displacement angle is within the set threshold range, the telescopic amount of the telescopic motor (the number of rotations) remains unchanged. When the current angle is greater than the set value, the telescopic amount of the telescopic motor needs to be appropriately increased. When the current angle is less than the set value, the telescopic amount of the telescopic motor needs to be appropriately reduced. In this way, even if the position of the human body moves, the massage sensation of each point remains consistent, which greatly improves the comfort. When the massage intensity needs to be changed, only the massage intensity gear needs to be modified. At this time, the 3D magnetic displacement threshold will change, which can adapt to people with different intensity requirements.

[0024] In the control process, when a pair of massage arms 21 of the massage movement come into contact with the human body, the positions of the 3D Hall sensor and the magnet 521 on the massage movement will change relatively according to the degree of pressure, and the current 3D magnetic displacement angle is collected in real time by the 3D Hall sensor. In this embodiment, a Hall scale (not shown in the figure) can also be configured. The scale is a sensor for distance detection and calibration, and can be divided into a Hall angle scale and a Hall straight scale. "Hall" is a coupling device for magnetic induction, and optical coupling devices can also be used. In addition to the "scale and spring" solution for calibrating and controlling the massage intensity, the massage intensity can also be calibrated and controlled in the form of a combination of "stepping motor and spring".

[0025] The present invention does not rely on the fixed body position of the human body and can collect the body shape (random body shape) data of the current massage point in real time and control each motor in real time according to the analysis data. The telescopic motor 36 is combined with other motors to form a comfortable massage technique for each massage chair point. At the same time, different massage intensities can be set to meet the needs of different people for real-time massage intensity.

[0026] When the detection element uses a travel encoder, it is linked to the spring. The travel encoder can use a draw-wire encoder (commercially available). The corresponding spring is connected with a draw-wire encoder. As the compression of the spring changes, the length of the draw-wire will also change. The compression of the spring is calculated and converted into a processable electrical signal.

[0027] It also includes shoulder and neck position detection and back and waist position detection. At the shoulder and neck position, the movement direction is from top to bottom, and the pressure direction is opposite thereto. At the back and waist position, the movement direction is from bottom to top, and the pressure direction is opposite thereto. The massage movement is driven to move by a walking motor 61, and the core processing unit of the movement receives the 3D magnetic displacement angle collected by the 3D Hall sensor at the neck or back and waist. Different orbits can be judged by different angle differences or different angle starting positions.

[0028] Each motor combination realizes real-time balanced force kneading in the horizontal and vertical directions in the small massage area at the fixed point position. When kneading in a concave area, the telescopic force (adjusted by the telescopic motor 36) and the kneading speed (adjusted by the kneading motor 231) can be increased, and the telescopic force and kneading speed can be reduced in a convex area.

[0029] Alternatively, each motor combination can increase the stretching force and kneading speed when kneading the concave parts of the entire area, and can reduce the stretching force and kneading speed when kneading the convex parts of the entire area, so as to achieve self-regulating massage for various points and areas of the human body.

[0030] During the whole massage, the massage movement of the present application has the following modes, which are not shown in the figure: Shoulder pressing: Generally, it is difficult to achieve a relatively perfect shoulder pressing in a massage movement with four massage wheels 22 due to the existence of the two lower massage wheels 22, because when the upper two massage wheels 22 are extended, the lower two massage wheels 22 will inevitably touch the human body, and this massage movement perfectly solves this problem. Because there are only the upper two massage wheels 22 but no lower two massage wheels 22, the lateral extension length of the two massage wheels 22 (controlled by the telescopic motor 36) can be adjusted differently according to different areas near the shoulder, and the longitudinal downward pressure (downward movement of the walking motor 61) can be controlled according to the 3D Hall sensor self-adjusting system. At the same time, the combination of lateral and longitudinal directions can achieve a very comfortable shoulder pressing effect in all ranges near the entire shoulder.

[0031] Neck lift: The neck lifting and shoulder pressing forces are in opposite directions, but have the same working principle. The lateral extension lengths of the two massage wheels 22 can be adjusted differently according to different areas near the neck and ear roots, and the longitudinal pulling force can be controlled according to the 3D Hall sensor self-adjusting system. At the same time, the combination of lateral and longitudinal forces can achieve a very comfortable lifting effect in all ranges around the entire neck and ear roots.

[0032] Shoulder Grab: Generally, the massage arm 21 of a massage movement with four massage wheels 22 is short because it cannot be stored. This massage movement adopts a downward storage type of the massage arm 21, which solves this contradiction very well. The massage arm 21 can be appropriately protruded to enhance the massage feeling, and it will not feel hidden after being stored. This can be used to achieve a good shoulder grabbing effect inward and outward. At the beginning, the massage arm 21 is placed in the widest position and extended longer (i.e., the spacing between the two massage wheels 22 and the position protruding outward). At this time, the kneading motor 231 and / or the walking motor 61 are started to knead downward to make the massage arm 21 move toward the narrow position (i.e., the spacing between the two massage wheels 22 and the position protruding outward). At the same time, the telescopic motor 36 is started to retract and the 3D magnetic displacement angle is detected in real time. After reaching the narrow position, it runs in the opposite direction to achieve the shoulder grabbing technique. Modifying the telescopic amount and the 3D displacement threshold can set different shoulder grabbing strengths.

[0033] Upper back deltoid massage: According to the width and narrowness position adjustment of the two massage balls combined with the 3D Hall sensor, the two balls are placed in the narrowest position at the beginning, and the 3D displacement threshold is set low. At this time, the telescopic motor 36 is started, and the 3D displacement threshold is increased synchronously, and the kneading motor 231 is started synchronously to make the two massage balls slowly change to the widest position. From the back of the human body, it is an inverted triangle movement trajectory, and from the side of the human body, it is an arc movement trajectory. The overall combination of back and forth movement realizes a more perfect massage of the upper back deltoid muscle.

[0034] Outer shoulder blade massage: In general, since the distance between the upper and lower balls of a four-wheel massage movement is fixed, two balls will always touch part of the shoulder blade during the entire kneading action, which will reduce the massage comfort and cause pain. The two-ball massage movement solves this problem very well. At the beginning, the massage movement is placed in the narrowest position at the center of the two shoulder blades. At this time, the kneading motor 231 is started to make the two wheels move around the outer shoulder blade. The movement circumference is set according to the number of kneading circles, and the massage intensity is set in combination with the 3D displacement threshold to achieve a more perfect massage of the outer shoulder blade.

[0035] Buttocks massage: Generally, the four-wheel massage mechanism is set as a soft massage arm 21. Under the action of external force, the massage arm 21 will move as a whole, and a more comfortable massage cannot be achieved on the buttocks. This two-wheel massage arm 21 massage mechanism can achieve this. Move the massage mechanism to the buttocks, knead the motor 231 to the middle position, and the telescopic motor 36 extends the massage arm 21. At this time, start the walking motor 61 upward, and detect the 3D displacement threshold in real time. After half of the journey, start the walking motor 61 downward, and go back and forth in sequence to achieve a more complete buttock lifting technique.

[0036] Arc scraping (whole body): Generally, the direction of the telescopic motor 36 of the four-wheel massage movement is a straight line movement from back to front. If it is combined with walking during telescopic movement, it can only move diagonally, and the movement is relatively stiff. The telescopic direction of this massage movement adopts arc movement. The arc trajectory can better improve the comfort of massage. At the same time, it is combined with a 3D Hall sensor to detect the 3D magnetic displacement angle; combined with the movement of the walking motor 61, it can achieve a longer and larger range of arc scraping. Figure 4 As shown, in actual massage, the rotating shaft 24 is used as the upper end, the running shaft 62 is used as the lower end, the massage wheel 22 faces outward and the included angle faces downward, and massage is achieved by fitting with the human body in this arrangement.

[0037] The massage techniques in the present invention are based on the 3D Hall sensor combined with the core processing unit of the movement to realize the control of each motor to achieve the above-mentioned different massage techniques.

[0038] The massage movement control method of the present invention corresponds to the massage movement structure, including a frame 1, a massage mechanism 2, the massage mechanism 2 includes a massage arm 21 and a massage wheel 22, a rotating shaft 24 and a kneading transmission mechanism 23 for driving the rotating shaft 24 to rotate are rotatably arranged on the frame 1, the massage arm 21 is rotatably arranged on the rotating shaft 24, the rotating shaft 24 can drive the massage arm 21 and the massage wheel 22 to perform kneading movement, a sliding frame 3 and a slide 53 moving along the length direction of the sliding frame 3 are arranged on the frame 1, and a knocking transmission mechanism 4 for driving the massage arm 21 and the massage wheel 22 to perform knocking movement is arranged on the slide 53, when the massage arm 21 is subjected to force forward and backward, the knocking transmission mechanism 4 can drive the slide 53 to move forward and backward along the sliding frame 3, and a force deformation sensor 5 for detecting the displacement of the slide 53 to judge the massage force is arranged on the sliding frame 3 or the slide 53.

[0039] When the massage arm 21 contacts different parts of the human body and is subjected to pressure, the massage arm 21 will swing forward and backward at a certain angle, so that the knocking transmission mechanism 4 drives the slide 53 to move a certain distance along the length direction of the sliding frame 3. The position change of the slide 53 is sensed by the force deformation sensor 5, and the detection plate 51 can identify the displacement and judge the current massage force, so that the massage movement can adjust the state to meet the user experience. The specific adjustment method can be to adjust the overall angle of the frame 1 or to adjust the angle of the massage arm 21 separately.

[0040] The force deformation sensor 5 includes a detection plate 51 and a sensing block 52. The detection plate 51 is fixed to the slide 53, and the sensing block 52 is arranged on the sliding frame 3. The detection plate 51 moves with the slide 53. The detection plate 51 can sense the relative position of the slide 53 and the sensing block 52 to identify the displacement. The detection plate 51 slides back and forth with the slider. When the slider moves, the detection plate 51 and the magnet 521 on the sensing block 52 produce relative displacement. A displacement 3D Hall sensor or a 3D Hall sensor or a Hall element can be set on the detection plate 51. A magnet 521 is set on the sensing block 52 and the position of the magnet 521 corresponds to that of the detection plate 51. The detection element is a 3D Hall sensor or a Hall element. The detection element is used to detect the position of the magnet 521, identify the displacement, and judge the massage force through the core processing unit of the movement.

[0041] The sliding frame 3 includes at least one guide rod 32 that cooperates with the sliding seat 53 and at least one screw 31 that cooperates with the sensing block 52 for transmission. The screw 31 is driven by a power source, and the power source adopts a motor in combination with a worm gear. A mounting groove 531 is provided on the sliding seat 53. The sensing block 52 slides and is limited in the mounting groove 531. The two ends of the sensing block 52 are provided with an upper spring 532 and a lower spring 533 that abut against the inner walls on both sides of the mounting groove 531.

[0042] As the position of the massage movement changes, the slide 53 moves in two cases. In the first case, due to different contact parts of the human body, the drive screw 31 rotates to make the sensor block 52 move along the axial direction of the screw 31 and drive the slide 53 to move, so as to adjust the state of the massage arm 21; in the second case, the position of the sensor block 52 remains unchanged, the massage movement as a whole moves along the massage frame, and the contact part of the massage arm 21 with the human body is different. The massage arm 21 will swing forward or backward at a certain angle, so that the position of the slide 53 relative to the sensor block 52 changes, and the massage arm will swing up and down under force. The slide 53 and the sensor block are relatively displaced, and the 3D Hall sensor detects the 3D magnetic displacement angle in real time. For details, see the above control method, such as Figure 2 As shown, when massaging the shoulders and waist, the massage arms 21 will swing upward and the massage wheels 22 will protrude outward. When massaging the back and buttocks, the massage arms 21 will swing downward and the massage wheels 22 will retract. The current massage program takes the shoulder position as the base point. There are many existing methods for accurately finding the shoulder position, most of which have certain errors and complexities. The compression amount of the spring is also different when moving to different positions. The present invention detects the shoulder position by identifying the contact force between the massage arm 21 and the shoulder through the force deformation sensor 5, which is more accurate.

[0043] A walking mechanism 6 is also provided on the frame 1, and the walking mechanism 6 includes a walking motor 61 and a walking shaft 62. The walking shaft 62 is arranged at one end of the frame 1 relative to the rotating shaft 24. The walking shaft 62 and the rotating shaft 24 are parallel to each other. Walking wheels 63 are provided at both ends of the walking shaft 62. The sliding frame 3 is perpendicular to the rotating shaft 24, and the sliding frame 3 is located in the middle position between the rotating shaft 24 and the walking shaft 62. The rotating shaft 24 and the walking shaft 62 are rotatably connected to the two ends of the sliding frame 3.

[0044] The sliding frame 3 also includes a walking support seat 33, a rotating support seat 34 and a bracket cover 35. The walking support seat 33 and the rotating support seat 34 are respectively located at the bottom of the walking shaft 62 and the rotating shaft 24. The walking shaft 62 and the rotating shaft 24 are rotatably connected to the walking support seat 33 and the rotating support seat 34. The bracket cover 35 is located above the walking shaft 62 and the rotating shaft 24, and the two ends of the bracket cover 35 are respectively connected to the walking support seat 33 and the rotating support seat 34. Two guide rods 32 are provided and are symmetrically arranged between the walking support seat 33 and the rotating support seat 34. The screw rod 31 is located between the two guide rods 32, and the two ends of the screw rod 31 are respectively rotatably connected to the walking support seat 33 and the rotating support seat 34.

[0045] The frame 1 includes a left side plate 11 and a right side plate 12 , and the travel shaft 62 and the rotation shaft 24 are respectively located at two ends of the left side plate 11 and the right side plate 12 .

[0046] The kneading transmission mechanism 23 comprises a kneading motor 231 , which is fixedly mounted on the frame 1 , a kneading worm is mounted at the output end of the kneading motor 231 , and a worm wheel meshing with the kneading worm is mounted on the rotating shaft 24 .

[0047] The massage arms 21 and the massage wheels 22 are symmetrically arranged in two groups and are located on both sides of the slide 53. The rotating shaft 24 is fixedly provided with eccentric sleeves 25 at the corresponding two massage arms 21. The two massage arms 21 are respectively provided with massage arm bearings 26. The massage arms 21 are respectively sleeved on the corresponding eccentric sleeves 25 through the massage arm bearings 26. The rotating shaft 24 drives the massage arms 21 to swing, so that the massage arms 21 perform kneading movements.

[0048] The knocking transmission mechanism 4 includes a knocking shaft 41 and a beating motor 42. The knocking shaft 41 is parallel to the rotating shaft 24. The knocking shaft 41 is rotatably set on the slide 53. The beating motor 42 is fixedly set on the slide 53. The output shaft of the beating motor 42 drives the knocking shaft 41 to rotate. The knocking shaft 41 is provided with an eccentric portion 43, and the eccentric portion 43 performs eccentric movement with the knocking shaft 41. The eccentric portion 43 of the knocking shaft 41 is outer-coated with a knocking bearing seat 44. The knocking bearing seat 44 is universally connected to the massage arm 21 through a ball head connecting rod 45. The knocking shaft 41 drives the massage arm 21 to perform a knocking action.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected, and the scope of the present invention to be protected is defined by the attached claims and their equivalents.

Claims

1. A massage intensity real-time detection self-adjusting closed-loop control method, the control method includes control steps for controlling the movements of a beating motor, a kneading motor, a traveling motor and a telescopic motor respectively, the kneading motor makes a pair of massage arms of a massage movement swing, and drives a pair of massage wheels of the massage arms to knead the human body; the beating motor makes a pair of knocking shafts of the massage movement do knocking motion, and drives a pair of massage arms linked with the knocking shafts to move so that the massage wheels perform knocking massage on the human body, and the traveling motor makes the massage movement move along the guide rail of the massage frame, characterized in that: In the control process, the core processing unit of the movement controls the action of each motor and receives feedback signals from each motor. The massage arm is linked with the force deformation sensor through the knocking shaft. The force deformation sensor changes with the force of the massage wheel, and the compression amount of the spring inside the force deformation sensor also changes. The core processing unit of the movement establishes communication with the detection element for detecting the change of the spring. The control method includes the following steps: Step 1: Setting or adjusting the massage intensity acceptance threshold through the user interface, and displaying the current massage intensity information; Step 2: The detection element monitors the compression of the spring in real time, and converts these data into processable electrical signals or processable digital signals and sends them to the core processing unit of the movement, which processes these signals; Step 3: The core processing unit of the movement calculates the current massage force value based on the processed data and compares it with the acceptance threshold set by the user. If the current force value exceeds or does not reach the threshold set by the user, the core processing unit of the movement will make a decision to adjust the massage force. According to the instructions of the core processing unit of the movement, the massage movement adjusts its working parameters, including the speed of each motor or the position of the force deformation sensor. The change in the position of the force deformation sensor will cause the massage arm to swing up or down, thereby adjusting the massage force of the massage wheel; Step 4: Continue to provide feedback and form a closed-loop control. The adjusted massage force changes the compression of the spring installed inside again through the force deformation sensor. The change is captured by the detection element and fed back to the core processing unit of the movement. The core processing unit of the movement continuously monitors and adjusts the massage force to ensure that it always remains within the acceptable range for users, thus forming a closed-loop control.

2. The massage intensity real-time detection and self-adjusting closed-loop control method according to claim 1, characterized in that: The detection element uses a 3D Hall sensor. When a pair of massage arms of the massage movement come into contact with different parts of the human body, the compression amount of the spring in the force deformation sensor changes. The magnet in the force deformation sensor will change relative to the 3D Hall sensor as the spring is compressed. The 3D Hall sensor collects the current 3D magnetic displacement angle and converts it into a processable digital signal. During massage, different 3D displacement thresholds are set according to the set intensity level. When the massage movement is moving, the massage arms are under pressure and the 3D Hall sensor collects the current 3D magnetic displacement angle in real time and compares it with the 3D displacement threshold.

3. The massage intensity real-time detection and self-adjusting closed-loop control method according to claim 1, characterized in that: The detection element adopts a travel encoder, which is installed on the spring or a mechanism closely connected thereto to accurately measure the compression of the spring and convert it into a processable electrical signal.

4. The massage intensity real-time detection and self-adjusting closed-loop control method according to claim 2, characterized in that: It also includes shoulder and neck position detection and back and waist position detection. At the shoulder and neck position, the movement direction is from top to bottom, and the pressure direction is opposite thereto. At the back and waist position, the movement direction is from bottom to top, and the pressure direction is opposite thereto. The massage movement is driven by a walking motor, and the core processing unit of the movement receives the 3D magnetic displacement angle collected by the 3D Hall sensor at the neck or back and waist. Different orbits can be judged by different angle differences or different angle starting positions.

5. The massage intensity real-time detection and self-adjusting closed-loop control method according to any one of claims 2 to 4, characterized in that: Each motor combination realizes real-time balanced force kneading in the horizontal and vertical directions in a small massage area at a fixed point. When kneading in a concave part, the stretching force and kneading speed can be increased, and when kneading in a convex part, the stretching force and kneading speed can be reduced.

6. The massage intensity real-time detection and self-adjusting closed-loop control method according to any one of claims 2 to 4, characterized in that: Each motor combination can increase the stretching force and kneading speed when kneading the concave parts of the whole range, and can reduce the stretching force and kneading speed when kneading the convex parts of the whole range, so as to realize self-regulating massage for various points and areas of the human body.

7. A massage technique of the massage intensity real-time detection self-adjusting closed-loop control method according to any one of claims 1 to 6, characterized in that: Including shoulder pressure: control the lateral extension length of the two massage wheels, make different adjustments according to different areas near the shoulders, change the longitudinal downward pressure, and control the intensity according to the 3D Hall sensor and the core processing unit of the movement. The combination of lateral and longitudinal pressure can achieve shoulder pressure in all ranges near the entire shoulder.

8. The massage technique according to claim 7, characterized in that: Also includes: Neck lifting: The neck lifting and shoulder pressing forces are in opposite directions. The lateral extension lengths of the two massage wheels are adjusted according to different areas near the neck and ear roots. The longitudinal pulling force is controlled by the 3D Hall sensor and the core processing unit of the movement. The combination of lateral and longitudinal forces can achieve lifting of the entire neck and various ranges near the ear roots.

9. The massage technique according to claim 7, characterized in that: The following massage techniques are also included: Shoulder Grab: At the beginning, the massage arm is placed in the widest position, the distance between the two massage balls is large and the massage balls protrude outward relative to one side of the massage movement. At this time, kneading in the downward direction makes the massage arm move toward the narrow position, reducing the distance between the two massage balls and retracting the massage balls toward one side of the massage movement. At the same time, the telescopic motor is started to retract and the 3D magnetic displacement angle is detected in real time. After reaching the narrow position, it runs in the opposite direction to achieve the shoulder grabbing technique. Upper back deltoid massage: According to the width and position adjustment of the two massage balls combined with 3D Hall sensor detection, the two balls are placed in the narrowest position at the beginning, and the 3D displacement threshold is set low. At this time, the telescopic motor is started, and the 3D displacement threshold is increased synchronously, and the kneading motor is started synchronously to make the two massage balls slowly change to the widest position; Outer shoulder blade massage: The massage mechanism is placed at the narrowest position in the center of the two shoulder blades. At this time, the kneading motor is started to make the two wheels move around the outer shoulder blade. The movement circumference is set according to the number of kneading circles. At the same time, the massage intensity is set in combination with the 3D displacement threshold to achieve the most perfect massage of the outer shoulder blade. Buttocks massage: Move the massage movement to the buttocks, knead the motor to put the two massage wheels in the middle position, start the telescopic motor to swing the massage arm outward, then start the walking motor to move upward, detect the 3D displacement threshold in real time, start the walking motor to move downward after half the journey, and do a back and forth sequence to lift the buttocks.

10. The massage technique according to claim 7, characterized in that: Also includes: Whole body arc scraping and pushing: The massage movement makes the massage ball move in an arc through the combination of various motors, and combines with the 3D Hall sensor to detect the 3D magnetic displacement angle to achieve a longer and larger range of arc scraping and pushing actions.

11. A structure of a massage intensity real-time detection self-adjusting closed-loop control method according to any one of claims 1 to 6, characterized in that: The massage mechanism comprises a frame, a massage mechanism, and the massage mechanism comprises a massage arm and a massage wheel. A rotating shaft and a kneading transmission mechanism for driving the rotating shaft to rotate are rotatably arranged on the frame. The massage arm is rotatably arranged on the rotating shaft. The rotating shaft can drive the massage arm and the massage wheel to do kneading movement. A sliding frame and a slide seat moving along the length direction of the sliding frame are arranged on the frame. A knocking transmission mechanism for driving the massage arm and the massage wheel to do knocking movement is arranged on the slide seat. When the massage arm is subjected to force forward and backward, the knocking transmission mechanism can drive the slide seat to move forward and backward along the sliding frame. A force deformation sensor for detecting the displacement of the slide seat to judge the massage force is arranged on the sliding frame or the slide seat.

12. The structure according to claim 11, characterized in that: The force deformation sensor includes a detection plate and a sensing block. The detection plate is fixed to the slide seat, and the sensing block is arranged on the sliding frame. The detection plate moves with the slide seat. The detection plate can sense the relative position of the slide seat and the sensing block to identify the displacement. The detection plate slides back and forth with the slider. When the slider moves, the detection plate and the magnet on the sensing block produce relative displacement. A detection element is arranged on the detection plate.

13. A massage technique structure as claimed in any one of claims 7 to 10, characterized in that: The massage mechanism comprises a frame, a massage mechanism, and the massage mechanism comprises a massage arm and a massage wheel. A rotating shaft and a kneading transmission mechanism for driving the rotating shaft to rotate are rotatably arranged on the frame. The massage arm is rotatably arranged on the rotating shaft. The rotating shaft can drive the massage arm and the massage wheel to do kneading movement. A sliding frame and a slide seat moving along the length direction of the sliding frame are arranged on the frame. A knocking transmission mechanism for driving the massage arm and the massage wheel to do knocking movement is arranged on the slide seat. When the massage arm is subjected to force forward and backward, the knocking transmission mechanism can drive the slide seat to move forward and backward along the sliding frame. A force deformation sensor for detecting the displacement of the slide seat to judge the massage force is arranged on the sliding frame or the slide seat.

14. The structure according to claim 13, characterized in that: The force deformation sensor includes a detection plate and a sensing block. The detection plate is fixed to the slide seat, and the sensing block is arranged on the sliding frame. The detection plate moves with the slide seat. The detection plate can sense the relative position of the slide seat and the sensing block to identify the displacement. The detection plate slides back and forth with the slider. When the slider moves, the detection plate and the magnet on the sensing block produce relative displacement. A detection element is arranged on the detection plate.

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