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 equipment comprises a first massage part and a second massage part, wherein the first massage part comprises a first massage head and a second massage head which are arranged at intervals in the first direction; the first driving assembly is used for driving the first massage piece so that the first massage head and the second massage head can swing in a reciprocating mode to conduct kneading movement on the human body; the control method comprises the steps that the load of the first driving assembly in the running process of the first massage piece is obtained; according to the load of the first driving assembly, the working postures of the first massage head and the second massage head are adjusted so as to change the distance between the two most adjacent track points in the swing tracks of the first massage head and the second massage head in the first direction. Thus, the subsequent massage process can be controlled according to the current running condition of the first massage piece, the accuracy of massage control is improved, and the user experience feeling is optimized.

Description

Technical Field

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

[0002] As a health care device for relieving or eliminating physical fatigue, massage equipment is becoming more and more popular due to its flexible and convenient use. Compared with massage equipment with fixed massage programs, in order to obtain better massage effects, massage equipment in the related art is provided with massage modes with different massage programs, and users can choose massage modes to meet their own massage needs. However, this method of controlling the massage process by switching massage modes cannot be adaptively adjusted according to the actual needs of the user at the moment, resulting in unsatisfactory massage. Summary of the invention

[0003] The present application provides a control method, a control device and a massage device for improving the control accuracy of the massage device and optimizing the massage effect.

[0004] The present application provides a control method for a massage device, the massage device comprising: a first massage member, comprising a first massage head and a second massage head spaced apart along a first direction; a first drive assembly, used to drive the first massage member, so that the first massage head and the second massage head swing back and forth, and perform kneading motion on a human body; the control method comprises: obtaining a load of the first drive assembly during the operation of the first massage member; adjusting the working postures of the first massage head and the second massage head according to the load of the first drive assembly, so as to 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.

[0005] Optionally, according to the load of the first drive component, the working posture of the first massage head and the second massage head is adjusted to 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, including: according to the load of the first drive component, the swing angle of the first massage head and the second massage head is adjusted to 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, according to the load of the first drive component, the position of the first massage head and the second massage head in the first direction is adjusted to 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.

[0006] Optionally, obtaining the load of the first drive component during the operation of the first massage part includes: obtaining the first load of the first drive component during the process of the first massage head and the second massage head moving closer to each other; adjusting the working posture of the first massage head and the second massage head according to the load of the first drive component to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head, including: adjusting the swing angle of the first massage head and the second massage head according to the first load to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head; and / or adjusting the position of the first massage head and the second massage head in the first direction according to the first load to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0007] Optionally, the swing angles of the first massage head and the second massage head are adjusted according to the first load to 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, including: when the first load is greater than a first upper limit threshold, reducing the swing angles of the first massage head and the second massage head to increase 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; when the first load is less than a first lower limit threshold, increasing the swing angles of the first massage head and the second massage head to reduce 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.

[0008] Optionally, the positions of the first massage head and the second massage head in the first direction are adjusted according to the first load to 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, including: when the first load is greater than a first upper limit threshold, the first massage head and the second massage head are controlled to translate away from each other in the first direction to increase 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; when the first load is less than a first lower limit threshold, the first massage head and the second massage head are controlled to translate closer to each other in the first direction to reduce 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.

[0009] Optionally, the massage device also includes a second drive component for adjusting the swing angle of the first massage head and the second massage head and / or the position of the first massage head and the second massage head in the first direction; adjusting the working posture of the first massage head and the second massage head according to the load of the first drive component to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head, including: controlling the second drive component according to the load of the first drive component to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0010] Optionally, the first massage component includes multiple working modes, and in each working mode, 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 is different; according to the load of the first drive component, the working posture of the first massage head and the second massage head is adjusted to 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, including: according to the load of the first drive component, the working mode of the first massage component is switched to 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.

[0011] Optionally, the first massage piece is used to massage a first area of ​​the human body; the massage device also includes a second massage piece for massaging a second area of ​​the human body, and the first massage piece is movably connected to the second massage piece along a second direction; the control method also includes: adjusting the working posture of the first massage head and the second massage head according to the load of the first drive component to change the trajectory point in the swing trajectory of the first massage head and the second massage head that is closest to the neck massage piece and the spacing between the neck massage pieces in the second direction.

[0012] Optionally, obtaining the load of the first drive component during the operation of the first massage part includes: obtaining the second load of the first drive component during the movement of the first massage head and the second massage head along the second direction toward the second massage part; adjusting the working posture of the first massage head and the second massage head according to the load of the first drive component to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage parts in the second direction, including: adjusting the working posture of the first massage head and the second massage head according to the second load to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage parts in the second direction.

[0013] Optionally, the working postures of the first massage head and the second massage head are adjusted according to the second load to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing in the second direction between the second massage part, including: when the second load is greater than the second upper limit threshold, increasing the spacing between the first massage head and the second massage head and the second massage part in the second direction; when the second load is less than the second lower limit threshold, reducing the spacing between the first massage head and the second massage head and the second massage part in the second direction.

[0014] Optionally, the massage device also includes a third drive component for adjusting the distance between the first massage head and the second massage head and the second massage part in the second direction; adjusting the working posture of the first massage head and the second massage head according to the second load to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: controlling the third drive component according to the second load to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction.

[0015] Optionally, the second massage component includes a third massage head and a fourth massage head spaced apart along the first direction, and the third massage head and the fourth massage head are controlled to swing back and forth to perform kneading movements on the second area of ​​the human body; the control method also includes: adjusting the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head according to the load of the first drive component to 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 the distance between the two most adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head in the first direction.

[0016] Optionally, the first massage head is connected to the third massage head, and the second massage head is connected to the fourth massage head; adjusting the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head to change the spacing in the first direction between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head, and the spacing in the first direction between the two most adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head, including: adjusting the working postures of the third massage head and the fourth massage head to drive the working postures of the first massage head and the second massage head to be adjusted synchronously to change the spacing in the first direction between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head, and the spacing in the first direction between the two most adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head.

[0017] The present application provides a control device for a massage device, comprising: a load sensor for detecting the load of a first driving component of the massage device; and one or more processors electrically connected to the load sensor for implementing the aforementioned control method for the massage device.

[0018] The present application provides a massage device, comprising: a first massage member, comprising a first massage head and a second massage head spaced apart along a first direction; a first drive assembly, used to drive the first massage member to make the first massage head and the second massage head swing back and forth to perform kneading motion on a human body; and a control device of the aforementioned massage device, electrically connected to the first massage member and the first drive assembly.

[0019] Optionally, the first massage member is used to massage a first area of ​​the human body; the massage device also includes: a second massage member, used to massage a second area of ​​the human body, the first massage member and the second massage member are movably connected along a second direction, and the control device is electrically connected to the second massage member.

[0020] Optionally, the massage device also includes: an operation button electrically connected to the processor of the control device, for receiving the user's operation instructions and sending the operation instructions to the processor; the processor is also used to adjust the working posture of the first massage head and the second massage head according to the operation instructions, so as to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0021] By using the control method, control device and shoulder and neck massage device provided by the embodiment of the present application, during the operation of the first massage part, the working posture of the first massage head and the second massage head in the first massage part is adjusted according to the load of the first drive component used to drive the operation of the first massage part, so as to change the distance between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head. The load of the first drive component can more accurately reflect the degree of compression of the user during the massage process, and adjusting the distance between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head can achieve the adjustment of the degree of compression of the user during the subsequent operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation of the first massage part, which is conducive to improving the accuracy of massage control, thereby optimizing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of a massage device provided in one embodiment of the present application;

[0023] Figure 2 for Figure 1 The structural schematic diagram of the massage component shown;

[0024] Figure 3 for Figure 1 A schematic diagram of the use of the massage device shown;

[0025] Figure 4 for Figure 1 A partial enlarged schematic diagram of the massage component shown;

[0026] Figure 5 for Figure 1 The massage device shown is a partially enlarged schematic diagram after the massage components are deleted;

[0027] Figure 6 This is a schematic structural diagram of a massage component shown in another embodiment of the present application;

[0028] Figure 7 for Figure 6 The massage component is shown as a half-section schematic diagram in the AA section direction;

[0029] Figure 8 for Figure 1 A schematic structural diagram of a driving mechanism of a massage device shown;

[0030] Fig. 9 for Figure 2 A schematic side view of the massage component shown;

[0031] Fig.10 is a schematic diagram of a control method for a massage device provided by an embodiment of the present application;

[0032] Fig.11 is a schematic diagram of a control method for a massage device provided by another embodiment of the present application;

[0033] Fig.12 is a schematic diagram of a control method for a massage device provided by another embodiment of the present application;

[0034] Fig.13 is a schematic diagram of a control method for a massage device provided by another embodiment of the present application;

[0035] Fig.14 It is a schematic diagram of a control method for a massage device provided in another embodiment of the present application.

[0036] Reference numerals:

[0037] 10. Massage device; 100. Carrying assembly; 200. First drive assembly; 210. First motor; 21. Shoulder; 22. Neck; 211. First worm; 220. Second transmission assembly; 221. Transmission gear; 222. First turbine; 223. Gear set; 300. Massage component; 331. First massage part; 332. Second massage part; 3001. First massage head; 3002. Second massage head; 3003. Third massage head; 3004. Fourth massage head; 301. First closed curve; 302. Second closed curve; 303. Third closed curve; 310 , mounting assembly; 311, first mounting member; 312, second mounting member; 313, first screw; 3131, first threaded body; 3132, second threaded body; 320, first transmission assembly; 321, rotating shaft; 322, driving member; 3221, eccentric driving part; 3222, first connecting part; 323, connecting rod; 330, massage assembly; 3313, main body; 3314, guide body; 340, third driving assembly; 341, driving motor; 343, slider; 400, second driving assembly; 410, second motor; 411, second worm; 420, second turbine. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0039] Combination Figures 1 to 9 As shown, an embodiment of the present application provides a massage device 10, including a first massage member 331, a first drive assembly 200, and a control device of the massage device 10 electrically connected to the first massage member 331 and the first drive assembly 200.

[0040] The first massage member 331 includes a first massage head 3001 and a second massage head 3002 spaced apart along a first direction. The first driving assembly 200 is used to drive the first massage member 331 to make the first massage head 3001 and the second massage head 3002 swing back and forth to perform kneading motion on the human body.

[0041] The control device of the massage device 10 includes a load sensor and one or more processors. The load sensor is used to detect the load of the first drive assembly 200 of the massage device 10. The one or more processors are electrically connected to the load sensor to implement the control method of the massage device 20.

[0042] In some embodiments, the first massage element 331 is used to massage a first area of ​​a human body.

[0043] In some embodiments, the massage device 10 further includes a second massage member 332. The second massage member 332 is used to massage a second area of ​​the human body, the first massage member 331 is movably connected to the second massage member 332 along a second direction, and the first massage head 3001 and the second massage head 3002 are controlled to swing relative to the second massage member 332.

[0044] The first area and the second area here are different positions of the human body, that is, when the massage device 10 is used, the first massage piece 331 and the second massage piece 332 are used to massage different positions of the human body. For example, one of the first area and the second area is the shoulder, and the other is the neck. More specifically, the first area is the shoulder, the second area is the neck, the first massage piece 331 is a shoulder massage piece, and the second massage piece 332 is a neck massage piece. In some embodiments, one of the first area and the second area is the back, and the other is the waist; in some embodiments, one of the first area and the second area is the waist, and the other is the buttocks; in some embodiments, one of the first area and the second area is the upper thigh, and the other is the lower thigh.

[0045] Here, the structure of the massage device 10 is described in detail.

[0046] Combination Figure 1 As shown, the massage device 10 includes a bearing assembly 100 , a first driving assembly 200 and a massage component 300 .

[0047] Further combined with Figure 2 As shown, the massage component 300 includes a mounting assembly 310, a first transmission assembly 320 and a massage component 330. The mounting assembly 310 is fixedly connected to the bearing assembly 100 so that the massage component 300 is arranged on the bearing assembly 100. The first transmission assembly 320 includes a rotating shaft 321 rotatably arranged on the mounting assembly 310 and a driving member 322 transmission-connected to the rotating shaft 321. The driving member 322 can rotate with the rotating shaft 321, and the first angle between the driving member 322 and the rotating shaft 321 is an acute angle. The driving member 322 is provided with an eccentric driving part 3221 and a first connecting part 3222 spaced from the eccentric driving part 3221 along the direction of the driving member 322. The massage component 330 includes a first massage member 331 transmission-connected to the eccentric driving part 3221 and a second massage member 332 rotationally connected to the first connecting part 3222.

[0048] The first massage member 331 includes a first massage head 3001 and a second massage head 3002, which are spaced apart in the first direction. The first massage head 3001 is used as an example to explain the specific arrangement of the first massage head 3001 and the second massage head 3002. The first massage member 331 is movably connected to the second massage member 332, so that the eccentric drive unit 3221 can drive the first massage head 3001 to swing relative to the second massage member 332, and the first massage head 3001 can perform kneading motion under the drive of the drive member 322.

[0049] The second massage member 332 includes a third massage head 3003 and a fourth massage head 3004. The third massage head 3003 and the fourth massage head 3004 are arranged at intervals along the first direction and are controlled to swing back and forth. Accordingly, the first drive assembly 200 is also used to drive the second massage member 332 to make the third massage head 3003 and the fourth massage head 3004 swing back and forth to perform kneading motion on the human neck. The third massage head 3003 and the fourth massage head 3004 are movably connected to the mounting assembly 310. The first drive assembly 200 is arranged on the bearing assembly 100 and is used to drive the rotating shaft 321 to rotate.

[0050] Combination Figures 1 to 3 The massage device 10 is described in more detail, wherein: Figure 3 Take the embodiment of the massage device applied to the shoulders and neck as an example. Figures 1 to 3 As shown, the massage component 300 is connected to the first massage component 331 through the eccentric driving part 3221, and the first massage component 331 is installed on the driving part 322. Then, the massage component 300 is connected to the second massage component 332 through the first connecting part 3222, and the second massage component 332 is also installed on the driving part 322, so that the driving part 322 can drive the first massage component 331 and the second massage component 332 to rotate synchronously. When the massage device 10 is used, the third massage head 3003 is against the human neck 22, and the first massage head 3001 is against the human shoulder 21. The first driving assembly 200 can drive the rotating shaft 321 to rotate, and the driving part 322 connected to the rotating shaft 321 drives the first massage component 331 and the second massage component 332 to move synchronously, so that the third massage head 3003 is used to massage the human neck 22, and the first massage head 3001 is used to massage the human shoulder 21. While the first massage head 3001 is massaging the human shoulder 21, the driving member 322 drives the eccentric driving part 3221 to rotate, so that the first massage head 3001 also performs eccentric motion during the swinging motion along with the third massage head 3003. Therefore, the first massage head 3001 can simulate the trajectory of kneading the shoulder 21 by human hands, thereby achieving kneading massage of the human shoulder 21 and improving the massage effect of the shoulder 21.

[0051] like Figure 1 as well as Figure 3 As shown, in some embodiments, the first massage member 331 can rotate with the driving member 322, and the eccentric driving part 3221 drives the first massage member 331 to swing relative to the second massage member 332, so that the first massage head 3001 and the second massage head 3002 reciprocate along the first closed curve 301, so as to knead the human shoulder 21. In this way, during the reciprocating movement of the first massage head 3001 and the second massage head 3002 along the first closed curve 301, the first massage head 3001 can gradually increase the massage force from the back to the neck 22, and then gradually reduce the massage force from the neck 22 to the back, so as to achieve kneading massage of the human shoulder 21 and improve the massage effect of the shoulder 21. It should be noted that the design of the first closed curve 301 can be flexibly designed according to the characteristics of the shoulder 21 curve.

[0052] like Figure 3 As shown, the axial direction of the rotating shaft 321 is arranged in the same direction as the width direction of the neck 22, and the radial direction of the rotating shaft 321 is arranged in the same direction as the length direction of the neck 22. When the user wears the shoulder 21 massage device, the third massage head 3003 and the fourth massage head 3004 usually squeeze and knead the human neck 22 from the side, while the first massage head 3001 and the second massage head 3002 knead the human shoulder 21 from the front.

[0053] In some embodiments, the third massage head 3003 and the fourth massage head 3004 can knead the human neck 22 under the drive of the driving member 322. In this way, when the second massage member 332 swings with the driving member 322, the third massage head 3003 and the fourth massage head 3004 can simulate the trajectory of kneading the neck 22 by human hands, thereby kneading and massaging the human neck 22 and improving the massage effect of the shoulders 21.

[0054] like Figure 1 As shown, in some embodiments, the second massage member 332 is movably connected to the mounting assembly 310, so that the second massage member 332 can rotate with the driving member 322, and drive the third massage head 3003 and the fourth massage head 3004 to reciprocate along the second closed curve 302 and the third closed curve 303. In this way, the neck 22 (that is, the part close to the human head) can be kneaded and massaged by the reciprocating motion process.

[0055] See you later Figure 1 , and combined with Figure 5As shown, in some embodiments, the first drive assembly 200 includes a first motor 210 disposed on the bearing assembly 100 and a second transmission assembly 220 that is in transmission cooperation with the rotating shaft 321, and the first motor 210 drives the rotating shaft 321 to rotate through the second transmission assembly 220. In this way, the rotation of the rotating shaft 321 is achieved through the cooperation between the first motor 210 and the second transmission assembly 220, so that the position between the first motor 210 and the rotating shaft 321 can be flexibly set, reducing the design difficulty of the massage device 10. The process in which the load sensor monitors the load of the first drive assembly 200 specifically monitors the load of the first motor 210.

[0056] For example, the second transmission assembly 220 includes a belt transmission assembly, a chain transmission assembly, a gear transmission assembly, and the like.

[0057] like Figure 1 as well as Figure 5 As shown, in some embodiments, the massage components 300 include two groups, and are symmetrically spaced on the bearing assembly 100 along the axis direction of the rotating shaft 321. The first motor 210 drives the two rotating shafts 321 to rotate synchronously through the second transmission assembly 220. In this way, the two groups of massage components 300 can be used to massage the muscles on both sides of the cervical spine and the muscles of the two shoulders 21, thereby improving the massage area of ​​the massage device 10. In addition, by realizing the synchronous rotation of the rotating shafts 321 of the two massage components 300 through the first motor 210 and the second transmission assembly 220, the power source can be reduced, and the manufacturing cost of the massage device 10 can be reduced.

[0058] Alternatively, if Figure 1 as well as Figure 5 As shown, in some embodiments, the second transmission assembly 220 includes a transmission gear 221 rotatably disposed on the bearing assembly 100, a first turbine 222 coaxially connected to the transmission gear 221, and two gear sets 223 meshing with the transmission gear 221, the motor includes a first worm 211 that is transmission-matched with the first turbine 222, and the two gear sets 223 correspond to the two groups of massage components 300 one by one, respectively, so as to drive the two rotating shafts 321 to rotate synchronously. In this way, when the massage device 10 is used, the first motor 210 outputs power, and drives the first turbine 222 to rotate through the first worm 211, and then can drive the two groups of gear sets 223 to rotate through the transmission gear 221, and drive the two rotating shafts 321 to rotate synchronously, and then drive the two massage assemblies 330 to rotate synchronously to achieve muscle massage on both sides of the cervical vertebrae and the massage of the muscles of the two shoulders 21. Optionally, the gear set 223 is rotatably disposed on the mounting assembly 310.

[0059] In some embodiments, the first angle between the driving member 322 and the rotating shaft 321 is adjustable. Thus, by adjusting the first angle, the massage range of the third massage head 3003 and the fourth massage head 3004 and the massage intensity on the neck 22 can be adjusted. At the same time, the massage range and massage intensity of the first massage head 3001 and the second massage head 3002 can also be adjusted.

[0060] like Figure 2 , Figures 5 to 7 As shown, in some embodiments, the first transmission assembly 320 further includes a connecting rod 323, one end of the connecting rod 323 is rotatably connected to the second mounting member 312, and the other end of the connecting rod 323 is transmission-connected to one end of the driving member 322. In this way, the driving member 322 and the second mounting member 312 are connected together through the connecting rod 323, so that the force on the driving member 322 is more stable and less likely to be damaged, thereby improving the reliability of the massage device.

[0061] like Figure 2 , Figures 5 to 7 As shown, in some embodiments, one end of the connecting rod 323 is rotatably connected to the second mounting member 312, and the other end of the connecting rod 323 is rotatably connected to one end of the driving member 322. The other end of the driving member 322 is rotatably connected to the rotating shaft 321, and the first rotating shaft 321 line of the driving member 322 rotating relative to the rotating shaft 321 is not coaxial with the second rotating shaft 321 line of the rotating shaft 321. At least one of the first mounting member 311 and the second mounting member 312 is slidably connected to the bearing assembly 100, so that the distance between the first mounting member 311 and the second mounting member 312 is adjustable. In this way, by adjusting the distance between the first mounting member 311 and the second mounting member 312, the connecting rod 323 and the driving member 322 are driven to rotate, so that the size of the first angle between the driving member 322 and the rotating shaft 321 can be adjusted, so as to adjust the massage range of the third massage head 3003 and the fourth massage head 3004 and the massage strength of the neck 22. At the same time, the massage range and massage intensity of the first massage head 3001 and the second massage head 3002 can also be adjusted.

[0062] like Figures 6 to 8 As shown, in some embodiments, the massage device 10 further includes a second drive assembly 400, which is disposed on the bearing assembly 100 and is used to drive the slidable first mounting member 311 and / or the slidable second mounting member 312 to move so that the distance between the first mounting member 311 and the second mounting member 312 can be adjusted. In this way, the second drive assembly 400 is used to facilitate adjustment of the distance between the first mounting member 311 and the second mounting member 312, so that the size of the first angle between the driving member 322 and the rotating shaft 321 can be adjusted.

[0063] It should be noted that there are many specific implementation methods for the second drive component 400, 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 311 and / or the second mounting member 312, and also including telescopic mechanisms that indirectly realize the telescopic movement of the first mounting member 311 and / or the second mounting member 312 using gear rack mechanisms, screw nut mechanisms, etc.

[0064] like Figures 6 to 8 As shown, in some embodiments, the mounting assembly 310 further includes a first screw 313 rotatably disposed on the bearing assembly 100, and at least one of the first mounting member 311 and the second mounting member 312 is slidably connected to the bearing assembly 100 and is threadedly connected to the first screw 313. In this way, when the first mounting member 311 is slidably connected to the bearing assembly 100 and is threadedly connected to the first screw 313, the first mounting member 311 can be moved by manually or electrically rotating the first screw 313 to adjust the distance between the first mounting member 311 and the second mounting member 312. Moreover, the movement of the first mounting member 311 is achieved by a threaded transmission method, and it is easy to utilize the self-locking characteristics of the thread to achieve the instant rotation and stop of the first mounting member 311.

[0065] And / or, when the second mounting member 312 is slidably connected to the bearing assembly 100 and is threadedly connected to the first screw rod 313, the second mounting member 312 can be moved by manually or electrically rotating the first screw rod 313 to adjust the spacing between the second mounting members 312. Moreover, the movement of the second mounting member 312 is achieved by thread transmission, and it is easy to utilize the self-locking characteristics of the thread to achieve the instant stop of the second mounting member 312.

[0066] In combination with the above-mentioned embodiment of the second driving assembly 400, the second driving assembly 400 is disposed on the bearing assembly 100, and is used to drive the first screw rod 313 to rotate. In this way, the first screw rod 313 can be driven to rotate by electric means to achieve automatic adjustment of the first angle.

[0067] like Figure 8 As shown, in some embodiments, the second drive assembly 400 includes a second motor 410 and a second turbine 420 rotatably disposed on the bearing assembly 100, the second motor 410 is provided with a second worm 411 that is transmission-coordinated with the second turbine 420, and the second turbine 420 is coaxially rotatably connected with the first screw 313. In this way, when the size of the first angle needs to be adjusted, the second motor 410 outputs power, and drives the second turbine 420 to rotate through the second worm 411, thereby driving the first screw 313 to rotate coaxially and synchronously, realizing the adjustment of the spacing between the first mounting member 311 and the second mounting member 312, so as to complete the automatic adjustment of the first angle.

[0068] Alternatively, if Figure 7As shown, in some embodiments, the first mounting member 311 and the second mounting member 312 are respectively slidably connected to the bearing assembly 100, and the first screw rod 313 includes a first threaded body 3131 threadedly connected to the first mounting member 311 and a second threaded body 3132 threadedly connected to the second mounting member 312, and the first threaded body 3131 and the second threaded body 3132 have opposite threaded directions. In this way, when the first screw rod 313 rotates, it can synchronously drive the first mounting member 311 and the second mounting member 312 to move toward or away from each other, thereby adjusting the distance between the two, and the distance adjustment speed is fast.

[0069] In some embodiments, the massage component 300 further includes a third drive assembly 340 for adjusting the spacing in the second direction between the first massage head 3001 and the second massage head 3002 and the second massage member 332. Specifically, the third drive assembly 340 is used to drive the guide body 3314 to reciprocate relative to the body 3313. In this way, the position between the guide body 3314 and the body 3313 can be electrically controlled by the third drive assembly 340 to achieve adjustable extension lengths of the first massage head 3001 and the second massage head 3002.

[0070] There are many ways to implement the third drive assembly 340, including but not limited to power equipment such as pneumatic rods, hydraulic rods, linear motors, etc. that directly drive the guide body 3314, and also including telescopic mechanisms that indirectly realize the telescopic movement of the guide body 3314 using gear rack mechanisms, screw nut mechanisms, etc.

[0071] like Fig. 9 As shown, in some embodiments, the third driving assembly 340 includes a driving motor 341 disposed on the body 3313, a screw rotatably disposed on the body 3313, and a slider 343 fixedly connected to the guide body 3314. The slider 343 is threadedly connected to the screw. The driving motor 341 can drive the screw to rotate, thereby driving the slider 343 to move along the axis direction of the screw, thereby driving the guide body 3314 to move relative to the body 3313, thereby adjusting the extension length of the first massage head 3001 and the second massage head 3002. This embodiment is easy to implement and has a compact structure.

[0072] In some embodiments, the massage device 10 further includes an operation button electrically connected to the processor of the control device. The operation button is used to receive an operation instruction from the user and send the operation instruction to the processor. At this time, the processor is also used to adjust the working posture of the first massage head 3001 and the second massage head 3002 according to the operation instruction to change the distance between the two most adjacent track points in the swing track of the first massage head 3001 and the second massage head 3002 in the first direction, and / or the distance between the track point closest to the second massage part 332 and the second massage part 332 in the second direction.

[0073] Next, a method for controlling the massage device 10 will be described.

[0074] Combination Fig.10 As shown, the embodiment of the present application provides a control method for a massage device, which is applied to a processor in a control device of the massage device. The control method includes steps S11 to S12.

[0075] Step S11, obtaining the load of the first driving assembly during the operation of the first massage component.

[0076] During implementation, the load of the first drive component can be reflected by detecting one or more of the voltage, current, and rotation speed of the first motor in the first drive component.

[0077] Step S12, adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly 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.

[0078] By adopting the control method of the massage device provided in the embodiment of the present application, during the operation of the first massage part, the working posture of the first massage head and the second massage head in the first massage part is adjusted according to the load of the first drive component used to drive the operation of the first massage part, so as to change the distance between the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head. The load of the first drive component can more accurately reflect the degree of squeezing of the user during the massage process, and adjusting the distance between the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head can adjust the degree of squeezing of the user during the subsequent operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation of the first massage part, which is conducive to improving the accuracy of massage control, thereby optimizing the user experience.

[0079] In some embodiments, the working postures of the first massage head and the second massage head are adjusted according to the load of the first drive component to 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, including: adjusting the swing angles of the first massage head and the second massage head according to the load of the first drive component to 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 adjusting the positions of the first massage head and the second massage head in the first direction according to the load of the first drive component to 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.

[0080] The swing range control can be achieved by adjusting the swing angle of the first massage head and the second massage head, thereby changing the spacing adjustment between the two most adjacent track points in the swing track in the first direction. For example, when the swing angle of the first massage head and the second massage head is increased, the swing range of the first massage head and the second massage head is increased, resulting in a decrease in the spacing between the two most adjacent track points in the swing track in the first direction. The pressure on the user increases. If the swing angle of the first massage head and the second massage head is reduced, the opposite is true.

[0081] The spacing control can also be achieved by directly adjusting the positions of the first massage head and the second massage head. That is, although the swing angle and the swing range of the first massage head and the second massage head have not changed, the swing range is translated, so that the spacing between the two most adjacent track points in the swing trajectory in the first direction changes. For example, when the first massage head and the second massage head are translated in the direction close to each other, the distance between the two most adjacent track points in the swing trajectory decreases, and the pressure on the user increases. When the first massage head and the second massage head are translated in the direction away from each other, the opposite is true. Considering that the massage areas to be massaged, especially the shoulders and neck areas, are mostly symmetrical processes, the first massage head and the second massage head approaching or moving away from each other at the same time can be considered as a more common translation method. In other embodiments, considering different needs, it may also happen that the first massage head and the second massage head are translated in the same direction, and the spacing adjustment is achieved by setting the translation distance.

[0082] In this way, 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 is specifically controlled by angle adjustment or translation. During implementation, one of them can be performed, or both can be adjusted together to achieve distance control.

[0083] In some embodiments, the massage device further includes a second drive assembly for adjusting the swing angles of the first massage head and the second massage head and / or the positions of the first massage head and the second massage head in the first direction. Adjusting the working posture of the first massage head and the second massage head according to the load of the first drive assembly to change the spacing between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head includes: controlling the second drive assembly according to the load of the first drive assembly to change the spacing between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0084] The second driving assembly includes a second motor. That is, in the implementation process, 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 is controlled by controlling the second driving assembly.

[0085] Considering that the first massage head and the second massage head have displacements in different directions during operation, corresponding to different control requirements, the control process of the first massage head and the second massage head is further described below.

[0086] Combination Fig.11 As shown, the embodiment of the present application provides another control method for massage equipment, including steps S111 to S122.

[0087] Step S111, obtaining a first load of the first driving assembly when the first massage head and the second massage head move toward each other.

[0088] Step S121, adjusting the swing angles of the first massage head and the second massage head according to the first load 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.

[0089] Step S122, adjusting the positions of the first massage head and the second massage head in the first direction according to the first load, 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.

[0090] It should be noted that, in some embodiments, both step S121 and step S122 are executed; in some embodiments, only one of step S121 and step S122 is executed.

[0091] In this way, monitoring the first load of the first drive component during the process of the first massage head and the second massage head approaching each other can accurately reflect the squeezing effect on the user caused by the first massage head and the second massage head approaching each other. Compared with controlling the first massage head and the second massage head throughout the entire process, it is beneficial to improve the control accuracy of the first massage head and the second massage head, thereby helping to optimize the user's massage experience.

[0092] Specifically, in some embodiments, adjusting the swing angles of the first massage head and the second massage head according to the first load to change the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction includes: when the first load is greater than a first upper threshold, reducing the swing angles of the first massage head and the second massage head to increase the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction; when the first load is less than a first lower threshold, increasing the swing angles of the first massage head and the second massage head to reduce the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. The first upper threshold is greater than the first lower threshold.

[0093] The first load of the first drive component is greater than the first upper threshold, indicating that the first massage head and the second massage head squeeze the user too much when they are close to each other, which may easily cause discomfort to the user. At this time, reducing the swing angle of the first massage head and the second massage head can increase the distance between the two most adjacent track points in the swing trajectory of the two, reduce the squeeze on the user, and help alleviate user discomfort. The first load of the first drive component is less than the first lower threshold, indicating that the first massage head and the second massage head squeeze the user too little when they are close to each other, and the massage effect is poor or even no massage effect. At this time, reducing the swing angle of the first massage head and the second massage head can reduce the distance between the two most adjacent track points in the swing trajectory of the two, which is conducive to appropriately increasing the squeeze and improving the massage effect. The first upper threshold and the first lower threshold here are both pre-stored and can be directly called during the implementation process.

[0094] In some embodiments, in order to further improve control accuracy, different first upper thresholds and first lower thresholds can be set corresponding to different users or different massage modes. During implementation, the corresponding first upper threshold or first lower threshold is determined according to the current user or massage mode.

[0095] Further, in some embodiments, the adjustment value of the swing angle is positively correlated with the difference between the first load and the first upper threshold, or the difference between the second load and the first lower threshold. That is, on the basis of being greater than the first upper threshold, the greater the first load, the greater the adjustment value of the swing angle, and the greater the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. On the basis of being less than the first lower threshold, the smaller the first load, the greater the difference between the first lower threshold, the greater the adjustment value of the swing angle, and the smaller the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. In this way, the swing angle adjustment process can be further refined and controlled, the accuracy of the control of the first massage head and the second massage head can be improved, and the user's massage experience can be optimized. The maximum swing angle and the minimum swing angle can also be limited, and the swing angle can be adjusted within the limited range.

[0096] In some embodiments, adjusting the positions of the first massage head and the second massage head in the first direction according to the first load 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 includes: when the first load is greater than the first upper threshold, controlling the first massage head and the second massage head to translate away from each other in the first direction to increase 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; when the first load is less than the first lower threshold, controlling the first massage head and the second massage head to translate towards each other in the first direction to reduce 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. Similar to the above analysis, when the first load is greater than the first upper threshold and the first massage head and the second massage head are close to the user and the pressure on the user is too large, the distance between the two most adjacent track points in the swing track can be increased by controlling the first massage head and the second massage head to translate away from each other, thereby reducing the pressure on the user. When the first load is less than the first lower threshold and the first massage head and the second massage head are close to the user and the pressure on the user is too small, the distance between the two most adjacent track points in the swing track can be reduced by controlling the first massage head and the second massage head to translate towards each other to increase the pressure on the user. In this way, the degree of squeezing on the user can be kept within a certain range, thereby achieving massage while avoiding user discomfort.

[0097] Further, in some embodiments, the translation distance value is positively correlated with the difference between the first load and the first upper threshold, or the difference between the second load and the first lower threshold. That is, on the basis of being greater than the first upper threshold, the greater the first load, the greater the translation distance value, and the greater the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. On the basis of being less than the first lower threshold, the smaller the first load, the greater the difference between the first lower threshold, the greater the translation distance value, and the smaller the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. In this way, the adjustment process of the translation distance value can be further refined and controlled to improve the accuracy of the control of the first massage head and the second massage head, and optimize the user's massage experience. The position range of the first massage head and the second massage head can also be limited, and the position of the first massage head and the second massage head can be adjusted within the limited range.

[0098] In the case where the massage device further comprises a second massage element, Fig.12 As shown, the embodiment of the present application provides another control method for massage equipment, including steps S11 to S13.

[0099] Step S11, obtaining the load of the first driving assembly during the operation of the first massage component.

[0100] Step S12, adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly 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.

[0101] Step S13, adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly to change the distance between the trajectory point closest to the second massage part and the second massage part in the swing trajectory of the first massage head and the second massage head in the second direction.

[0102] After the postures of the first massage head and the second massage head are adjusted, the overall massage trajectory of the first massage head and the second massage head changes. To facilitate the description of the relative position change of the two trajectories, the description is made by the change in the distance between the two most adjacent trajectory points in the swing trajectory, or the distance between the trajectory point most adjacent to the second massage part in the swing trajectory and the second massage part. In addition, considering that during the actual operation of the massage device, the first massage head and the second massage head operate synchronously, and the third massage head and the fourth massage head operate synchronously, the distance between the trajectory point closest to the second massage part in the massage trajectory of the first massage head and the second massage part in the second direction, and the distance between the trajectory point closest to the second massage part in the massage trajectory of the second massage head and the second massage part in the second direction are the same length. Therefore, the description is made here directly in terms of the distance between the trajectory point closest to the second massage part and the second massage part in the swing trajectory of the first massage head and the second massage head.

[0103] By adopting the control method of the massage device provided in the embodiment of the present application, during the operation of the first massage part, the working posture of the first massage head and the second massage head in the first massage part is adjusted according to the load of the first drive component used to drive the operation of the first massage part, so as to change the track point closest to the second massage part and the spacing between the second massage parts in the second direction in the swinging trajectory of the first massage head and the second massage head. The load of the first drive component can more accurately reflect the degree of squeezing of the user during the massage process, and adjusting the track point closest to the second massage part and the spacing between the second massage parts in the second direction in the swinging trajectory of the first massage head and the second massage head can adjust the degree of squeezing of the user during the subsequent operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation of the first massage part, which is conducive to improving the accuracy of massage control, thereby optimizing the user experience.

[0104] Combination Fig.13 As shown, the embodiment of the present application provides another control method for a massage device, including step S112 and step S131.

[0105] Step S112, obtaining a second load of the first driving assembly when the first massage head and the second massage head move along the second direction toward the second massage element.

[0106] Step S131, adjusting the working postures of the first massage head and the second massage head according to the second load to change the distance between the track point closest to the second massage part and the second massage part in the swing track of the first massage head and the second massage head in the second direction.

[0107] In this way, by monitoring the first load of the first drive assembly during the movement of the first massage head and the second massage head in the second direction close to the second massage member, it is possible to accurately reflect the squeezing effect of the first massage head and the second massage head on the user caused by the extension and retraction of the first massage head and the second massage head in the second direction. Compared with controlling the spacing according to the entire movement of the first massage head and the second massage head, it is beneficial to improve the control accuracy of the first massage head and the second massage head, thereby facilitating the optimization of the user's massage experience.

[0108] Specifically, in some embodiments, the massage device further includes a third drive assembly for adjusting the distance between the first massage head and the second massage head and the second massage part in the second direction. Adjusting the working posture of the first massage head and the second massage head according to the second load to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction includes: controlling the third drive assembly according to the second load to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. The third drive assembly includes a drive motor for realizing the telescopic control of the first massage head and the second massage head, thereby changing the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. By controlling the third drive assembly, the degree of squeezing of the user can be adjusted during the movement of the first massage head and the second massage head close to the second massage part along the second direction.

[0109] In some embodiments, the working posture of the first massage head and the second massage head is adjusted according to the second load to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: when the second load is greater than the second upper limit threshold, the distance between the first massage head and the second massage head and the second massage part in the second direction is increased; when the second load is less than the second lower limit threshold, the distance between the first massage head and the second massage head and the second massage part in the second direction is reduced. If the second load is greater than the second upper limit threshold, it means that in the process of the first massage head and the second massage head approaching the second massage part along the second direction, the load of the first drive assembly is too large, and the degree of squeezing the user is too large. At this time, increasing the distance between the first massage head and the second massage head and the second massage part in the second direction can reduce squeezing and avoid user discomfort. If the second load is less than the second lower limit threshold, it means that in the process of the first massage head and the second massage head approaching the second massage part along the second direction, the load of the first drive assembly is too small, and the degree of squeezing the user is too small, so that an ideal massage effect cannot be achieved. At this time, reducing the distance between the first massage head and the second massage head and the second massage part in the second direction can increase squeezing and optimize the massage effect. In this way, the degree of squeezing of the user by the first massage head and the second massage head in the process of approaching the second massage part along the second direction can be controlled within a certain range, thereby ensuring the massage effect while avoiding user discomfort.

[0110] Further, in some embodiments, the adjustment value of the spacing between the first massage head, the second massage head and the second massage part in the second direction is positively correlated with the difference between the second load and the second upper threshold, or the difference between the second load and the second lower threshold. That is, on the basis that the second load is greater than the second upper threshold, the greater the second load, the greater the adjustment value of the spacing, and the greater the spacing between the first massage head, the second massage head and the second massage part in the second direction. On the basis that the second load is less than the second lower threshold, the smaller the second load, the greater the difference between the second load and the second lower threshold, and the greater the adjustment value of the spacing at this time, the smaller the spacing, and the smaller the spacing between the first massage head, the second massage head and the second massage part in the second direction. In this way, it is beneficial to improve the accuracy of the control process of the first massage head and the second massage head, and to improve the accuracy of the operation process of the massage device, and to optimize the user experience. The spacing range between the first massage head, the second massage head and the second massage part in the second direction can be limited, and the spacing can be adjusted within this range.

[0111] In some embodiments, the first massage member includes multiple working modes, and in each working mode, the distances between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction are different. In this case, the working posture of the first massage head and the second massage head can be controlled by switching the working mode of the first massage member. That is: according to the load of the first drive component, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, including: according to the load of the first drive component, the working mode of the first massage member is switched to change the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. Another control method of the spacing control process is provided here. That is, the first massage member is pre-set with multiple working modes, and different working modes correspond to different distances between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. In this way, in the implementation process, according to the load of the first drive component, switching between various working modes can realize the control of the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head, which is conducive to simplifying the control process while ensuring the control accuracy.

[0112] Similarly, in some embodiments, the first massage member includes multiple working modes, and in each working mode, the track point closest to the second massage member in the swing track of the first massage head and the second massage head and the spacing between the second massage member in the second direction are different. The track point closest to the second massage member in the swing track of the first massage head and the second massage head and the spacing between the second massage member in the second direction are adjusted by adjusting the working mode.

[0113] The second massage element comprises a third massage head and a fourth massage head which are arranged at intervals along the first direction. The third massage head and the fourth massage head are controlled to swing back and forth to perform kneading motion on the human body.

[0114] In this case, combined with Fig.14 As shown, the embodiment of the present application provides another control method for massage equipment, including step S21 and step S22.

[0115] Step S21, obtaining the load of the first driving assembly during the operation of the first massage component.

[0116] During the operation of the massage device, the first massage element and the second massage element are synchronized in time. The load of the first drive assembly during the operation of the first massage element is obtained, that is, the load of the first drive assembly during the operation of the first massage element and the second massage element is obtained.

[0117] Step S22, according to the load of the first drive component, adjust the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head to change the distance in the first direction between the two adjacent trajectory points in the swing trajectory of the first massage head and the second massage head, and the distance in the first direction between the two adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head.

[0118] In this way, according to the load of the first driving component during the operation of the massage device, the degree of squeezing of the first massage component and the second massage component on the user during operation can be accurately reflected. Adjusting the distance between the first massage head and the second massage head and the distance between the third massage head and the fourth massage head accordingly can realize real-time adjustment of the operation process of the massage device, which is beneficial to improve the accuracy of the operation of the massage device and optimize the user's massage experience.

[0119] Further, in some embodiments, the first massage head is connected to the third massage head, and the second massage head is connected to the fourth massage head. The aforementioned adjustment of the working postures of the first massage head, the second massage head, the third massage head, and the fourth massage head to change the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, and the spacing between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head in the first direction, includes: adjusting the working postures of the third massage head and the fourth massage head to drive the working postures of the first massage head and the second massage head to adjust synchronously, so as to change the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, and the spacing between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head. That is, when the first massage head is connected to the third massage head and the second massage head is connected to the fourth massage head, the two massage heads connected to each other drive each other and adjust synchronously without the need to be controlled separately.

[0120] In some embodiments, according to the load of the first drive assembly, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to change the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, and the spacing between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head in the first direction, including: when the load of the first drive assembly is greater than the third upper threshold, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to increase the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, and the spacing between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head in the first direction; when the load of the first drive assembly is less than the third lower threshold, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to reduce the spacing between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, and the spacing between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head in the first direction. The third upper threshold is greater than the third lower threshold.

[0121] In this way, when the load of the first drive assembly is greater than the third upper threshold value, the load is large, that is, when the squeeze on the user is too severe, 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, and the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are increased to reduce the squeeze on the user and avoid user discomfort. When the load of the first drive assembly is less than the third lower threshold value, the load is small, that is, when the squeeze on the user is too small, resulting in a poor massage effect, 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, and the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are reduced to enhance the squeeze on the user and optimize the massage effect of the first massage part and the second massage part. In this way, 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, and the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are maintained within a certain range, while ensuring the massage effect and avoiding user discomfort.

[0122] Further, in some embodiments, the spacing 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, and the adjustment value of the spacing between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are positively correlated with the difference between the load of the first drive component and the third upper threshold or the third lower threshold. In the case where the load of the first drive component is greater than the third upper threshold, the adjustment value of the aforementioned spacing is positively correlated with the difference between the load of the first drive component and the third upper threshold. On the basis of being greater than the third upper threshold, the greater the load of the first drive component, the greater the difference between the load and the third upper threshold, the greater the adjustment value of the spacing, and the greater the spacing. In the case where the load of the first drive component is less than the third lower threshold, the adjustment value of the aforementioned spacing is positively correlated with the difference between the load of the first drive component and the third lower threshold. On the basis of being less than the third lower threshold, the smaller the load of the first drive component, the greater the difference between the load and the third lower threshold, the greater the adjustment value of the spacing, and the smaller the spacing. In this way, the accuracy of controlling the first massage head, the second massage head, the third massage head and the fourth massage head can be improved, which is beneficial to improving the accuracy of the operation process of the massage device and optimizing the user experience.

[0123] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A control method of a massage device 10, characterized in that: The massage device 10 comprises: The first massage member 331 includes a first massage head 3001 and a second massage head 3002 spaced apart along a first direction; The first driving assembly 200 is used to drive the first massage member 331 to make the first massage head 3001 and the second massage head 3002 swing back and forth to perform kneading motion on the human body; The control method comprises: Obtaining the load of the first driving assembly 200 during the operation of the first massage member 331; According to the load of the first driving assembly, the working postures of the first massage head 3001 and the second massage head 3002 are adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head 3001 and the second massage head 3002 in the first direction.

2. The control method according to claim 1, characterized in that: The step of adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly 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 comprises: According to the load of the first driving assembly, adjusting the swing angles of the first massage head and the second massage head 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; and / or According to the load of the first driving component, the positions of the first massage head and the second massage head in the first direction are adjusted 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.

3. The control method according to claim 2, characterized in that: The step of obtaining the load of the first driving component during the operation of the first massage component includes: obtaining a first load of the first driving assembly during the process in which the first massage head and the second massage head move toward each other; The step of adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly 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 comprises: Adjusting the swing angles of the first massage head and the second massage head according to the first load 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; and / or The positions of the first massage head and the second massage head in the first direction are adjusted according to the first load to change the distance between two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction.

4. The control method according to claim 3, characterized in that: The step of adjusting the swing angles of the first massage head and the second massage head according to the first load to change the distance between two adjacent track points in the first direction in the swing tracks of the first massage head and the second massage head includes: When the first load is greater than a first upper limit threshold, reducing the swing angles of the first massage head and the second massage head to increase 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; When the first load is less than a first lower threshold, the swing angles of the first massage head and the second massage head are increased to reduce the distance between two adjacent track points in the first direction in the swing tracks of the first massage head and the second massage head.

5. The control method according to claim 3, characterized in that: The step of adjusting the positions of the first massage head and the second massage head in the first direction according to the first load to change the distance between two adjacent track points in the swing track of the first massage head and the second massage head in the first direction includes: When the first load is greater than a first upper limit threshold, controlling the first massage head and the second massage head to translate away from each other in the first direction, so as to increase the distance between two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction; When the first load is less than a first lower threshold, the first massage head and the second massage head are controlled to translate closer to each other in the first direction to reduce 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.

6. The control method according to claim 3, characterized in that: The massage device further comprises a second drive assembly for adjusting the swing angles of the first massage head and the second massage head and / or the positions of the first massage head and the second massage head in the first direction; The step of adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly 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 comprises: The second driving assembly is controlled according to the load of the first driving assembly to change the distance between two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction.

7. The control method according to claim 1, characterized in that: The first massage member includes multiple working modes, and in each working mode, in the swinging tracks of the first massage head and the second massage head, the distances between the two most adjacent track points in the first direction are different; The step of adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly 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 comprises: According to the load of the first driving assembly, the working mode of the first massage member is switched 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.

8. The control method according to claim 1, characterized in that: The first massage element is used to massage a first area of ​​a human body; The massage device further comprises a second massage member for massaging a second area of ​​a human body, wherein the first massage member is movably connected to the second massage member along a second direction; The control method further comprises: According to the load of the first driving component, the working postures of the first massage head and the second massage head are adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage parts in the second direction.

9. The control method according to claim 8, characterized in that: The step of obtaining the load of the first driving component during the operation of the first massage component includes: obtaining a second load of the first driving assembly during a process in which the first massage head and the second massage head move along a second direction toward the second massage element; The method of adjusting the working postures of the first massage head and the second massage head according to the load of the first driving assembly to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the spacing between the second massage parts in the second direction includes: The working postures of the first massage head and the second massage head are adjusted according to the second load to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction.

10. The control method according to claim 9, characterized in that: The step of adjusting the working postures of the first massage head and the second massage head according to the second load to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction includes: When the second load is greater than a second upper limit threshold, increasing the distance between the first massage head, the second massage head and the second massage element in the second direction; When the second load is less than a second lower threshold, the distances between the first massage head and the second massage head and the second massage element in the second direction are reduced.

11. The control method according to claim 9, characterized in that: The massage device further comprises a third driving assembly for adjusting the spacing between the first massage head and the second massage head and the second massage member in the second direction; The step of adjusting the working postures of the first massage head and the second massage head according to the second load to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction includes: The third driving assembly is controlled according to the second load to change the track point closest to the second massage member in the swing track of the first massage head and the second massage head and the spacing between the second massage members in the second direction.

12. The control method according to claim 8, characterized in that: The second massage member includes a third massage head and a fourth massage head spaced apart along the first direction, wherein the third massage head and the fourth massage head are controlled to reciprocate and swing to perform kneading motion on the second area of ​​the human body; The control method further comprises: According to the load of the first driving component, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to 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 the distance between the two most adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head in the first direction.

13. The control method according to claim 12, characterized in that: The first massage head is connected to the third massage head, and the second massage head is connected to the fourth massage head; The step of adjusting the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head to change the distance between the two most adjacent track points in the swing tracks of the first massage head and the second massage head in the first direction, and the distance between the two most adjacent track points in the swing tracks of the third massage head and the fourth massage head in the first direction, comprises: Adjusting the working postures of the third massage head and the fourth massage head drives the working postures of the first massage head and the second massage head to be adjusted synchronously, so as to 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 the distance between the two most adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head in the first direction.

14. A control device for a massage device, characterized in that: include: a load sensor for detecting a load of the first driving assembly of the massage device; One or more processors are electrically connected to the load sensor, and are used to implement the control method of the massage device as described in any one of claims 1-13.

15. A massage device, characterized in that: include: The first massage member comprises a first massage head and a second massage head spaced apart in a first direction; a first driving assembly, for driving the first massage member to make the first massage head and the second massage head swing back and forth to perform kneading motion on the human body; and The control device of the massage device as described in claim 14 is electrically connected to the first massage element and the first drive assembly.

16. The massage device according to claim 15, characterized in that The first massage element is used to massage a first area of ​​a human body; The massage device also includes: The second massage member is used for massaging a second area of ​​the human body. The first massage member is movably connected to the second massage member along a second direction, and the control device is electrically connected to the second massage member.

17. The massage device according to claim 15, characterized in that The massage device also includes: An operation button, electrically connected to the processor of the control device, for receiving an operation instruction from a user and sending the operation instruction to the processor; The processor is further configured to adjust the working postures of the first massage head and the second massage head according to the operation instruction, 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.

Images