Control method and control device of massage equipment and massage equipment

Abstract

The invention provides a control method and device of massage equipment and the massage equipment. The massage device comprises a first installation part, a second installation part, a transmission assembly and a first driving mechanism. The transmission assembly comprises a rotating shaft, a driving piece and a connecting rod which are sequentially and rotationally connected between the first mounting piece and the second mounting piece. The massage assembly is arranged on the driving piece. The first driving mechanism comprises a first telescopic assembly and a second telescopic assembly. The control method of the massage equipment comprises the steps that control information is obtained, and if the control information is that the driving part is controlled to approach the first straight line and does not swing, the first telescopic assembly and the second telescopic assembly are controlled to drive the first mounting part and the second mounting part to move close to the first straight line in the same direction at the same speed. According to the control method of the massage equipment, the position of the massage head of the massage equipment can be flexibly adjusted, the massage strength is enriched, and the user experience is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of health care equipment, and in particular to a control method and a control device for massage equipment, and a massage equipment. Background Art

[0002] Massage equipment is a health care device that can relieve or eliminate physical fatigue. It is more and more popular among people because of its flexibility and convenience. In order to obtain better massage effect, targeted massage equipment is usually designed according to the structural characteristics of various parts of the human body, such as neck massage equipment, waist massage equipment or shoulder and neck massage equipment.

[0003] However, in the related art, the assembly position of the massage head on most massage devices relative to the wearing shell is fixed, resulting in poor wearing effect of the massage device and poor user experience. Summary of the invention

[0004] The present disclosure provides a control method, a control device and a massage device for massage equipment, which can flexibly adjust the position of a massage head and improve the user experience.

[0005] Specifically, the present disclosure is achieved through the following technical solutions:

[0006] According to a first aspect of an embodiment of the present disclosure, the present disclosure provides a control method for a massage device, the massage device comprising a bearing assembly, a transmission mechanism, a first driving mechanism and a massage assembly. The transmission mechanism comprises a first mounting member slidably connected to the bearing assembly, a second mounting member slidably connected to the bearing assembly and a transmission assembly arranged between the first mounting member and the second mounting member. The first mounting member and the second mounting member are arranged at intervals and can reciprocate along a first direction respectively. The transmission assembly comprises a rotating shaft, a driving member and a connecting rod, one end of the rotating shaft is rotatably connected to the first mounting member, the other end of the rotating shaft is rotatably connected to one end of the driving member, the other end of the driving member is rotatably connected to one end of the connecting rod, the other end of the connecting rod is rotatably connected to the second mounting member, the axis of the rotating shaft and the axis of the driving member are arranged to intersect and have a first obtuse angle. The first driving mechanism comprises a first telescopic assembly and a second telescopic assembly, the first telescopic assembly is transmission-connected to the first mounting member to drive the first mounting member to reciprocate along the first direction, and the second telescopic assembly is transmission-connected to the second mounting member to drive the second mounting member to reciprocate along the first direction. The massage assembly is arranged on the driving member. The bearing assembly is provided with a first straight line intersecting with the first direction, and the transmission mechanism is arranged along the first direction with a spacing from the first straight line.

[0007] Control methods include:

[0008] Get control information:

[0009] If the control information is a first control instruction to control the driving member to approach the first straight line without swinging, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member and the second mounting member to move in the same direction and at the same speed close to the first straight line.

[0010] According to a second aspect of an embodiment of the present disclosure, the present disclosure provides a control device for a massage device, the control device comprising one or more processors for implementing the control method for the massage device.

[0011] According to a third aspect of the embodiment of the present disclosure, the present disclosure provides a massage device, including a bearing assembly, a transmission mechanism, a first driving mechanism, a massage assembly and the above-mentioned control device. The transmission mechanism includes a first mounting member slidably connected to the bearing assembly, a second mounting member slidably connected to the bearing assembly, and a transmission assembly arranged between the first mounting member and the second mounting member. The first mounting member and the second mounting member are arranged at intervals and can reciprocate along the first direction respectively. The transmission assembly includes a rotating shaft, a driving member and a connecting rod, one end of the rotating shaft is rotatably connected to the first mounting member, the other end of the rotating shaft is rotatably connected to one end of the driving member, the other end of the driving member is rotatably connected to one end of the connecting rod, the other end of the connecting rod is rotatably connected to the second mounting member, the axis of the rotating shaft and the axis of the driving member are arranged to intersect and have a first obtuse angle. The first driving mechanism includes a first telescopic assembly and a second telescopic assembly, the first telescopic assembly is transmission-connected to the first mounting member to drive the first mounting member to reciprocate along the first direction, and the second telescopic assembly is transmission-connected to the second mounting member to drive the second mounting member to reciprocate along the first direction. The massage assembly is arranged on the driving member. The bearing assembly is provided with a first straight line intersecting with the first direction, and the transmission mechanism is arranged along the first direction and spaced apart from the first straight line. The control device is electrically connected with the first driving mechanism and the massage assembly.

[0012] The technical solution provided by the embodiments of the present disclosure includes at least the following beneficial effects:

[0013] The control method of the massage device provided by the present disclosure can control the start of the first driving mechanism according to the instruction of the control information. When the control information obtains the instruction of controlling the driving member to approach the first straight line and not swing, the first telescopic component can drive the first mounting member to move, and the second telescopic component can drive the second mounting member to move, so that the first mounting member and the second mounting member move in the same direction and at the same speed. At this time, the spacing between the first mounting member and the second mounting member is fixed, the size of the first obtuse angle remains unchanged, and the driving member can maintain the same shape and move with the transmission mechanism to approach the first straight line, so that the driving member can drive the massage component to move to adjust the position of the massage component. In this way, when the user wears the massage device, the user can adjust the position of the massage component according to his own massage needs to massage multiple massage parts. At the same time, due to the flexible movement of the massage component, the wearing space between the massage components on the massage device can be flexibly adjusted, so that the massage device can have a variety of wearing methods, which can not only meet the wearing needs of different massage parts (such as neck, waist or legs, etc.) of the user, but also be suitable for users of different body shapes.

[0014] Therefore, the control method of the massage device provided by the present disclosure can flexibly adjust the use position of the massage component, provide users with a variety of wearing methods, and meet a variety of wearing needs. At the same time, the control method of the massage device can adjust the movement of the massage component according to the user's personal massage needs to correspond to the massage needs of different massage parts. In addition, the control method of the massage device can also adjust the position of the massage component to meet the wearing and use of users of different body shapes. In this way, the control method of the massage device provided by the present disclosure can enhance the user's experience of using the massage device.

[0015] It is understandable that the massage parts can include the neck, shoulders, back, waist or legs, and the massage device provided by the present disclosure can be applied to any part of the user that needs to be massaged, such as neck massage, shoulder massage, shoulder and neck massage or waist massage, and the present disclosure is not limited. The above general description and the detailed description below are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] BRIEF DESCRIPTION OF THE DRAWINGS The drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and the description thereof are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 Schematic diagram of the structure of a massage device shown in an embodiment.

[0019] Figure 2 for Figure 1 The massage device shown is a schematic structural diagram of a massage component.

[0020] Figure 3 for Figure 1 A top view of the massage device is shown.

[0021] Figure 4 It is a schematic structural diagram of a massage device shown in another embodiment.

[0022] Figure 5 FIG. 4 is a schematic structural diagram of a massage device shown in yet another embodiment.

[0023] Figure 6 Schematic diagram of the structure of a massage device shown in an embodiment.

[0024] Figure 7 It is a schematic diagram of the structure of a massage device worn by a user as shown in one embodiment.

[0025] Reference numerals:

[0026] 1. Massage device; 2. Back; 3. Neck; 10. Bearing assembly; 20. Transmission mechanism; 21. First mounting member; 22. Second mounting member; 23. Transmission assembly; 231. Rotating shaft; 232. Driving member; 233. Connecting rod; 234. Connecting shaft; 30. First driving mechanism; 31. First motor; 32. First connecting mechanism; 321. First worm; 322. First worm wheel; 33. First transmission screw; 34. Second motor; 35. Second connecting mechanism; 351. Second worm; 352. Second worm wheel Wheel; 36, second transmission screw; 37, intermediate connecting mechanism; 371, transmission shaft; 372, first input gear; 373, first output gear; 374, intermediate gear; 38, third transmission screw; 39, fourth transmission screw; 40, massage component; 41, neck massage piece; 42, shoulder massage piece; 50, second driving mechanism; 51, third motor; 52, third connecting mechanism; 521, third worm; 522, third worm wheel; 53, gear shaft; 54, second input gear; 55, second output gear. DETAILED DESCRIPTION

[0027] Here, the technical solutions in the embodiments (or "implementations") of the present disclosure will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0028] If there are terms related to directional indications or positional relationships in the embodiments of the present disclosure (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, height, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. in the embodiments of the present disclosure are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0029] As a health care tool to relieve or eliminate physical fatigue, massage equipment is becoming more and more popular due to its flexible and convenient use. In order to obtain better massage effects, targeted massage equipment is usually designed according to the structural characteristics of various parts of the human body, such as neck massage equipment, waist massage equipment, shoulder and neck massage equipment, etc. At present, there are many types and brands of massage equipment, which makes it possible for consumers to choose a lot of massage equipment. How to win the favor of consumers and improve product competitiveness has become an issue that massage equipment manufacturers pay more and more attention to.

[0030] Massage equipment is a massage tool specially designed for the human body curve, which can massage and relax the shoulder muscles, neck muscles or waist muscles and relieve muscle fatigue. At present, there are more and more people sitting at their desks for long periods of time or looking down at their phones, which can easily cause discomfort in the shoulders, neck or lumbar spine, making the market demand for massage equipment increasingly large.

[0031] However, in the related art, the assembly position of the massage head of most massage devices is fixed relative to the wearing shell, resulting in a limited wearing space formed between multiple massage heads, which can only accommodate massage parts of fixed size, but cannot meet the wearing needs of multiple massage parts, and cannot even take into account the wearing and use of users with large body differences, resulting in poor wearing and use effects of the massage device. At the same time, limited by the fixed assembly position of the massage head, the user cannot adjust the massage position of the massage head according to personal massage needs. For example, after the user wears the massage device, the massage head can only massage the muscle position corresponding to the factory position, and if the user's muscle soreness point is not in the set massage position of the massage head, the user cannot adjust the use position of the massage head according to personal needs, resulting in a poor user experience.

[0032] Based on this, the present disclosure provides a massage device that can flexibly adjust the use position of the massage head to meet the wearing requirements of various massage parts, and can also flexibly adjust the use position of the massage head according to the user's personal use needs, thereby improving the user experience.

[0033] The massage device 1 provided by the present disclosure will be described below with reference to the accompanying drawings.

[0034] Combination Figure 1 As shown, the massage device includes a bearing assembly 10, a transmission mechanism 20, a first driving mechanism 30 and a massage assembly 40. The transmission mechanism 20 includes a first mounting member 21 slidably connected to the bearing assembly 10, a second mounting member 22 slidably connected to the bearing assembly 10, and a transmission assembly 23 disposed between the first mounting member 21 and the second mounting member 22. The first mounting member 21 and the second mounting member 22 are spaced apart and can reciprocate along a first direction respectively. The transmission assembly 23 includes a rotating shaft 231, a driving member 232 and a connecting rod 233, one end of the rotating shaft 231 is rotatably connected to the first mounting member 21, the other end of the rotating shaft 231 is rotatably connected to one end of the driving member 232, the other end of the driving member 232 is rotatably connected to one end of the connecting rod 233, the other end of the connecting rod 233 is rotatably connected to the second mounting member 22, the axis of the rotating shaft 231 is intersected with the axis of the driving member 232, and has a first obtuse angle. The first driving mechanism 30 includes a first telescopic assembly and a second telescopic assembly, the first telescopic assembly is connected to the first mounting member 21 to drive the first mounting member 21 to reciprocate along the first direction, and the second telescopic assembly is connected to the second mounting member 22 to drive the second mounting member 22 to reciprocate along the first direction. The massage assembly 40 is mounted on the driving member 232. The bearing assembly 10 is provided with a first straight line intersecting the first direction, and the transmission mechanism 20 is arranged spaced apart from the first straight line along the first direction.

[0035] It should be noted that the first direction is the sliding track of the first mounting member 21 and the second mounting member 22 relative to the bearing assembly 10, and the sliding track includes a straight track or an arc track, so as to drive the massage assembly 40 to move in accordance with the direction of the user's muscles. The first straight line is a straight line intersecting the sliding track, and specifically in this embodiment, it can be the middle symmetry line of the bearing assembly 10 in the length direction of the bearing assembly 10.

[0036] The bearing assembly 10 can be used to support the sliding of each mounting member on the transmission mechanism 20, and the bearing assembly 10 can also be used to assemble the first drive mechanism 30. The transmission mechanism 20 can be used to assemble the massage assembly 40, and the first drive mechanism 30 can be used to drive the transmission mechanism 20 to slide relative to the bearing assembly 10, and then can drive the massage assembly 40 to slide along the bearing assembly 10 to adjust the use position of the massage assembly 40 on the bearing assembly 10. The bearing assembly 10, the transmission mechanism 20, the first drive mechanism 30 and the massage assembly 40 can be used as independent parts, and can be processed separately and then assembled to form a massage device, which is not described in detail in this disclosure. It can be understood that the massage assembly 40 assembled with the transmission mechanism 20 can be any one or a combination of a neck massage part 41, a shoulder massage part 42, a waist massage part 40 or a back massage part to meet the user's neck, shoulders, waist or back and any other parts that the user needs to massage, which is not limited in this disclosure.

[0037] Specifically, the transmission mechanism 20 includes a first mounting member 21 and a second mounting member 22 respectively connected to the bearing assembly 10 and arranged at a relative interval, and the transmission mechanism 20 also includes a transmission assembly 23 connected between the first mounting member 21 and the second mounting member 22, and the transmission assembly 23 is used to install the massage assembly 40. Among them, the first mounting member 21 and the second mounting member 22 can be arranged at intervals along the length direction of the bearing assembly 10, and can slide back and forth along the first direction respectively, and the first direction can be the length direction of the bearing assembly 10. In this way, during the sliding process of the first mounting member 21 and the second mounting member 22, the transmission assembly 23 can be driven to move, and then the massage assembly 40 assembled on the transmission assembly 23 can be driven to move, so as to adjust the use position of the massage assembly 40.

[0038] The transmission assembly 23 also includes a rotating shaft 231, a driving member 232, and a connecting rod 233. When the transmission assembly 23 is installed between the first mounting member 21 and the second mounting member 22, one end of the rotating shaft 231 can be rotatably connected to the first mounting member 21, the other end of the rotating shaft 231 is rotatably connected to one end of the driving member 232, the other end of the driving member 232 is rotatably connected to one end of the connecting rod 233, and the other end of the connecting rod 233 is rotatably connected to the second mounting member 22. At the same time, the axis of the rotating shaft 231 and the axis of the driving member 232 can be arranged to intersect, so that there is a first obtuse angle (such as 90°) between the rotating shaft 231 and the driving member 232. Figure 3 The driving member 232 can be used to install the massage component 40. In this way, during the movement of the first mounting member 21 and the second mounting member 22, the transmission component 23 can move with the first mounting member 21 and the second mounting member 22, and the transmission component 23 can also adjust the size of the first obtuse angle according to the relative movement speed of the first mounting member 21 and the second mounting member 22.

[0039] For example, when the first mounting member 21 and the second mounting member 22 can move in the same direction and at the same speed, the transmission mechanism 20 can move along the first direction, and the distance between the first mounting member 21 and the second mounting member 22 remains unchanged, so that the size of the first obtuse angle is fixed. At this time, the transmission mechanism 20 as a whole reciprocates along the first direction, which can drive the massage component 40 to reciprocate along the first direction, thereby adjusting the use position of the massage component 40.

[0040] When the first mounting member 21 and the second mounting member 22 can move in the same direction but at different speeds, the transmission mechanism 20 can move in the first direction, and the spacing between the first mounting member 21 and the second mounting member 22 changes, so that the size of the first obtuse angle can be adjusted, and the driving member 232 can swing back and forth relative to the rotating shaft 231 to drive the massage component 40 to swing back and forth. At this time, the transmission mechanism 20 can not only drive the massage component 40 to move to adjust the use position of the massage component 40. The driving member 232 can also drive the massage component 40 to swing back and forth, so that the massage component 40 can be close to or away from the massage position, thereby adjusting the massage intensity.

[0041] When one of the first mounting member 21 and the second mounting member 22 moves and the other is fixed, the distance between the first mounting member 21 and the second mounting member 22 can also change, so that the size of the first obtuse angle can be adjusted. At this time, the transmission mechanism 20 does not move as a whole, but the driving member 232 can swing back and forth relative to the rotating shaft 231 to drive the massage component 40 to swing back and forth, so that the massage component 40 can adjust the massage intensity at a fixed use position.

[0042] When the first mounting member 21 and the second mounting member 22 can reciprocate in opposite directions, the distance between the first mounting member 21 and the second mounting member 22 can also be changed, so that the size of the first obtuse angle can be adjusted. At this time, the first mounting member 21 and the second mounting member 22 can be relatively close to or relatively far away from each other, and the transmission mechanism 20 does not move as a whole, but the driving member 232 can also reciprocate relative to the rotating shaft 231, thereby driving the massage component 40 to reciprocate, so that the massage component 40 can adjust the massage intensity at a fixed use position.

[0043] It can be understood that during the change of the first obtuse angle n, if the distance between the first mounting member 21 and the second mounting member 22 decreases, the driving member 232 swings toward the direction close to the rotating shaft 231, the first obtuse angle n between the two decreases, and the inclination of the driving member 232 relative to the rotating shaft 231 increases. At this time, the driving member 232 can drive the massage component 40 to approach the massage part to increase the massage squeezing force.

[0044] If the massage force needs to be reduced, the distance between the first mounting member 21 and the second mounting member 22 can be increased, so that the driving member 232 swings away from the rotation axis 231, the first obtuse angle n between the two increases, and the inclination of the driving member 232 relative to the rotation axis 231 decreases. At this time, the driving member 232 can drive the massage component 40 away from the massage part to reduce the massage squeezing force. In this way, the present disclosure does not limit how the distance between the first mounting member 21 and the second mounting member 22 changes, and the user can adjust it by himself to adjust the massage force and the use position of the massage component 40 according to the use requirements.

[0045] In order to facilitate driving the first mounting member 21 and the second mounting member 22 to slide relative to the bearing assembly 10, the first driving mechanism 30 includes a first telescopic mechanism and a second telescopic mechanism. The first telescopic assembly is used to drive the first mounting member 21 to move, and the second telescopic assembly is used to drive the second mounting member 22 to move. According to the user's use requirements, the first telescopic assembly and the second telescopic assembly can move simultaneously to drive the first mounting member 21 and the second mounting member 22 to move in the same direction and at the same speed, in the same direction and at different speeds, or in the opposite direction. The first telescopic assembly can also move alone, while the second telescopic assembly does not move, so that the first mounting member 21 can move relative to the bearing assembly 10, and then move closer to or away from the second mounting member 22. The first telescopic assembly can also not move, while the second telescopic assembly moves, so that the second mounting member 22 can move relative to the bearing assembly 10, and then move closer to or away from the first mounting member 21. Thus, the first telescopic assembly and the second telescopic assembly can be flexibly started according to the user's use requirements, and at least one of the first telescopic assembly and the second telescopic assembly can move, and the present disclosure does not limit this. Of course, when the massage device is not started, neither the first telescopic assembly nor the second telescopic assembly moves.

[0046] It can be understood that there can be many specific implementation methods for the first telescopic assembly and the second telescopic assembly, including but not limited to power equipment such as pneumatic rods, hydraulic rods, linear motors, etc. that directly drive the movement of the first mounting member 21 and / or the second mounting member 22, and also including telescopic mechanisms that indirectly realize the movement of the first mounting member 21 and / or the second mounting member 22 using gear rack mechanisms, screw nut mechanisms, etc., and the present disclosure does not impose any restrictions on this.

[0047] Thus, during the use of the massage device provided by the present disclosure, when the first driving mechanism 30 is started, the first mounting member 21 and the second mounting member 22 can move in the same direction to drive the transmission mechanism 20 to move, so that the massage component 40 mounted on the driving member 232 can also move, thereby adjusting the use position of the massage component 40. For example, when the massage component 40 massages the user's neck, shoulders or waist, the massage component 40 can perform a mobile massage on the massaged area along the direction of the neck width, shoulder width or waist width to expand the massage range of the muscle group and relieve muscle soreness.

[0048] Furthermore, during the same-direction movement of the first mounting member 21 and the second mounting member 22, the present disclosure does not limit the moving speed of the first mounting member 21 and the second mounting member 22. If the first mounting member 21 and the second mounting member 22 move in the same direction and at the same speed, the distance between the first mounting member 21 and the second mounting member 22 is fixed, the size of the first obtuse angle remains unchanged, and the driving member 232 can maintain the same shape and move with the transmission mechanism 20 without swinging, thereby driving the massage component 40 to move. For example, when the massage component 40 massages the user's neck, shoulders, waist and other parts, the massage component 40 can perform a mobile massage on the massage part along the neck width, shoulder width or waist width direction, and maintain the same massage strength on the massage part during the movement.

[0049] If the first mounting member 21 and the second mounting member 22 move in the same direction but at different speeds, the relative spacing between the first mounting member 21 and the second mounting member 22 also changes, so that the size of the first obtuse angle changes, and the driving member 232 can also swing relative to the rotating shaft 231 during the movement, thereby driving the massage component 40 to adjust both the use position and the massage intensity. For example, when the massage component 40 massages the user's neck, shoulders, waist and other parts, the massage component 40 can perform a mobile massage on the massage part along the neck width, shoulder width or waist width direction, and the massage component 40 can also move closer to or away from the massage part during the movement process to adjust the massage intensity of the massage part.

[0050] Of course, in other embodiments, only one of the first mounting member 21 and the second mounting member 22 can move, while the other does not move, so as to change the size of the first obtuse angle and fix the transmission mechanism 20 relative to the bearing assembly 10, thereby enabling the massage assembly 40 to adjust the massage intensity in a fixed use position. Of course, the first mounting member 21 and the second mounting member 22 can also move in opposite directions to approach or move away from each other, so as to change the size of the first obtuse angle and fix the center position of the transmission mechanism 20 relative to the bearing assembly 10, thereby enabling the massage assembly 40 to adjust the massage intensity in a fixed use position. The present disclosure is not limited to this.

[0051] Therefore, the massage device provided by the present disclosure can flexibly adjust the use position of the massage component 40 on the massage device, and can adjust the massage strength of the massage component 40 to achieve alternating light and heavy massage on different or the same massage parts, thereby improving the user experience.

[0052] In addition, the massage device provided by the present disclosure can be applied to any part of the body that the user needs to massage, such as neck massage, shoulder massage, shoulder and neck massage or waist massage, and the present disclosure does not make any restrictions.

[0053] In some embodiments, to facilitate sliding of the first mounting member 21 and the second mounting member 22 , the supporting assembly 10 may be provided with sliding grooves slidably connected to the first mounting member 21 and the second mounting member 22 , so that the first mounting member 21 and the second mounting member 22 can move smoothly.

[0054] See also Figures 1 to 3 In some embodiments, in order to facilitate driving the first mounting member 21 to move, the first telescopic assembly includes a first motor 31, a first connecting mechanism 32 drivingly connected to the output shaft of the first motor 31, and a first output mechanism connected to the first connecting mechanism 32, and the first output mechanism is connected to the first mounting member 21 so that the first mounting member 21 can move relative to the second mounting member 22.

[0055] It should be noted that the first motor 31 is used to provide power to drive the first mounting member 21 to move. The first connecting mechanism 32 includes a transmission mechanism 20 such as a gear assembly, a connecting rod 233 assembly or a worm gear assembly, which is not limited in the present disclosure. The first output mechanism includes a telescopic mechanism such as a gear rack assembly, or a screw nut pair, which is not limited in the present disclosure.

[0056] As an example, the first connection mechanism 32 includes a first worm 321 drivingly connected to the output shaft of the first motor 31 and a first worm wheel 322 meshing with the first worm 321. The first output mechanism includes a first transmission screw 33 connected to the first worm wheel 322, and the first mounting member 21 is sleeved on the first transmission screw 33 and threadedly connected to the first transmission screw 33, so as to drive the first mounting member 21 to move relative to the bearing assembly 10 through thread transmission.

[0057] In this way, after the first motor 31 is started, the first motor 31 can drive the first transmission screw 33 to rotate through the worm gear transmission, and then use the transmission thread to realize the first mounting member 21 to move along the first transmission screw 33, so as to move relative to the bearing assembly 10. After the first motor 31 stops, the first transmission screw 33 stops rotating, and the first mounting member 21 stops moving.

[0058] It can be understood that the first worm wheel 322 and the first worm 321 are a kind of gear transmission device with a large reduction ratio, which can reduce the high-speed rotation of the first motor 31 and output it to the first output mechanism, and increase the torque of the first output mechanism. At the same time, the worm gear can be transmitted in the vertical direction, so the provision of the worm gear can reduce the installation space of the equipment and improve the compactness of the structure. Secondly, the rotation accuracy of the worm gear is relatively high, and it can cooperate with the first transmission screw 33, and use the transmission thread to improve the adjustment accuracy of the moving distance of the first mounting member 21, and realize the instant stop and turn, thereby adjusting the massage position of the massage component 40.

[0059] See also Figures 1 to 3In some embodiments, in order to facilitate driving the second mounting member 22 to move, the second telescopic assembly includes a second motor 34, a second connecting mechanism 35 drivingly connected to the output shaft of the second motor 34, and a second output mechanism connected to the second connecting mechanism 35, and the second output mechanism is connected to the second mounting member 22 so that the second mounting member 22 can move relative to the supporting assembly 10.

[0060] It should be noted that the second motor 34 is used to provide power to drive the second mounting member 22 to move. The second connecting mechanism 35 includes a transmission mechanism 20 such as a gear assembly, a connecting rod 233 assembly or a worm gear assembly, which is not limited in the present disclosure. The second output mechanism includes a telescopic mechanism such as a gear rack assembly, or a screw nut pair, which is not limited in the present disclosure.

[0061] As an example, the second connection mechanism 35 includes a second worm 351 drivingly connected to the output shaft of the second motor 34 and a second worm wheel 352 meshing with the second worm 351. The second output mechanism includes a second transmission screw 36 connected to the second worm wheel 352, and the second mounting member 22 is sleeved on the second transmission screw 36 and threadedly connected to the second transmission screw 36, so as to drive the second mounting member 22 to move relative to the bearing assembly 10 through thread transmission.

[0062] In this way, after the second motor 34 is started, the second motor 34 can drive the second transmission screw 36 to rotate through the worm gear transmission, and then use the transmission thread to realize the second mounting member 22 to move along the second transmission screw 36, so as to move relative to the bearing assembly 10. After the second motor 34 stops, the second transmission screw 36 stops rotating, and the second mounting member 22 stops moving.

[0063] It can be understood that the second worm wheel 352 and the second worm 351 are a kind of gear transmission device with a large reduction ratio, which can reduce the high-speed rotation of the second motor 34 to the second output mechanism and increase the torque of the second output mechanism. At the same time, the worm gear can be transmitted in the vertical direction, so the worm gear can reduce the space occupancy rate. Secondly, the worm gear has a high rotation accuracy and can cooperate with the second transmission screw 36 to improve the adjustment accuracy of the moving distance of the second mounting member 22, and realize the instant stop and turn, thereby adjusting the massage position of the massage component 40.

[0064] See also Figures 1 to 3In some embodiments, in order to drive the first mounting member 21 and the second mounting member 22 to move respectively, the first motor 31 and the second motor 34 can be started simultaneously or separately. In this way, when the first motor 31 drives the first transmission screw 33 to rotate, the first mounting member 21 can be moved along the first transmission screw 33 by using the thread transmission between the first transmission screw 33 and the first mounting member 21. When the second motor 34 drives the second transmission screw 36 to rotate, the second mounting member 22 can be moved along the second transmission screw 36 by using the thread transmission between the second transmission screw 36 and the second mounting member 22.

[0065] See also Figures 1 to 3 In some embodiments, in order to save installation space, the first transmission screw 33 and the second transmission screw 36 are coaxially arranged. The first driving mechanism 30 also includes an intermediate connecting mechanism 37. The intermediate connecting mechanism 37 is connected between the first connecting mechanism 32 and the first transmission screw 33 along the radial direction of the first transmission screw 33, and / or, the intermediate connecting mechanism 37 is connected between the second connecting mechanism 35 and the second transmission screw 36 along the radial direction of the second transmission screw 36.

[0066] It should be noted that the intermediate connection mechanism 37 is used to transmit the power of the motor to the output mechanism, and can adjust the power to increase the speed or decrease the speed. At the same time, the intermediate connection mechanism 37 can also optimize the installation layout in space to avoid motion interference between the transmission screws. The intermediate connection mechanism 37 can be arranged between the rotating shaft 231 and the first screw, or between the driving member 232 and the second screw, which is not limited by the present disclosure.

[0067] As an example, when the intermediate connecting mechanism 37 is arranged between the second connecting mechanism 35 and the second transmission screw 36, the intermediate connecting mechanism 37 includes a transmission shaft 371 connected to the second connecting mechanism 35, a first input gear 372 fixed to the transmission shaft 371, and a first output gear 373 meshing with the first input gear 372 and fixed to the second transmission screw 36.

[0068] It should be noted that the transmission shaft 371 can be spaced apart from the second transmission screw 36 along the radial direction of the second transmission screw 36, and the first input gear 372 and the first output gear 373 are meshed with each other and connected between the transmission shaft 371 and the second transmission screw 36. In this way, when the first transmission screw 33 and the second transmission screw 36 are coaxially arranged, the first motor 31 and the second motor 34 can be arranged on the same side of the first transmission screw 33 and the second transmission screw 36, and the first motor 31 can drive the first transmission screw 33 to rotate, and the second motor 34 can drive the second transmission screw 36 to rotate, so as to drive the first mounting member 21 and the second mounting member 22 to move respectively.

[0069] It can be understood that after the second motor 34 is started, the second motor 34 drives the transmission shaft 371 to rotate through the worm gear transmission, the transmission shaft 371 can drive the first input gear 372 to rotate, the first input gear 372 can drive the first output gear 373 to rotate through gear meshing, the first output gear 373 is sleeved on the second transmission screw 36, and can then drive the second transmission screw 36 to rotate, thereby driving the second mounting member 22 to move.

[0070] In addition, the intermediate connection mechanism 37 may also be provided with a plurality of intermediate gears 374 connected between the first input gear 372 and the first output gear 373. On the one hand, by providing the intermediate gears 374, the spacing between the transmission shaft 371 and the second transmission screw 36 can be increased to avoid motion interference. On the other hand, by providing the intermediate gears 374, the rotation speed of the second transmission screw 36 can be adjusted in coordination with the first input gear 372 and the first output gear 373, so that the first transmission screw 33 and the second transmission screw 36 can rotate at the same speed or at a differential speed, thereby driving the first mounting member 21 and the second mounting member 22 to move at the same speed or at a differential speed.

[0071] Of course, in other embodiments, the pitch and / or rotation direction of the first transmission screw 33 and the second transmission screw 36 can be set to be the same or different, so that through thread transmission, relative movement or relative stillness can occur between the first mounting member 21 and the second mounting member 22, thereby driving the rotating shaft 231 and the driving member 232 to swing relative to each other or be relatively fixed, so as to adjust the massage intensity and / or massage range of the massage head.

[0072] See also Figures 1 to 3 In some embodiments, the rotating shaft 231 can also rotate relative to the first mounting member 21, and the transmission assembly 23 is also provided with a connecting shaft 234 rotatably connected between the connecting rod 233 and the second mounting member 22, and the connecting shaft 234 is coaxially arranged with the rotating shaft 231.

[0073] It should be noted that either the rotating shaft 231 or the connecting shaft 234 can be driven to rotate by a motor to drive the transmission component 23 as a whole to rotate around the axis of the rotating shaft 231, thereby driving the massage component 40 to knead and massage the massage area.

[0074] See also Figure 4 In some embodiments, in order to facilitate driving the rotating shaft 231 to rotate, the massage device also includes a second driving mechanism 50, and the second driving mechanism 50 is used to drive the transmission assembly 23 to rotate relative to the first mounting member 21.

[0075] In this way, when the first mounting member 21 and the second mounting member 22 are fixed or relatively still, if the second driving mechanism 50 drives the transmission assembly 23 to rotate relative to the first mounting member 21, the transmission assembly 23 can also drive the first massage assembly 40 to move, thereby kneading and massaging the massaged area. Of course, when the first driving mechanism 30 drives at least one of the first mounting member 21 and the second mounting member 22 to move, the second driving mechanism 50 can also drive the transmission assembly 23 to rotate relative to the first mounting member 21, so that the driving member 232 in the transmission assembly 23 can both swing and rotate, so as to enrich the motion trajectory of the first massage assembly 40, thereby enriching the massage technique. It can be understood that the start and stop of the first driving mechanism 30 and the second driving mechanism 50 can be independent of each other, and can be selected to start or stop according to the user's use needs, and the present disclosure does not limit it.

[0076] In some embodiments, to facilitate driving the transmission assembly 23 to rotate, the second driving mechanism 50 includes a third motor 51, a third connecting mechanism 52 connected to the output shaft of the third motor 51, and a third output mechanism connected to the third connecting mechanism 52, and the third output mechanism is connected to the rotating shaft 231 or the driving member 232 to drive the transmission assembly 23 to rotate.

[0077] It should be noted that the third motor 51 is used to provide power to drive the transmission assembly 23 to rotate. The third connecting mechanism 52 includes a transmission mechanism 20 such as a gear assembly, a connecting rod 233 assembly or a worm gear assembly, which is not limited in the present disclosure. The third output mechanism includes a rotating mechanism such as a gear assembly, a cam mechanism or a rotating shaft assembly, which is not limited in the present disclosure.

[0078] As an example, the third connection mechanism 52 includes a third worm 521 connected to the output shaft of the third motor 51 and a third worm wheel 522 meshed with the third worm 521. The third output mechanism includes a gear shaft 53 connected to the third worm wheel 522, a second input gear 54 meshed with the gear shaft 53, and a second output gear 55 meshed with the second input gear 54 and fixed to the rotating shaft 231.

[0079] It can be understood that the third worm wheel 522 and the third worm 521 are a gear transmission device with a large reduction ratio, which can reduce the high-speed rotation of the third motor 51 and output it to the third output mechanism, and increase the torque of the third output mechanism. At the same time, the worm gear can be transmitted in the vertical direction, so the worm gear can reduce the space occupancy rate. Secondly, the worm gear has a high rotation accuracy and can cooperate with the gear shaft 53 to accurately adjust the rotation angle of the transmission component 23, thereby adjusting the massage angle of the first massage component 40.

[0080] In addition, the second input gear 54 and the second output gear 55 are respectively rotatably disposed on the first mounting member 21, and the second input gear 54 is meshed with the gear shaft 53, so that regardless of whether the first mounting member 21 is driven to move, the second input gear 54 can always be meshed with the gear shaft 53 along the moving direction of the first mounting member 21, thereby enabling the third motor 51 to drive the transmission assembly 23 to rotate relative to the first mounting member 21.

[0081] In some embodiments, at least two transmission mechanisms 20 are provided, each transmission mechanism 20 is slidably connected to the bearing assembly 10 and is spaced apart from each other, the driving member 232 of each transmission mechanism 20 can be respectively installed with a massage assembly 40, and the first driving mechanism 30 is provided in a one-to-one correspondence with the transmission mechanism 20 to be able to drive any transmission mechanism 20 to move relative to the bearing assembly 10. In this way, the massage device can drive multiple massage assemblies 40 to massage multiple massage parts of the user. The transmission mechanism 20 can be provided with 1, 2, 3 or 4, etc., which will not be described in detail in this disclosure.

[0082] In some embodiments, the user's massage needs are usually to massage the muscle groups distributed on both sides of the spine. For example, the left and right neck muscles distributed on both sides of the spine, the left and right shoulder muscles distributed on both sides of the spine, the left and right back muscles distributed on both sides of the spine, and the left and right waist muscles distributed on both sides of the spine, etc. In this way, the massage device is usually provided with two left and right massage components 40.

[0083] See also Figure 5 and Figure 6 Accordingly, the massage device provided by the present disclosure can be provided with two transmission mechanisms 20 to respectively drive the left and right massage components 40 to move. In some embodiments, to facilitate the linkage of the two transmission mechanisms 20, the first telescopic component includes a first motor 31, a first connecting mechanism 32 connected to the output shaft of the first motor 31, and two first output mechanisms connected to the first connecting mechanism 32, respectively, and the two first output mechanisms are respectively connected to the two first mounting members 21 in a one-to-one correspondence.

[0084] The second telescopic assembly includes a second motor 34 , a second connecting mechanism 35 drivingly connected to the output shaft of the second motor 34 , and two second output mechanisms respectively connected to the second connecting mechanism 35 , and the two second output mechanisms are respectively connected to the two second mounting members 22 in a one-to-one correspondence.

[0085] The two first output mechanisms and the two second output mechanisms may include a gear rack assembly, or a telescopic mechanism such as a screw-nut pair, and the present disclosure does not limit this.

[0086] As an example, the two first output mechanisms include a first transmission screw 33 and a third transmission screw 38 respectively connected to the first connection mechanism 32, the first transmission screw 33 is threadedly connected to one of the two first mounting members 21, and the third transmission screw 38 is threadedly connected to the other of the two first mounting members 21. The two second output mechanisms include a second transmission screw 36 and a fourth transmission screw 39 respectively connected to the second connection mechanism 35, the second transmission screw 36 is threadedly connected to one of the two second mounting members 22, and the fourth transmission screw 39 is threadedly connected to the other of the two second mounting members 22.

[0087] In this way, by rotating each transmission screw, each mounting member can be driven to move by the transmission thread. It is understandable that the thread rotation direction of each transmission screw is not limited by the present disclosure, and can be adjusted according to the actual use situation. For example, the thread rotation direction of the first transmission screw 33 is opposite to that of the third transmission screw 38, the thread rotation direction of the second transmission screw 36 is opposite to that of the fourth transmission screw 39, the thread rotation direction of the first transmission screw 33 is the same as that of the second transmission screw 36, the thread rotation direction of the third transmission screw 38 is the same as that of the fourth transmission screw 39, etc., which are not elaborated in the present disclosure. It is understandable that the pitch parameters of each transmission screw are not limited by the present disclosure. According to different pitch parameter settings, the first mounting member 21 and the second mounting member 22 can be made to move at the same speed or at a differential speed, thereby adjusting the massage intensity of the massage component 40, which is not limited by the present disclosure.

[0088] In some embodiments, in order to improve the compactness of the structure, the first transmission screw 33, the second transmission screw 36, the third transmission screw 38 and the fourth transmission screw 39 are coaxially arranged. The massage device also includes an intermediate connecting mechanism 37, which includes a transmission shaft 371 connected to the second connecting mechanism 35, two first input gears 372 fixed at both ends of the transmission shaft 371, and two first output gears 373 respectively meshed with the two first input gears 372 in a one-to-one correspondence, and the two first output gears 373 are respectively connected to the second transmission screw and the fourth transmission screw 39 in a one-to-one correspondence.

[0089] In some embodiments, in order to drive the two massage components 40 to rotate respectively, the second driving mechanism 50 includes a third motor 51, a third connecting mechanism 52 connected to the output shaft of the third motor 51, and two third output mechanisms connected to the third connecting mechanism 52. The two third output mechanisms are respectively connected to the two rotating shafts 231 in the two transmission mechanisms 20 in a one-to-one correspondence, so that the driving member 232 can rotate with the rotating shaft 231, thereby driving the massage component 40 to rotate.

[0090] It can be understood that the third connecting mechanism 52 includes a third worm 521 connected to the output shaft of the third motor 51 and a third worm wheel 522 meshing with the third worm 521, and the third output mechanism includes a gear shaft 53 connected to the third worm wheel 522, two second input gears 54 respectively meshing with the gear shaft 53, and two second output gears 55 meshing with the two second input gears 54 in a one-to-one correspondence, and the two second output gears 55 are respectively connected to the two rotating shafts 231 in a one-to-one correspondence.

[0091] In this way, after the third motor 51 is started, the third motor 51 can drive the gear shaft 53 to rotate through the worm gear transmission, the gear shaft 53 drives the two second input gears 54 to rotate, and the two second input gears 54 respectively drive the two second output gears 55 to rotate after meshing, and then respectively drive the two rotating shafts 231 to rotate, so as to realize that the two massage components 40 rotate with the transmission component 23 respectively, thereby enriching the massage trajectory.

[0092] In some embodiments, the massage component 40 includes a first massage member and / or a second massage member, the first massage member and / or the second massage member are rotatably connected to the driving member 232, and the first massage member and the second massage member can slide relative to each other.

[0093] It should be noted that the first massage member may be a neck massage member 41, and the second massage member may be a shoulder massage member 42. When the massage device includes both the neck massage member 41 and the shoulder massage member 42, at least one of the neck massage member 41 and the shoulder massage member 42 is movably connected to the driving member 232, and the neck massage member 41 and the shoulder massage member 42 can move relative to each other to respectively perform kneading massage on the neck and shoulders.

[0094] In some embodiments, the massage component 40 further includes at least one of a waist massage component and a back massage component. The number of waist massage components and back massage components is not limited. It is understood that the massage component 40 can massage any part of the user that has a massage demand, and the present disclosure does not limit it.

[0095] It is understandable that there is no limit to the number of shoulder massage parts 4221 and neck massage components 40. The length, shape and structure of the massage component 40 can be flexibly set according to the use requirements. In order to meet the massage requirements of different parts, the number, shape and structure of the massage heads on the massage component 40 can also be flexibly set according to the use requirements, and the present disclosure does not limit this. For example, the massage heads can be set in 1, 2, 3, 4 or 5 or more respectively. The massage head can be spherical, elliptical or gourd-shaped, etc., and the present disclosure does not limit this.

[0096] In some embodiments, in order to cover multiple massage parts, the massage component includes a first massage member rotatably connected to the driving member and a second massage member movably connected to the first massage member along a first straight line direction, and the second massage member includes a first massage head and a second massage head spaced along the first direction, and the first massage head and the second massage head are controlled to swing relative to the first massage member. For example, taking the shoulder and neck massage device as an example, the first massage member can be a neck massage member, and the second massage member can be a shoulder massage member. Accordingly, the first massage member can be provided with 1, 2 or more first massage members, so as to be distributed along the width of the user's neck respectively to meet the user's neck massage needs. The second massage member can be provided with a first massage head and a second massage head spaced along the first direction to massage the left and right shoulders of the user respectively, which will not be elaborated in the present disclosure.

[0097] In some embodiments, in order to improve the user's experience of using the massage device, the present disclosure also provides a control device for the massage device, and the control device includes one or more processors. In this way, the massage device can be equipped with a control method for the massage device according to the user's use requirements, and the massage device can be controlled according to the control method to execute the user's massage instructions. At the same time, the control method can also be adaptively adjusted according to the massage device, so as to be able to adaptively adjust the massage method of the massage device and enrich the user's use experience.

[0098] Next, a method for controlling the massage device is described.

[0099] The embodiment of the present application provides a control method of a massage device, which is applied to the massage device. The control method includes steps S11 and S12.

[0100] Step S11, obtaining control information:

[0101] Step S12, obtaining a first control instruction for controlling the driving member 232 to approach the first straight line and not swing according to the control information, and sending the first control instruction to the first telescopic component and the second telescopic component respectively, so as to control the first telescopic component to drive the first mounting member 21 and control the second telescopic component to drive the second mounting member 22 to move the first mounting member 21, the second mounting member 22, the first mounting member 21, the second mounting member 22 in the same direction and at the same speed approaching the first straight line.

[0102] It should be noted that the control information is an instruction for the massage device to control the movement of each telescopic component in the driving mechanism, so that at least one of the following states of each telescopic component can be adjusted according to the control information, including: starting or stopping each telescopic component; adjusting the load of each telescopic component to adjust the movement speed of each massage component 40; adjusting the movement direction of each telescopic component to correspondingly adjust the movement direction of each massage component 40; and so on.

[0103] The control information can be generated according to the user's usage requirements, or according to the adaptive adjustment method of the massage device, which is not limited by the present disclosure. For example, the method of obtaining the control information includes pressing a button on the user side or inputting instructions through an APP to adjust the activation of each telescopic component in the first drive mechanism 30 according to the user's input instructions, thereby driving each massage component 40 to move to adjust the use position. The method of obtaining the control information also includes the massage device adjusting the activation of each telescopic component according to the massage pressure of the massage component 40 or the load feedback of each drive mechanism to perform the adaptive adjustment mode of the device.

[0104] The control instructions obtained from the control information can be sent in different input modes. For example, different input modes include: the massage device has different operation buttons corresponding to the required execution results. As an example, the first operation button is used to send a control instruction to control the drive member 232 to approach the first straight line and not swing. For another example, different input modes include: a smart terminal connected to the massage device for communication, the smart terminal can send a control instruction to control the drive member 232 to approach the first straight line and not swing.

[0105] See also Figures 5 to 7 It should be noted that the first mounting member 21 and the second mounting member 22 can slide back and forth respectively along the first direction. The first direction is the sliding track of the first mounting member 21 and the second mounting member 22 relative to the bearing assembly 10. The sliding track can include a straight track or an arc track, so that the first mounting member 21 and the second mounting member 22 can drive the massage assembly 40 to move in accordance with the user's muscle direction during the movement. The first straight line is a straight line intersecting with the sliding track. Specifically in this embodiment, it can be the middle symmetry line of the bearing assembly 10 in the length direction of the bearing assembly 10. See Figure 7 Taking a shoulder, neck massage device, waist massage device or back massage device as an example, after a user wears such a massage device, the first straight line may correspond to a straight line extending along the length direction of the spine. It can be understood that when the driving member 232 moves close to the first straight line, the massage assembly 40 may be driven to move from any shoulder side of the user to the spine. The driving member 232 does not swing, which means that the size of the first obtuse angle between the driving member 232 and the rotating shaft 231 is fixed.

[0106] In this way, when the control information obtains an instruction to control the driving member 232 to approach the first straight line without swinging, the first telescopic assembly can drive the first mounting member 21 to move, and the second telescopic assembly can drive the second mounting member 22 to move, so that the first mounting member 21 and the second mounting member 22 move in the same direction and at the same speed. At this time, the distance between the first mounting member 21 and the second mounting member 22 is fixed, the size of the first obtuse angle remains unchanged, and the driving member 232 can move with the transmission mechanism 20 without swinging and approach the first straight line, so that the driving member 232 can drive the massage component 40 to move to adjust the position of the massage component 40.

[0107] In this way, when the user wears the massage device, the user can adjust the position of the massage component 40 according to his / her own massage needs to massage multiple massage parts. For example, when the massage component 40 massages the user's neck, shoulders or waist, the massage component 40 can move along the width of the neck, shoulders or waist to perform a mobile massage on the massage part, and the same massage intensity can be maintained on the massage part during the movement.

[0108] At the same time, due to the flexible movement of the massage component 40, the wearing space between each massage component 40 on the massage device can be flexibly adjusted, so that the massage device can have a variety of wearing methods, which can not only meet the wearing needs of users in different massage parts (such as neck, waist or legs, etc.), but also can be suitable for users of different body shapes.

[0109] Therefore, the control method of the massage device provided by the present disclosure can flexibly adjust the use position of the massage component 40, provide users with a variety of wearing methods, and meet a variety of wearing needs. At the same time, the control method of the massage device can adjust the movement of the massage component 40 according to the user's personal massage needs to correspond to the massage needs of different massage parts. In addition, the control method of the massage device can also adjust the position of the massage component 40 to meet the wearing and use of users of different body shapes. In this way, the control method of the massage device provided by the present disclosure can enhance the user's experience of using the massage device.

[0110] In some embodiments, the massage component 40 can also move away from the first straight line. For example, the massage component 40 can be driven to move from the spine of the user to either shoulder side. Accordingly, in the control method, if the control information is a second control instruction to control the driving member 232 to move away from the first straight line and not swing, the first telescopic component and the second telescopic component are controlled to drive the first mounting member 21 and the second mounting member 22 to move away from the first straight line in the same direction and at the same speed. That is, when the user needs to move the massage component 40 from the spine to the shoulder side, the massage device can execute the second control instruction accordingly.

[0111] In some embodiments, in order to enrich the user's massage experience, the massage device can also adjust the massage strength of the massage component 40 on the massage part when moving the massage component 40.

[0112] Correspondingly, in the control method, if the control information is the third control instruction to control the driving member 232 to approach the first straight line and swing, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member 21 and the second mounting member 22 to move close to the first straight line in the same direction but at different speeds.

[0113] Correspondingly, in the control method, if the control information is the fourth control instruction to control the driving member 232 to move away from the first straight line and rotate, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member 21 and the second mounting member 22 to move away from the first straight line in the same direction but at different speeds.

[0114] It is understandable that, whether the massage component 40 moves close to the first straight line or moves away from the first straight line, the moving speeds of the first mounting member 21 and the second mounting member 22 are not limited. If the moving speeds of the first mounting member 21 and the second mounting member 22 are different, relative movement occurs between the first mounting member 21 and the second mounting member 22, so that the size of the first obtuse angle changes, and the driving member 232 can swing relative to the rotating shaft 231, thereby driving the massage component 40 to swing, so that the massage component 40 can move close to or away from the massage part to adjust the massage intensity of the massage part. In this way, when the first mounting member 21 and the second mounting member 22 of each transmission mechanism 20 can move in the same direction but at different speeds, the massage device can not only move the position of the massage component 40, but also adjust the massage intensity of the massage component 40 on the massage part. For example, when the massage component 40 massages the user's neck, shoulders or waist, the massage component 40 can perform mobile massage on the massage part along the width of the neck, shoulders or waist, and the massage component 40 can also move closer to or away from the massage part during the movement process to adjust the massage intensity of the massage part.

[0115] In some embodiments, after the massage component 40 is moved, the massage component 40 can stay in a fixed position to massage the massage part. For example, the massage component 40 can position and massage the user's stubborn pain points to relieve muscle soreness. It can be understood that when the distance between the first mounting member 21 and the second mounting member 22 changes, the size of the first obtuse angle also changes, so that the driving member 232 can swing relative to the rotating shaft 231, thereby driving the massage component 40 to swing, so that the massage component 40 can approach or move away from the massage part to adjust the massage intensity of the massage part.

[0116] In this way, in addition to using the first mounting member 21 and the second mounting member 22 to move in the same direction but at different speeds to generate relative motion, relative motion can also be generated by using one of the first mounting member 21 and the second mounting member 22 to move while the other is fixed. And in the case where one of the first mounting member 21 and the second mounting member 22 is fixed relative to the bearing assembly 10 and the other is moved relative to the bearing assembly 10, the moving distance of the driving member 232 along the first direction can be limited, and the massage assembly 40 can be massaged at a fixed position. Accordingly, by starting one of the first telescopic assembly and the second telescopic assembly and not starting the other, one of the first mounting member 21 and the second mounting member 22 can be moved while the other is fixed.

[0117] Accordingly, the first direction includes a first moving direction and a second moving direction opposite to the first moving direction. It can be understood that the first moving direction can be a direction moving toward the first straight line, and the second moving direction can be a direction moving away from the first straight line.

[0118] When the user needs to reduce the massage intensity at a fixed massage position, the control method also includes; if the first control information is the fifth control instruction for controlling the driving member 232 to swing relative to the first straight line, then controlling the first telescopic component to drive the first mounting member 21 to move along the first moving direction; or, controlling the second telescopic component to drive the second mounting member 22 to move along the second moving direction.

[0119] As an example, when the massage device executes the fifth control instruction, the first telescopic component is controlled to drive the first mounting member 21 to move along the first moving direction. At this time, the second telescopic component is not activated, and the second mounting member 22 is in a fixed state. In this way, the movement of the driving member 232 along the second moving direction is restricted by the second mounting member 22. When the first mounting member 21 moves along the first moving direction, the distance between the first mounting member 21 and the second mounting member 22 increases, so that the first obtuse angle n increases, and then the driving member 232 drives the massage component 40 to swing and reduce the massage strength on the massage part.

[0120] As an example, when the massage device executes the fifth control instruction, the second telescopic component is controlled to drive the second mounting member 22 to move along the second moving direction. At this time, the first telescopic component is not activated, and the first mounting member 21 is in a fixed state. In this way, the movement of the driving member 232 along the first moving direction is restricted by the first mounting member 21. When the second mounting member 22 moves along the second moving direction, the distance between the first mounting member 21 and the second mounting member 22 can also increase, so that the first obtuse angle n increases, and then the driving member 232 drives the massage component 40 to swing and reduce the massage strength on the massage part.

[0121] When the user needs to increase the massage intensity at a fixed massage position, the control method also includes: if the first control information is a sixth control instruction for controlling the driving member to swing relative to the first straight line, then controlling the first telescopic component to drive the first mounting member to move along the second moving direction; or, controlling the second telescopic component to drive the second mounting member to move along the first moving direction.

[0122] As an example, when the massage device executes the sixth control instruction, the first telescopic component is controlled to drive the first mounting member 21 to move along the second moving direction. At this time, the second telescopic component is not activated, and the second mounting member 22 is in a fixed state. In this way, the movement of the driving member 232 along the first moving direction is restricted by the second mounting member 22. When the first mounting member 21 moves along the second moving direction, the distance between the first mounting member 21 and the second mounting member 22 decreases, so that the first obtuse angle n decreases, and then the driving member 232 drives the massage component 40 to swing and can increase the massage strength of the massage part.

[0123] As an example, when the massage device executes the sixth control instruction, the second telescopic component is controlled to drive the second mounting member 22 to move along the first moving direction. At this time, the first telescopic component is not activated, and the first mounting member 21 is in a fixed state. In this way, the movement of the driving member 232 along the second moving direction is restricted by the first mounting member 21. When the second mounting member 22 moves along the first moving direction, the distance between the first mounting member 21 and the second mounting member 22 can also be reduced, so that the first obtuse angle n is reduced, and then the driving member 232 drives the massage component 40 to swing, which can increase the massage strength of the massage part.

[0124] Accordingly, in some embodiments, if the massage device is to achieve alternating light and heavy massage on a fixed position of the user, this can be achieved by alternately executing the fifth control instruction and the sixth control instruction. Figure 7 Taking the middle wearing mode as an example, the first moving direction may be a direction close to the first straight line, and the second moving direction may be a direction away from the first straight line.

[0125] It can be understood that in the fifth control instruction, the first mounting member 21 can be moved along the first moving direction, and the second mounting member 22 can be fixed. Accordingly, since one end of the driving member 232 is rotatably connected to the rotating shaft, the rotating shaft is rotatably set on the first mounting member. The other end of the driving member 232 is rotatably connected to the connecting rod, and the connecting rod is rotatably connected to the second mounting member. The driving member 232 is tilted relative to the rotating shaft to have a first obtuse angle with the rotating shaft. In this way, when the second mounting member 22 is fixed, the distance that the first mounting member 21 can move along the first moving direction is limited by the length of the connecting rod, the driving member and the rotating shaft. As the first mounting member moves along the first moving direction, the spacing between the first mounting member and the second mounting member gradually increases, so that the first obtuse angle continues to increase, and the driving member and the connecting rod can swing and unfold between the first mounting member and the second mounting member until the connecting rod and the driving member are respectively coaxially arranged with the rotating shaft, and the first mounting member moves to the limit position along the first moving direction. At this time, the spacing between the first mounting member and the second mounting member is the largest. In this way, according to the user's demand for massage intensity, the first mounting member can be arbitrarily moved between the second mounting member and the extreme position of the first mounting member along the first moving direction to adjust the user's massage intensity, which is not limited in the present disclosure.

[0126] It is understandable that in the fifth control instruction, the second mounting member 22 can also move in the second moving direction, and the first mounting member 21 can be fixed. It is understandable that when the first mounting member 21 is fixed, the distance that the second mounting member 22 can move along the second moving direction is limited by the length of the connecting rod, the driving member and the rotating shaft. As the second mounting member moves along the second moving direction, the spacing between the first mounting member and the second mounting member gradually increases, so that the first obtuse angle is also continuously increased, and the driving member and the connecting rod can swing and unfold between the first mounting member and the second mounting member until the connecting rod and the driving member are respectively coaxially arranged with the rotating shaft, and then the second mounting member moves to the extreme position along the second moving direction. At this time, the spacing between the first mounting member and the second mounting member is the largest. In this way, according to the user's demand for massage intensity, the second mounting member can be arbitrarily moved between the extreme positions of the first mounting member and the second mounting member along the second moving direction to adjust the massage intensity, and the present disclosure is not limited.

[0127] It can be understood that in the sixth control instruction, the first mounting member 21 can be moved along the second moving direction, and the second mounting member 22 can be fixed. When the second mounting member 22 is fixed, the distance that the first mounting member 21 can move along the second moving direction is limited by the length of the connecting rod, the driving member and the rotating shaft. As the first mounting member moves along the second moving direction, the spacing between the first mounting member and the second mounting member gradually decreases, so that the first obtuse angle is continuously reduced, and the driving member and the connecting rod can swing and fold between the first mounting member and the second mounting member, then the first mounting member moves to the extreme position along the second moving direction. At this time, the spacing between the first mounting member and the second mounting member is the smallest. In this way, according to the user's demand for massage intensity, the first mounting member can be arbitrarily moved between the position before the first mounting member moves along the second moving direction and the extreme position after moving along the second moving direction to adjust the massage intensity, and the present disclosure is not limited.

[0128] It can be understood that in the sixth control instruction, the second mounting member 22 can also move along the first moving direction, and the first mounting member 21 can be fixed. When the first mounting member 21 is fixed, the distance that the second mounting member 22 can move along the first moving direction is limited by the length of the connecting rod, the driving member and the rotating shaft. As the second mounting member moves along the first moving direction, the spacing between the first mounting member and the second mounting member gradually decreases, so that the first obtuse angle is continuously reduced, and the driving member and the connecting rod can swing and fold between the first mounting member and the second mounting member, then the second mounting member moves to the extreme position along the first moving direction. At this time, the spacing between the first mounting member and the second mounting member is the smallest. In this way, according to the user's demand for massage intensity, the second mounting member can be arbitrarily moved between the position before the second mounting member moves along the first moving direction and the extreme position after moving along the first moving direction to adjust the massage intensity, and the present disclosure is not limited.

[0129] Figure 5 It is a schematic diagram of the structure of a massage device provided with two transmission mechanisms 20. Figure 6 for Figure 5 The massage device shown is a schematic diagram of the structure of the massage assembly 40. The user wears Figure 6 The massage equipment can be formed as Figure 7 The user wearing angle is shown. Figure 7 In the embodiment, the user's neck width direction and shoulder width direction F are in the same direction, and the first direction can be set as the neck width direction. The user's spine length direction and neck length direction are in the same direction as E direction, and the first straight line can be set to extend along the spine length direction. The user's body muscle thickness or cervical spine thickness direction is in the same direction as G direction.

[0130] See also Figures 5 to 7 In some embodiments, the user's massage needs are usually to massage the muscle groups distributed on both sides of the spine. For example, the left neck muscles and right neck muscles distributed on both sides of the spine, the left shoulder muscles and right shoulder muscles distributed on both sides of the spine, the left back muscles and right back muscles distributed on both sides of the spine, and the left waist muscles and right waist muscles distributed on both sides of the spine, etc. In this way, the massage device can have two left and right massage components 40. The first direction can be set to Figure 7 Along the neck width direction set left and right, the first straight line can be set as Figure 7 The massage device provided by the present disclosure can be provided with two transmission mechanisms 20, and the two transmission mechanisms 20 respectively drive the two massage components 40 to move.

[0131] In some embodiments, when the massage device is provided with two massage components 40, the number of the transmission mechanism 20 and the first drive mechanism 30 are both two, the two transmission mechanisms 20 are arranged on both sides of the first straight line and are symmetrically arranged, and the two transmission mechanisms 20 and the two first drive mechanisms 30 correspond one-to-one to form a first group.

[0132] Accordingly, in the control method of the massage device, the first control instruction includes a first instruction for controlling any one of the first groups to approach the first straight line without swinging, and a second instruction for controlling the two first groups to approach the first straight line without swinging. If the control information is the first control instruction for controlling the driving member to approach the first straight line without swinging, controlling the first telescopic assembly and the second telescopic assembly to respectively drive the first mounting member and the second mounting member to move in the same direction and at the same speed to approach the first straight line includes:

[0133] If the first control instruction is the first instruction, the first telescopic component included in the first driving mechanism in the first group is controlled to drive the first mounting member included in the transmission mechanism in the first group to move, and the second telescopic component of the first driving mechanism in the first group is controlled to drive the second mounting member of the transmission mechanism in the first group to move, so that the first mounting member and the second mounting member can move in the same direction and at the same speed close to the first straight line;

[0134] If the first control instruction is the second instruction, then for each first group, the following is executed: controlling the first telescopic component included in the first driving mechanism in the first group to drive the first mounting member to move, and controlling the second telescopic component of the first driving mechanism in the first group to drive the second mounting member of the transmission mechanism in the first group to move, so that the first mounting members and the second mounting members of the two first groups can move in the same direction and at the same speed close to the first straight line.

[0135] In this way, when the massage device executes the first instruction, one of the left and right massage components 40 can be fixed relative to the bearing component 10, and the other can move relative to the bearing component 10, so that the distance between the left and right massage components 40 can be adjusted. Among them, the first mounting member 21 and the second mounting member 22 included in the moving one of the left and right massage components 40 can move in the same direction and at the same speed, so that the distance between the left and right massage components 40 can be adjusted without swinging, and then the wearing space of the massage device can be adjusted, so that the massage device can be suitable for wearing massage parts of various sizes (such as neck, shoulder, back, waist or leg, etc.). In addition, the massage device can also be suitable for users of different body shapes to wear. For example, when the distance between the left and right massage components 40 is large, it can be suitable for users with a relatively burly and strong body shape to wear. When the distance between the left and right massage components 40 is small, it can be suitable for users with a relatively slender body shape to wear. When the distance between the left and right massage components 40 is moderate, it can be suitable for users with a relatively symmetrical body shape to wear, and this disclosure does not limit this.

[0136] As an example, when the left and right massage components 40 are adjusted in a non-swinging state, the left massage component 40 may be fixed relative to the bearing component 10, and the right massage component 40 may move relative to the bearing component 10. The right transmission mechanism 20 connected to the right massage component 40 is driven to move along the bearing component 10, the first mounting member 21 of the right transmission mechanism 20 is driven to move by the first telescopic mechanism, the second mounting member 22 of the right transmission mechanism 20 is driven to move by the second telescopic member, and the first mounting member 21 and the second mounting member 22 move in the same direction and at the same speed. For example, the first mounting member 21 and the second mounting member 22 move at the same speed toward the first straight line to reduce the distance between the left and right massage components 40. The first mounting member 21 and the second mounting member 22 move at the same speed away from the first straight line to increase the distance between the left and right massage components 40. Of course, in other embodiments, the right massage component 40 may be fixed relative to the bearing component 10, and the left massage component 40 may move relative to the bearing component 10, which will not be described in detail in this disclosure.

[0137] When the massage device executes the second instruction, the first drive mechanisms in each first group are all started. That is, the first telescopic component included in the first drive mechanism in the first group is controlled to drive the first mounting member to move, and the second telescopic component of the first drive mechanism in the first group is controlled to drive the second mounting member of the transmission mechanism in the first group to move, so that the first mounting members and the second mounting members of the two first groups can move in the same direction and at the same speed close to the first straight line. In this way, the first mounting members 21 and the second mounting members 22 in the two first groups can move in the same direction and at the same speed close to the first straight line, so that the two massage components 40 can move relative to the bearing component 10 to move closer to or away from each other, so as to facilitate the rapid adjustment of the distance between the two massage components 40.

[0138] In some embodiments, when the massage device is provided with two massage components 40, the massage device includes two transmission mechanisms 20, which are used to respectively assemble the two massage components 40. In order to reduce the power source, the two transmission mechanisms 20 can be symmetrically arranged along the first straight line, so that the two transmission mechanisms 20 can be driven to move synchronously by a first driving mechanism 30. For example, the first telescopic component can be connected between the two first mounting members 21, and the second telescopic component can be connected between the two second mounting members 22. The first telescopic component and the second telescopic component can move independently of each other to respectively drive the movement of the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20.

[0139] In the control method, if the control information is a first control instruction, the first telescopic component in the first driving mechanism is controlled to drive the first mounting parts in the two transmission mechanisms to move in a direction close to the first straight line at a first speed, and the second telescopic component in the first driving mechanism is controlled to drive the second mounting parts in the two transmission mechanisms to move in a direction close to the first straight line at a first speed.

[0140] In this way, for the first control instruction, the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 can approach the first straight line in the same direction and at the same speed, thereby reducing the distance between the two massage components. The first speed corresponds to the moving speed of the two massage components approaching each other, and the specific value of the first speed can be set and adjusted according to the user's use requirements, and the present disclosure does not limit it.

[0141] As an example, the left massage assembly 40 moves closer to the first straight line relative to the bearing assembly 10, and the right massage assembly 40 also moves closer to the first straight line relative to the bearing assembly 10, so as to reduce the distance between the left and right massage assemblies 40. At this time, the first telescopic assembly can drive the two first mounting members 21 to move closer to the first straight line respectively, and the second telescopic assembly can drive the two second mounting members 22 to move closer to the first straight line, and the first mounting members 21 and the second mounting members 22 move in the same direction and at the same speed. In this way, the distance between the left and right massage assemblies 40 can be reduced.

[0142] Correspondingly, when the user needs to reduce the distance between the two massage components 40, the massage device can drive the first telescopic component and the second telescopic component to move according to the first control instruction, so that the two first mounting members 21 are close to each other, and the two second mounting members 22 are also close to each other, thereby the two transmission mechanisms 20 are driven close to each other, so that the distance between the left and right massage components 40 is reduced.

[0143] If the control information is a second control instruction to control the driving member 232 to move away from the first straight line and not swing, the first telescopic component in the first driving mechanism is controlled to drive the first mounting members in the two transmission mechanisms to move in a direction away from the first straight line at a second speed, and the second telescopic component in the first driving mechanism is controlled to drive the second mounting members in the two transmission mechanisms to move in a direction away from the first straight line at a second speed.

[0144] In this way, in response to the second control instruction, the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 can move away from the first straight line in the same direction and at the same speed, thereby increasing the distance between the two massage components. The second speed corresponds to the speed at which the two massage components move away from each other, and the specific value of the second speed can be set and adjusted according to the user's use requirements, which is not limited by the present disclosure. In addition, it can be understood that the speed at which the two massage components approach each other and the speed at which they move away from each other can be the same or different, that is, the first speed and the second speed can be equal or different, which is not limited by the present disclosure.

[0145] As an example, the left massage assembly 40 moves away from the first straight line relative to the carrier assembly 10, and the right massage assembly 40 also moves away from the first straight line relative to the carrier assembly 10, so as to increase the distance between the left and right massage assemblies 40. At this time, the first telescopic assembly can drive the two first mounting members 21 to move away from the first straight line respectively, and the second telescopic assembly can drive the two second mounting members 22 to move away from the first straight line, and the first mounting members 21 and the second mounting members 22 move at the same speed. In this way, the distance between the left and right massage assemblies 40 can be increased.

[0146] Correspondingly, when the user needs to increase the distance between the two massage components 40, the massage device can drive the first telescopic component and the second telescopic component to move according to the second control instruction, so that the two first mounting members 21 move away from each other, and the two second mounting members 22 also move away from each other, thereby the two transmission mechanisms 20 are driven away from each other, so that the distance between the left and right massage components 40 increases.

[0147] Therefore, when the left and right massage components 40 move relative to the supporting component 10, the left and right massage components 40 can move closer to or farther from each other, thereby adjusting the distance between the left and right massage components 40. This arrangement can not only facilitate the adjustment of the positions of the massage components 40 and improve the efficiency of adjusting the distance between the massage components 40, but also reduce the power source to save production costs.

[0148] It can be understood that during the process of adjusting the distance between the left and right massage components 40, the first mounting member 21 and the second mounting member 22 of the left transmission mechanism 20 can move in the same direction and at the same speed, and the first mounting member 21 and the second mounting member 22 of the right transmission mechanism 20 can also move in the same direction and at the same speed. In this way, the distance between the left and right massage components 40 can be adjusted without swinging, and the wearing space of the massage device can be adjusted, so that the massage device can be suitable for wearing in massage parts of different sizes (such as neck, shoulders, back, waist or legs, etc.), and the massage device can also be suitable for users of different body shapes to wear and use.

[0149] In addition, since the moving speeds of the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 are the same, the spacing between the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 remains unchanged, and the size of the first obtuse angle remains unchanged, the left and right massage components 40 can move closer to or farther from each other without swinging. At this time, if the user has already worn the massage device, the left and right massage components 40 can move closer to or farther from each other with the same massage force to massage the massage parts on both sides of the user. If the user has not worn the massage device, taking the shoulder and neck massage device as an example, the user can adjust the distance between the left and right massage components 40, so as to allow users with thicker or thinner necks to wear it freely.

[0150] In some embodiments, in order to enrich the user's massage experience, the massage device can also adjust the massage strength of the massage components 40 on the massage parts when adjusting the distance between the two groups of massage components 40. The control method of the massage device can also include the following steps:

[0151] If the control information is a third control instruction for controlling the driving member to approach the first straight line and swing, the first telescopic component in the driving mechanism is controlled to drive the two first mounting members in the transmission mechanism to move toward the first straight line at a third speed, and the second telescopic component in the first driving mechanism is controlled to drive the two second mounting members to move toward the first straight line at a fourth speed.

[0152] If the control information is the fourth control instruction for controlling the driving member to move away from the first straight line and rotate, the first telescopic component in the first driving mechanism is controlled to drive the first mounting members in the two transmission mechanisms to move away from the first straight line at the fifth speed, and the second telescopic component in the first driving mechanism is controlled to drive the two second mounting members to move away from the first straight line at the sixth speed.

[0153] It is understandable that during the movement of the first mounting member 21 and the second mounting member 22, the movement speed of the first mounting member 21 and the second mounting member 22 is not limited. If the movement speeds of the first mounting member 21 and the second mounting member 22 are different, relative movement occurs between the first mounting member 21 and the second mounting member 22, so that the size of the first obtuse angle changes, and the driving member 232 can swing relative to the rotating shaft 231, thereby driving the massage component 40 to swing, so that the massage component 40 can approach or move away from the massage part to adjust the massage intensity of the massage part. In this way, when the first mounting member 21 and the second mounting member 22 of each transmission mechanism 20 can move in the same direction but at different speeds, the massage device can not only adjust the distance between the two massage components 40, but also adjust the massage intensity of each massage component 40 at the same time. For example, when the massage component 40 massages the user's neck, shoulders or waist, the massage component 40 can perform mobile massage on the massage part along the width of the neck, shoulders or waist, and the massage component 40 can also move closer to or away from the massage part during the movement process to adjust the massage intensity of the massage part.

[0154] Thus, for the third control instruction, the third speed corresponds to the moving speed of the first mounting member in each transmission mechanism approaching the first straight line, and the fourth speed corresponds to the moving speed of the second mounting member in each transmission mechanism approaching the first straight line. The third speed is not equal to the fourth speed, so that the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 can approach the first straight line in the same direction but at different speeds, thereby being able to reduce the distance between the two massage components while also adjusting the massage intensity. The specific values ​​of the third speed and the fourth speed can be set and adjusted according to the user's usage requirements, and the present disclosure does not limit them.

[0155] Correspondingly, for the fourth control instruction, the fifth speed corresponds to the moving speed of the first mounting member in each transmission mechanism away from the first straight line, and the sixth speed corresponds to the moving speed of the second mounting member in each transmission mechanism away from the first straight line. The fifth speed is not equal to the sixth speed, so that the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 can move away from the first straight line in the same direction but at different speeds, thereby increasing the distance between the two massage components while also adjusting the massage intensity. The specific values ​​of the fifth speed and the sixth speed can be set and adjusted according to the user's usage requirements, and the present disclosure does not limit them.

[0156] In addition, it can be understood that the moving speed of the first mounting member approaching the first straight line and the moving speed away from the first straight line can be the same or different, that is, the third speed and the fifth speed can be equal or different, and the present disclosure does not limit this. The moving speed of the second mounting member approaching the first straight line and the moving speed away from the first straight line can be the same or different, that is, the fourth speed and the sixth speed can be equal or different, and the present disclosure does not limit this.

[0157] In some implementations, in order to facilitate the adjustment of the massage intensity of each massage component 40, the first mounting member 21 of each transmission mechanism 20 is spaced apart and arranged on the side of the second mounting member 22 close to the first straight line. Accordingly, corresponding to the third control instruction, the massage device 1 controls the first telescopic component in the first drive mechanism to drive the first mounting member 21 in the two transmission mechanisms to move toward the first straight line at a third speed greater than the fourth speed at which the massage device 1 controls the second telescopic component in the first drive mechanism to drive the second mounting member 22 in the two transmission mechanisms to move toward the first straight line, so that the spacing between the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 is increased to increase the first obtuse angle, so that the massage component 40 can reduce the massage intensity. Correspondingly, corresponding to the fourth control instruction, the massage device 1 controls the first telescopic component in the first drive mechanism to drive the first mounting member 21 in the two transmission mechanisms to move in a fifth speed away from the first straight line direction, which is greater than the sixth speed at which the massage device 1 controls the second telescopic component in the first drive mechanism to drive the second mounting member 22 in the two transmission mechanisms to move in a direction away from the first straight line direction, so that the distance between the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 is reduced to reduce the first obtuse angle, so that the massage component 40 can increase the massage intensity.

[0158] In this way, when the first mounting member 21 and the second mounting member 22 generate relative movement, the driving member 232 can swing relative to the rotating shaft 231, thereby driving the massage component 40 to swing, so that the massage component 40 can increase the squeezing force on the massage part or reduce the squeezing force on the massage part, thereby achieving adjustment of the massage intensity.

[0159] It is understandable that when adjusting the massage intensity, the massage intensity of the left massage component 40 can be adjusted, the massage intensity of the right massage component 40 can be adjusted, or the massage intensity of the left and right massage components 40 can be adjusted, and the present disclosure does not limit this.

[0160] For example, when the user needs to reduce the distance between the two massage components 40 and increase the massage intensity, the first telescopic component can be driven to drive the two first mounting members 21 to approach each other, and the second telescopic component can be driven to drive the two second mounting members 22 to approach each other, so that the two transmission mechanisms 20 are driven to approach each other, so that the distance between the left and right massage components 40 is reduced. At the same time, the moving speed of the first mounting member 21 can be adjusted to be lower than the moving speed of the second mounting member 22, so that the distance between the first mounting member 21 and the second mounting member 22 is reduced, so as to reduce the first obtuse angle, so that the two massage components 40 can approach each other and increase the massage intensity.

[0161] For example, when the user needs to reduce the distance between the two massage components 40 and reduce the massage intensity, the first telescopic component can be driven to drive the two first mounting members 21 to approach each other, and the second telescopic component can be driven to drive the two second mounting members 22 to approach each other, so that the two transmission mechanisms 20 are driven to approach each other, so that the distance between the left and right massage components 40 is reduced. At the same time, the moving speed of the first mounting member 21 can be adjusted to be greater than the moving speed of the second mounting member 22, so that the distance between the first mounting member 21 and the second mounting member 22 is increased to increase the first obtuse angle, so that the left and right massage components 40 can approach each other and reduce the massage intensity.

[0162] For example, when the user needs to increase the distance between the two massage components 40 and reduce the massage intensity, the first telescopic component can be driven to drive the two first mounting members 21 to move away from each other, and the second telescopic component can be driven to drive the two second mounting members 22 to move away from each other, so that the two transmission mechanisms 20 are driven to move away from each other, thereby increasing the distance between the left and right massage components 40. At the same time, the moving speed of the first mounting member 21 can be adjusted to be lower than the moving speed of the second mounting member 22, so that the distance between the first mounting member 21 and the second mounting member 22 is increased, so as to increase the first obtuse angle, so that the massage components 40 on the left and right sides can move away from each other and reduce the massage intensity.

[0163] For example, when the user needs to increase the distance between the two massage components 40 and increase the massage intensity, the first telescopic component can be driven to drive the two first mounting members 21 to move away from each other, and the second telescopic component can be driven to drive the two second mounting members 22 to move away from each other, so that the two transmission mechanisms 20 are driven to move away from each other, thereby increasing the distance between the left and right massage components 40. At the same time, the moving speed of the first mounting member 21 can be adjusted to be greater than the moving speed of the second mounting member 22, so that the distance between the first mounting member 21 and the second mounting member 22 is reduced, so as to reduce the first obtuse angle, so that the two massage components 40 can move away from each other while increasing the massage intensity.

[0164] In some embodiments, the massage device can also be adaptively adjusted according to the contact pressure between the massage component 40 and the massage part. In this case, the control method further includes:

[0165] Obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the second massage element;

[0166] According to the pressure on the first massage head and / or the second massage head, the start or stop of the first driving mechanism 30 is controlled to adjust the working posture of the first massage head and the second massage head: change the position distribution of the first massage head and the second massage head in the first direction and / or the first straight line direction.

[0167] It should be noted that, taking the massage device being a shoulder and neck massage device as an example, the first massage element may be a neck massage element 41 , and the second massage element may be a shoulder massage element 42 .

[0168] According to the pressure on the first massage head and / or the second massage head during the operation of the shoulder massage part 42, the working posture of the first massage head and the second massage head is controlled, so that the first massage head and the second massage head are translated in the first direction to the side with less force. In this way, it is helpful to balance the pressure applied by the shoulder massage part 42 on both sides of the user's shoulder, thereby balancing the force on the user's shoulder, avoiding discomfort to the user due to excessive or insufficient force on one side, and helping to improve the accuracy of the control of the shoulder massage part 42, optimize the massage effect, and thus improve the user experience.

[0169] Specifically, in some embodiments, according to the pressure on the first massage head and the second massage head, the working posture of the first massage head and the second massage head is adjusted so that the first massage head and the second massage head are translated in the first direction and / or the first straight line and approach the side with less force, including: calculating the pressure difference between the pressure on the first massage head and the pressure on the second massage head; when the pressure difference is greater than the pressure threshold, adjusting the working posture of the first massage head and the second massage head so that the first massage head and the second massage head are translated in the first direction and approach the side with less force. The pressure difference between the pressure on the first massage head and the pressure on the second massage head calculated here is the absolute value of the pressure difference to reflect the difference between the two. The calculation of the pressure difference can reflect the uneven degree of pressure applied to the user by the first massage head and the second massage head. When the pressure difference is greater than the pressure threshold, that is, when the uneven degree of pressure applied to the user is strong, the first massage head and the second massage head are adjusted, which is conducive to avoiding the slight uneven force on the shoulders of the user during the normal massage process triggering the adjustment process of the first massage head and the second massage head, resulting in too frequent adjustments and causing discomfort to the user.

[0170] It can also be understood that, when the pressure difference is greater than the pressure threshold, the first massage head and the second massage head are preferentially translated in the first direction so that the first massage head and the second massage head are closer to the side with less force; when the pressure difference is less than the pressure threshold, the working postures of the first massage head and the second massage head are preferentially adjusted according to the pressure on the first massage head and the second massage head, so as to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction. This further refines the control logic of the first massage head and the second massage head, which is equivalent to determining the priority between the adjustment requirements through the pressure difference between the pressure on the first massage head and the pressure on the second massage head, so that the adjustment process is more in line with the current actual needs, further optimizes the accuracy of the control of the shoulder and neck massage equipment, optimizes the massage effect, and enhances the user experience.

[0171] As an example, when the massage device is in use, the activation of the first drive mechanism 30 and the second drive mechanism 50 can be linked by a sensor. As an example. The sensor is arranged on the massage surface of the massage component 40 in contact with the massage part, and is used to detect the squeezing force on the massage part. Among them, the sensor can be set as a pressure sensor (the sensor is not shown in the figure). When the massage component 40 exerts a large massage pressure on the massage part, the sensor outputs a large pressure signal to start the first drive mechanism 30, drive the first mounting member 21 and the second mounting member 22 to move relative to each other, so that the first obtuse angle becomes larger, and the massage component 40 moves in a direction away from the massage part to relieve the massage squeezing force on the massage part. Correspondingly, when the massage component 40 exerts too small a massage pressure on the massage part, the sensor outputs a small pressure signal to start the first drive mechanism 30, drive the first mounting member 21 and the second mounting member 22 to move relative to each other, reduce the first obtuse angle, and move the massage component 40 in a direction close to the massage part to increase the massage squeezing force on the massage part, and so on.

[0172] In some embodiments, the massage component 40 can also be driven to rotate. In this case, the massage device includes a second drive component, which is used to drive the rotating shaft 231 to rotate, so as to drive the driving member 232 to rotate; the massage component 40 includes a first massage member rotatably connected to the driving member 232 and a second massage member movably connected to the first massage member along a first straight line direction, and the second massage member includes a first massage head and a second massage head spaced apart along the first direction, and the first massage head and the second massage head are controlled to swing relative to the first massage member.

[0173] Accordingly, the control method further includes:

[0174] Obtaining the load of the second driving mechanism 50 during the operation of the second massage member;

[0175] According to the load of the second driving mechanism 50, the start or stop of the first driving mechanism 30 is controlled to adjust the working posture of the first massage head and the second massage head: change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, and / or the distance between the trajectory point closest to the first massage part and the first massage part in the first straight line direction.

[0176] Take the first massage part as the neck massage part 41 and the second massage part as the shoulder massage part 42 as an example. During the operation of the shoulder massage part 42, the working postures of the first massage head and the second massage head in the shoulder massage part 42 are adjusted according to the load of the second driving mechanism 50 for driving the operation of the shoulder massage part 42, so as to change the spacing of the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head, and at least one of the spacing of the track point closest to the neck massage part 41 and the neck massage part 41 on the first straight line. The load of the first driving component can more accurately reflect the degree of squeezing of the user during the massage process, and adjusting the spacing of the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head, and at least one of the spacing of the track point closest to the neck massage part 41 and the neck massage part 41 on the first straight line can achieve the adjustment of the squeezing degree of the user during the subsequent operation of the shoulder massage part 42. In this way, the subsequent massage process can be controlled according to the current operation of the shoulder massage part 42, which is conducive to improving the accuracy of massage control, thereby optimizing the user experience.

[0177] In some embodiments, the load of the second drive mechanism 50 can be detected by a speed sensor to adjust the start or stop of the first drive mechanism 30. That is, when the load of the second drive mechanism 50 is large, it indicates that the squeezing force on the massage part is large, and the squeezing force on the massage part can be relieved by starting the first drive mechanism 30. When the load of the second drive mechanism 50 is small, it indicates that the squeezing force on the massage part is small, and the squeezing force on the massage part can be increased by starting the first drive mechanism 30, which will not be elaborated in this disclosure.

[0178] In other embodiments, the present disclosure needs to explain that the swing, relative movement and rotation of the massage components 40 on the left and right sides can be adjusted relatively independently. As an example, only the spacing between the two massage components 40 can be adjusted, that is, the distance between the two massage components 40 changes. At this time, the two transmission mechanisms 20 can be relatively close or relatively far away, so as to correspondingly reduce or increase the massage spacing between the two massage components 40, so as to be suitable for users of different body shapes to wear and use, or to massage muscle groups in different positions of the same wearing user. It can be understood that when the two transmission mechanisms 20 are relatively close, the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 need to move in the same direction and at the same speed in the direction close to the spine. When the two transmission mechanisms 20 are relatively far away, the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 need to move in the same direction and at the same speed in the direction away from the spine.

[0179] Thus, taking the massage scene in which the same user wears the massage device as an example, when adjusting the distance between the two massage components 40, one of the two massage components 40 can be moved toward the other, so that one of the massage components 40 on the left and right sides of the user can adjust the use position, thereby moving and massaging one side of the left and right muscle groups. Of course, the two massage components 40 can also move toward or away from each other, so as to get closer to or farther away from each other, so that the massage components 40 on the left and right sides of the user can adjust the use position, thereby moving and massaging both sides of the left and right muscle groups of the user at the same time.

[0180] In addition, taking the massage device as an example of being suitable for users of different body shapes, when the distance between the two massage components 40 is moderate, it can be suitable for users with well-proportioned body shapes to wear and use. When the distance between the two massage components 40 is reduced, it can be suitable for users with slender body shapes to wear and use, or for massage parts with smaller size (neck, arms or legs). When the distance between the two massage components 40 is increased, it can be suitable for users with larger body shapes to wear and use, or for massage parts with wider size (shoulders, back or waist).

[0181] As an example, only the massage intensity can be adjusted between the two massage components 40, that is, the two massage components 40 can swing with the driving member 232 respectively. Accordingly, relative movement is required between the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20, so that the driving member 232 can swing relative to the rotating shaft 231. In this way, as long as any one of the first mounting member 21 and the second mounting member 22 moves, relative movement can be achieved between the first mounting member 21 and the second mounting member 22. Therefore, one of the two massage components 40 can be swung alone to adjust the massage intensity corresponding to one side of the left and right muscle groups of the user. Of course, both massage components 40 can also swing to adjust the massage intensity corresponding to both sides of the left and right muscle groups of the user.

[0182] As an example, the distance between the two massage components 40 can be adjusted and the massage intensity can be adjusted, that is, the two massage components 40 can swing with the driving member 232 respectively, and the distance between the two massage components 40 can also change. In this way, the two transmission mechanisms 20 need to move relative to each other, and the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 also need to produce relative movement. It can be understood that when the two massage components 40 are close to each other, the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 can move differentially in the direction close to the spine. When the two massage components 40 are away from each other, the first mounting member 21 and the second mounting member 22 in each transmission mechanism 20 can move differentially in the direction away from the spine. Therefore, one of the two massage components 40 can move and swing to expand the massage range and adjust the massage intensity at the same time, corresponding to the movement of one side of the left and right muscle groups of the user and adjusting the massage intensity. Of course, the two massage components 40 can also move to move closer to or away from each other, corresponding to the movement of both sides of the left and right muscle groups of the user and adjusting the massage intensity.

[0183] As an example, the two massage components 40 can also be driven to rotate respectively to massage the massage parts. It can be understood that the first drive mechanism 30 and the second drive mechanism 50 move independently. Therefore, regardless of whether the transmission mechanism 20 is driven to move relative to the bearing assembly 10, the rotating shaft 231 in each transmission mechanism 20 can be driven to rotate, so that the driving member 232 drives the massage component 40 to rotate and massage.

[0184] It can be understood that the movable connection can be understood as a connection mode that allows the components to withstand a certain degree of relative movement, allowing displacement or rotation between the components, so as to provide a certain degree of flexibility, freedom of movement or stress relief between different components. The movable connection includes but is not limited to ball joints, hinge connections, universal joints or elastic connections, etc., and the present disclosure does not limit this.

[0185] It should be noted that when one element is considered to be "transmission-connected" to another element, the two can be fixed in a detachable connection or in an inseparable connection, as long as the two can achieve force transmission. For example, shaft connection, sleeve connection, snap connection, one-piece fixation, welding, etc. can be achieved in traditional technologies and can be flexibly selected according to actual application needs. For example, one of the elements is provided with a non-cylindrical body, and the other element is provided with a matching hole for transmission cooperation with the non-cylindrical body. Non-cylindrical bodies include polygonal columns, elliptical columns, semi-cylindrical columns, etc., which will not be described in detail in this disclosure.

[0186] The technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of the present disclosure is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A control method for a massage device, characterized in that: The massage device comprises a bearing assembly, a transmission mechanism, a first driving mechanism and a massage assembly; the transmission mechanism comprises a first mounting member slidably connected to the bearing assembly, a second mounting member slidably connected to the bearing assembly and a transmission assembly arranged between the first mounting member and the second mounting member; the first mounting member and the second mounting member are arranged at intervals and can reciprocate along a first direction respectively; the transmission assembly comprises a rotating shaft, a driving member and a connecting rod, one end of the rotating shaft is rotatably connected to the first mounting member, the other end of the rotating shaft is rotatably connected to one end of the driving member, the other end of the driving member is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the second mounting member, the axis of the rotating shaft intersects with the axis of the driving member and has a first obtuse angle; the first driving mechanism comprises a first telescopic assembly and a second telescopic assembly, the first telescopic assembly is transmission-connected to the first mounting member to drive the first mounting member to reciprocate along the first direction, and the second telescopic assembly is transmission-connected to the second mounting member to drive the second mounting member to reciprocate along the first direction; the massage assembly is mounted on the driving member; The bearing assembly is provided with a first straight line intersecting with a first direction, and the transmission mechanism is arranged along the first direction and spaced apart from the first straight line; The control method comprises: Get control information: If the control information is a first control instruction to control the driving member to approach the first straight line without swinging, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member and the second mounting member to move in the same direction and at the same speed to approach the first straight line.

2. The control method according to claim 1, characterized in that: The control method further comprises: If the control information is a second control instruction to control the driving member to move away from the first straight line and not to swing, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member and the second mounting member to move away from the first straight line in the same direction and at the same speed.

3. The control method according to claim 1, characterized in that: The control method further comprises: If the control information is a third control instruction for controlling the driving member to approach the first straight line and swing, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member and the second mounting member to move close to the first straight line in the same direction but at different speeds.

4. The control method according to claim 1, characterized in that: The control method further comprises: If the control information is a fourth control instruction for controlling the driving member to move away from the first straight line and rotate, the first telescopic assembly and the second telescopic assembly are controlled to respectively drive the first mounting member and the second mounting member to move away from the first straight line in the same direction but at different speeds.

5. The control method according to claim 1, characterized in that: The first direction includes a first moving direction and a second moving direction opposite to the first moving direction, and the control method further includes: If the first control information is the fifth control instruction for controlling the driving member to swing relative to the first straight line, the first telescopic component is controlled to drive the first mounting member to move along the first moving direction; or, the second telescopic component is controlled to drive the second mounting member to move along the second moving direction.

6. The control method according to claim 1, characterized in that: The first direction includes a first moving direction and a second moving direction opposite to the first moving direction, and the control method further includes: If the first control information is the sixth control instruction for controlling the driving member to swing relative to the first straight line, the first telescopic component is controlled to drive the first mounting member to move along the second moving direction; or, the second telescopic component is controlled to drive the second mounting member to move along the first moving direction.

7. The control method according to claim 1, characterized in that: The number of the transmission mechanisms and the first driving mechanisms are both two, the two transmission mechanisms are arranged on both sides of the first straight line and are symmetrically arranged, and correspond one-to-one with the two first driving mechanisms to form a first group; The first control instruction includes a first instruction for controlling any one of the first groups to be close to the first straight line and not to swing, and a second instruction for controlling two of the first groups to be close to the first straight line and not to swing; If the control information is a first control instruction for controlling the driving member to approach the first straight line without swinging, controlling the first telescopic assembly and the second telescopic assembly to respectively drive the first mounting member and the second mounting member to move in the same direction and at the same speed to approach the first straight line, comprising: If the first control instruction is the first instruction, the first telescopic component included in the first driving mechanism in the first group is controlled to drive the first mounting member included in the transmission mechanism in the first group to move, and the second telescopic component of the first driving mechanism in the first group is controlled to drive the second mounting member of the transmission mechanism in the first group to move, so that the first mounting member and the second mounting member can move close to the first straight line in the same direction and at the same speed; If the first control instruction is the second instruction, then for each of the first groups, the following is executed: controlling the first telescopic component included in the first driving mechanism in the first group to drive the first mounting member to move, and controlling the second telescopic component of the first driving mechanism in the first group to drive the second mounting member of the transmission mechanism in the first group to move, so that the first mounting member and the second mounting member of the two first groups can move in the same direction and at the same speed close to the first straight line.

8. The control method according to claim 1, characterized in that: There are two transmission mechanisms, which are symmetrically arranged on both sides of the first straight line, and the first driving mechanism can drive the two transmission mechanisms to move synchronously; If the control information is the first control instruction, the first telescopic component in the first driving mechanism is controlled to drive the first mounting parts in the two transmission mechanisms to move in a direction close to the first straight line at a first speed, and the second telescopic component in the first driving mechanism is controlled to drive the second mounting parts in the two transmission mechanisms to move in a direction close to the first straight line at the first speed; If the control information is a second control instruction for controlling the driving member to move away from the first straight line and not swing, the first telescopic component in the first driving mechanism is controlled to drive the first mounting members in the two transmission mechanisms to move in a direction away from the first straight line at a second speed, and the second telescopic component in the first driving mechanism is controlled to drive the second mounting members in the two transmission mechanisms to move in a direction away from the first straight line at a second speed.

9. The control method according to claim 8, characterized in that: If the control information is a third control instruction for controlling the driving member to approach the first straight line and swing, the first telescopic component in the first driving mechanism is controlled to drive the two first mounting members in the transmission mechanism to move toward the first straight line at a third speed, and the second telescopic component in the first driving mechanism is controlled to drive the two second mounting members to move toward the first straight line at a fourth speed; If the control information is the fourth control instruction for controlling the driving member to move away from the first straight line and rotate, the first telescopic component in the first driving mechanism is controlled to drive the first mounting members in the two transmission mechanisms to move away from the first straight line at the fifth speed, and the second telescopic component in the first driving mechanism is controlled to drive the two second mounting members to move away from the first straight line at the sixth speed.

10. The control method according to claim 9, characterized in that: The first mounting member is spaced apart and arranged on a side of the second mounting member close to the first straight line: If the control information is a third control instruction, the third speed is greater than the fourth speed; The control information is the fourth control instruction, and the fifth speed is greater than the sixth speed.

11. The control method according to claim 1, characterized in that: The massage device comprises a second driving assembly, the second driving assembly is used to drive the rotating shaft to rotate, so as to drive the driving member to rotate; the massage assembly comprises a first massage member rotatably connected to the driving member and a second massage member movably connected to the first massage member along a first straight line direction, the second massage member comprises a first massage head and a second massage head spaced apart along a first direction, and the first massage head and the second massage head are controlled to swing relative to the first massage member; The control method further comprises: Obtaining a load of the second driving mechanism during operation of the second massage element; According to the load of the second driving mechanism, the start or stop of the first driving mechanism is controlled to adjust the working postures of the first massage head and the second massage head: change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, and / or the distance between the trajectory point closest to the first massage part and the first massage part in the first straight line direction.

12. The control method according to claim 1, characterized in that: The massage assembly includes a second massage member rotatably connected to the driving member, and the second massage member includes a first massage head and a second massage head spaced apart along a first direction; The control method further comprises: Obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the second massage component; According to the pressure applied to the first massage head and / or the second massage head, the start or stop of the first driving mechanism is controlled to adjust the working posture of the first massage head and the second massage head: the position distribution of the first massage head and the second massage head in the first direction and / or the first straight line direction is changed.

13. A control device for a massage device, characterized in that: The control device comprises one or more processors for implementing the control method of the massage device according to any one of claims 1 to 12.

14. A massage device, characterized in that: It comprises a bearing assembly, a transmission mechanism, a first driving mechanism, a massage assembly and a control device as claimed in claim 13; The transmission mechanism comprises a first mounting member slidably connected to the bearing assembly, a second mounting member slidably connected to the bearing assembly, and a transmission assembly arranged between the first mounting member and the second mounting member; The first mounting member and the second mounting member are spaced apart and can reciprocate along a first direction respectively; The transmission assembly includes a rotating shaft, a driving member and a connecting rod, one end of the rotating shaft is rotatably connected to the first mounting member, the other end of the rotating shaft is rotatably connected to one end of the driving member, the other end of the driving member is rotatably connected to one end of the connecting rod, the other end of the connecting rod is rotatably connected to the second mounting member, and the axis of the rotating shaft is intersected with the axis of the driving member and has a first obtuse angle; The first driving mechanism includes a first telescopic assembly and a second telescopic assembly, wherein the first telescopic assembly is in transmission connection with the first mounting member to drive the first mounting member to reciprocate along a first direction, and the second telescopic assembly is in transmission connection with the second mounting member to drive the second mounting member to reciprocate along the first direction; The massage component is mounted on the driving member; The bearing assembly is provided with a first straight line intersecting with a first direction, and the transmission mechanism is arranged along the first direction and spaced apart from the first straight line; The control device is electrically connected to the first driving mechanism.

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