Mechanical massage device and composite motion mechanism thereof

Abstract

The invention provides a mechanical massage device and a composite motion mechanism thereof. The motion mechanism comprises a machine body; a driving device; the first execution component can be combined to the machine body in a bidirectional swinging manner through a pivoting motion pair; the second execution component can be combined to the machine body in a universal swinging manner through a universal kinematic pair; a first turntable configured to rotate about a first axis; a second turntable configured to rotate about a second axis; the first turntable is provided with a first actuating part which is suitable for enabling the first executing component to swing bidirectionally, and the second turntable is provided with a second actuating part which is suitable for enabling the second executing component to swing universally; the first axis and the second axis are arranged parallel to each other. The mechanical massage device is simple in structure, convenient to assemble and not prone to failure or damage, and the production cost and the after-sale cost can be effectively reduced under the condition that the use requirement of a user is met.

Description

Technical Field

[0001] The present invention relates to the technical field of massagers, and in particular to a mechanical massage device and a composite motion mechanism thereof. Background Art

[0002] Massage is an effective way to relax the body and mind and recuperate. With the acceleration of the pace of modern life and the increase of work pressure, this method is becoming more and more popular. Traditional massage is generally done manually, which is more dependent on human labor. To save manpower and achieve the massage effect, an effective method is to replace manual labor with machinery, and various mechanical massage devices have emerged. Common mechanical massage devices on the market include massage chairs, fascia guns, etc. Mechanical massage devices have a specific motion mechanism, which uses mechanical motion to simulate the tapping, kneading and other movements of human hands, which can achieve massage effects without consuming manpower.

[0003] There are still a small number of mechanical massage devices with swinging and clamping functions on the existing market. However, in the prior art, the motion mechanism of such massage devices to achieve this function is relatively complex, resulting in the need for multiple processed assembly components, and the structure between the assembly components is complex and inconvenient to assemble, thereby increasing the production cost of such massage devices. In addition, due to the presence of multiple kinematic pairs and friction points, the complex motion mechanism is prone to wear and looseness after long-term use, resulting in unstable mechanical movement and even damage to the motion mechanism. This not only increases the after-sales cost of such massage devices, but also reduces the massage effect, and the user may feel uncomfortable. Therefore, a composite motion mechanism and a mechanical massage device with a simple structure and easy assembly are needed to solve the above technical problems. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide a composite motion mechanism and a mechanical massage device which are simple in structure and easy to assemble.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A composite motion mechanism, comprising a body and a driving device, characterized in that it also comprises:

[0007] A first actuator is connected to the machine body in a bidirectional swingable manner via a pivoting motion pair;

[0008] The second actuator is connected to the machine body in a universally swingable manner via a universal joint;

[0009] A first turntable configured to rotate about a first axis; and

[0010] a second turntable configured to rotate about a second axis;

[0011] The first turntable is provided with a first actuating portion adapted to cause the first actuating member to swing in both directions, the second turntable is provided with a second actuating portion adapted to cause the second actuating member to swing in all directions, and the first axis and the second axis are arranged parallel to each other.

[0012] Further, the first actuating portion deviates from the first axis, and the second actuating portion deviates from the second axis.

[0013] Furthermore, the lower end of the first actuator is formed as a fork-shaped portion, and the first actuating portion is embedded in a fork-shaped space of the fork-shaped portion. When the first actuating portion rotates following the first turntable, it can intermittently apply force to the fork-shaped portion to cause the first actuator to swing bidirectionally.

[0014] Furthermore, the first execution member is configured as an elongated member, a middle portion of which is pivotally connected to the body, and a top end of which forms an arc track during bidirectional swinging.

[0015] Furthermore, a first gear is attached to the first rotating disk, and the first gear obtains power output by the motor through a transmission chain and transmits it to the first rotating disk.

[0016] Furthermore, the first execution components are configured as two arranged at intervals on the body.

[0017] Furthermore, the lower end of the second actuator is formed as a concave portion, and the second actuating portion is embedded in the concave portion. When the second actuating portion rotates with the second turntable, it can continuously apply force to the concave portion to cause the second actuator to swing in all directions.

[0018] Furthermore, the upper end of the second actuating portion is configured as a ball head, and the ball head is embedded in the concave portion.

[0019] Furthermore, a second gear is attached to the second turntable, and the second gear obtains the power output by the motor through a transmission chain and transmits it to the second turntable.

[0020] Furthermore, the second actuator is coupled to the body via a universal joint mechanism, wherein the universal joint mechanism comprises a universal ball head and a universal ball socket that are adapted to each other, wherein the universal ball head is arranged on the second actuator, and the universal ball socket is arranged on the body.

[0021] Furthermore, the universal ball socket is configured as a spherical hole that passes through the body along the second axis, and the upper and lower ends of the hole wall of the spherical hole have a plurality of notches arranged at intervals in the circumferential direction. The plurality of notches are configured to reduce the structural strength at the upper and lower edges of the spherical hole to facilitate the assembly of the universal ball head into the universal ball socket.

[0022] Furthermore, the notch extends along the second axis direction to a position not exceeding the great circle of the spherical hole, and the notches on the upper and lower sides of the universal ball socket are staggered in the circumferential direction.

[0023] A mechanical massage device comprises any one of the aforementioned composite motion mechanisms.

[0024] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0025] By providing the first and second turntables and eccentrically providing an actuating portion on each turntable, and providing a fork-shaped portion and a concave portion corresponding to the actuating portion on the first and second actuators, the corresponding actuators can output bidirectional swinging and universal swinging motions when the turntables rotate, thereby realizing the swinging and clamping functions of the massage device. The massage device has a simple structure, is easy to assemble, is not prone to malfunction or damage, and can effectively reduce production costs and after-sales costs while meeting the needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0027] Figure 1 is a three-dimensional diagram of the composite motion mechanism in the embodiment;

[0028] Figure 2 It is a three-dimensional diagram of the composite motion mechanism in the embodiment without the body and the driving device;

[0029] Figure 3 is a three-dimensional diagram of the first execution component in the embodiment;

[0030] Figure 4 is a three-dimensional diagram of the second execution component in the embodiment;

[0031] Figure 5 is a three-dimensional diagram of the first rotating disk in the embodiment;

[0032] Figure 6 is a three-dimensional diagram of the second rotating disk in the embodiment;

[0033] Figure 7 It is a three-dimensional diagram of the universal ball socket in the embodiment. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. The components of the embodiments of the present invention described and shown in the accompanying drawings can be arranged and designed in various configurations. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] Unless otherwise defined, the technical terms or scientific terms used in this patent document shall have the usual meanings understood by persons with ordinary skills in the field to which the invention belongs. The words "first", "second" and similar words used in the patent specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "one" or "the" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

[0039] refer to Figure 1-7The composite motion mechanism provided by the present invention comprises a body 1, a driving device 2, a first execution member 3, a second execution member 4, a first turntable 5, a second turntable 6, and a universal ball socket 7. The body 1 serves as the foundation of the entire mechanism and provides a mounting platform for each member, and the driving device 2 serves as a power source for each execution member and the turntable.

[0040] refer to Figure 1-6 , the first actuator 3 is connected to the body 1 in a bidirectional swingable manner through a pivoting motion pair, and the second actuator 4 is connected to the body 1 in a universal swingable manner through a universal motion pair. The first turntable 5 rotates around the first axis A, and the second turntable 6 rotates around the second axis B. A first actuating portion 51 that can cause the first actuator 3 to move is arranged on the first turntable 5, which is deviated from the first axis A, and a second actuating portion 61 that can cause the second actuating member 4 to move is arranged on the second turntable, which is deviated from the second axis B. The first axis A and the second axis B are arranged parallel to each other. Specifically, the top surfaces of the first turntable 5 and the second turntable 6 are both circular, and the first turntable 5 and the second turntable 6 are both installed in the horizontal direction and rotate around the plumb axis passing through the center of the top surface. Each actuating portion is eccentrically arranged on the top surface of each turntable along the plumb direction, and each turntable and the actuating portion arranged on the turntable are integrally formed, and when each turntable rotates, the corresponding actuating portion can be driven to rotate synchronously.

[0041] refer to Figure 2 , Figure 3 and Figure 5 , the lower end of the first actuator 3 is formed into a fork-shaped portion 31, a fork-shaped space 32 is formed between the inner walls on both sides of the fork-shaped portion 31, and the first actuating portion 51 is embedded in the fork-shaped space 32. Specifically, after the first actuator 3 is installed, it is located above the first turntable 5, the lower end of its fork-shaped portion 31 is close to the top surface of the first turntable 5, and the fork-shaped space 32 has a sufficient height to accommodate the first actuating portion 51. Preferably, the first actuating portion 51 is configured as a cylinder, and can maintain sliding contact with the inner wall of the fork-shaped portion 31 when it pushes the fork-shaped portion 31.

[0042] The distance between the inner walls on both sides of the fork-shaped portion 31 is set to be smaller than the diameter of the circular track formed by the first actuating portion 51 relative to the distal end of the first axis A when the first actuating portion 51 moves following the first rotating disk 5, so that when the first actuating portion 51 rotates eccentrically, the first actuating portion 51 can alternately push the inner walls on both sides of the fork-shaped portion 31, so that the first actuating member 3 swings in both directions. The diameter of the first actuating portion 51 is set to be smaller than the distance between the inner walls on both sides of the fork-shaped portion 31, so that when the first rotating disk 5 rotates, the first actuating portion 51 will intermittently appear in a state of not contacting the fork-shaped portion 31, so that the first actuating member 3 swings intermittently.

[0043] refer to Figure 1-3The first actuator 3 is an elongated member. Specifically, the middle portion 33 of the first actuator 3 has a through hole 34 for installing a pivot rod. The middle portion 33 is connected to the body 1 through the pivot rod to form a pivoting motion pair, so that when the first actuator 3 swings, the top end forms an arc trajectory.

[0044] refer to Figure 1-3 , two first execution members 3 are arranged at intervals on the body 1. In this embodiment, two first rotating disks 5 are arranged accordingly, so that the two first execution members 3 can swing synchronously, thereby realizing the clamping function of the massage device.

[0045] refer to Figure 2 , Figure 4 and Figure 6 , the second actuator 4 has a concave portion 41 at the lower end, and the second actuating portion 61 is embedded in the concave portion 41. Specifically, the concave portion 41 has a groove 43, and the upper end of the second actuating portion 61 is provided with a ball head 62. After the second actuator 4 is installed, it is located above the second rotating disk 6. The eccentricity of the second actuating portion 61 and the size of the concave portion 41 are calculated so that after the second actuator 4 and the second disk 6 are installed in place, the ball head 62 can be embedded in the groove 43. The groove 43 is configured as a cylindrical hole, and the diameter of the hole is equal to that of the ball head 62, so that the surface of the ball head 62 is always in contact with the surface of the groove 43. In this way, when the second actuating portion 61 rotates with the second rotating disk 6, the ball head 62 can continuously apply force to the concave portion 41, so that the second actuator 4 continues to swing. Preferably, the second actuating portion 61 can be configured as a truncated cone, and the diameter of its upper end becomes smaller to prevent the concave portion 41 from interfering with the second actuating portion 61.

[0046] refer to Figure 1 , Figure 2 , Figure 4 and Figure 7 The second actuator 4 has a universal ball head 42, and the universal ball socket 7 has a spherical hole 71. The diameter of the spherical hole 71 is set to be equal to the diameter of the universal ball head 42. The universal ball head 42 is installed in the spherical hole 71 to form a universal motion pair, so that the second actuator 4 can realize universal swinging motion.

[0047] refer to Figure 1 , Figure 2 , Figure 4 and Figure 7The universal ball socket 7 is installed on the machine body 1, the spherical hole 71 is located directly above the second turntable 6, and the second axis B passes through the center of the spherical hole 71. A plurality of notches 72 are arranged on the spherical hole 71. When assembling the universal ball head 42 into the universal ball socket 7, since the diameter of the universal ball head 42 is slightly larger than the diameter of the large circle of the spherical hole 71, it is necessary to apply an external force to the universal ball head 42 to press it into the spherical hole 71. The notches 72 reduce the local strength of the spherical hole 71 at the upper and lower edges 73, making it easier to deform under external force, thereby facilitating the assembly of the universal ball head 42 into the universal ball socket 7. Specifically, the notches 72 on either side of the upper and lower sides of the spherical hole 71 are arranged at intervals in the circumferential direction, and the notches 72 on the upper and lower sides are arranged alternately in the circumferential direction. The notches 72 extend from the edge 73 of the spherical hole to the position of the large circle 74 of the spherical hole, so that the deformation generated by the upper and lower edges 73 when squeezed is evenly distributed, while ensuring that the spherical hole 71 can still cooperate with the universal ball head 42 to form a universal joint. It should be understood that the two planes defined by the upper and lower edges 73 are symmetrical with respect to the plane defined by the large circle 74. Preferably, the number of notches 72 should be appropriate. In this embodiment, a total of 8 notches 72 are arranged.

[0048] refer to Figure 1 , Figure 2 , Figure 5 and Figure 6 In this embodiment, the driving device 2 is a motor, the shaft of the motor is fixedly connected to the second turntable 6, and the second axis B coincides with the central axis of the motor shaft. A first gear 52 is attached to the first turntable 5, and a second gear 63 is attached to the second turntable 6. The first gear 52 is meshed with the second gear 63. In this way, the first gear 52, the second gear 63 and the motor form a transmission chain, so that the power output by the motor is transmitted to the second turntable 6 and the first turntable 5. When the motor is working, the first turntable 5 and the second turntable 6 rotate at the same time, so that the first actuator 3 and the second actuator 4 output clamping and swinging motions. Preferably, the number of teeth of the first gear 52 and the second gear 63 can be set to be equal, so that the rotation periods of the first turntable 5 and the second turntable 6 are the same, and each actuator performs clamping and swinging motions at the same frequency, so that the user has a more comfortable experience.

[0049] The composite motion mechanism provided by the invention is used in a mechanical massage device.

[0050] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A composite motion mechanism, comprising a body and a driving device, characterized in that: Also includes: A first actuator is connected to the machine body in a bidirectional swingable manner via a pivoting motion pair; The second actuator is connected to the machine body in a universally swingable manner via a universal joint; a first turntable configured to rotate about a first axis; as well as a second turntable configured to rotate about a second axis; The first turntable is provided with a first actuating portion adapted to cause the first actuating member to swing in both directions, the second turntable is provided with a second actuating portion adapted to cause the second actuating member to swing in all directions, and the first axis and the second axis are arranged parallel to each other.

2. The compound motion mechanism according to claim 1, characterized in that: The first actuating portion is offset from a first axis, and the second actuating portion is offset from a second axis.

3. The compound motion mechanism according to claim 2, characterized in that: The lower end of the first actuator is formed as a fork-shaped portion, and the first actuating portion is embedded in the fork-shaped space of the fork-shaped portion. When the first actuating portion rotates following the first turntable, it can intermittently apply force to the fork-shaped portion to cause the first actuator to swing bidirectionally.

4. The compound motion mechanism according to claim 3, characterized in that: The first execution member is configured as an elongated member, the middle portion of which is pivotally connected to the machine body, and the top end of which forms an arc track during the bidirectional swinging process.

5. The composite motion mechanism according to any one of claims 1 to 4, characterized in that: A first gear is attached to the first rotating disk, and the first gear obtains power output by the motor through a transmission chain and transmits it to the first rotating disk.

6. The composite motion mechanism according to any one of claims 1 to 4, characterized in that: The first execution components are configured to be two and spaced apart from each other on the body.

7. The compound motion mechanism according to claim 1, characterized in that: The lower end of the second actuator is formed as a concave portion, and the second actuating portion is embedded in the concave portion. When the second actuating portion rotates with the second turntable, it can continuously apply force to the concave portion to cause the second actuator to swing in all directions.

8. The compound motion mechanism according to claim 7, characterized in that: The upper end of the second actuating portion is configured as a ball head, and the ball head is embedded in the concave portion.

9. The compound motion mechanism according to claim 7, characterized in that: A second gear is attached to the second rotating disk, and the second gear obtains power output by the motor through a transmission chain and transmits it to the second rotating disk.

10. The composite motion mechanism according to claim 7, 8 or 9, characterized in that: The second actuator is connected to the body through a universal joint mechanism, and the universal joint mechanism includes a universal ball head and a universal ball socket that are adapted to each other. The universal ball head is configured on the second actuator, and the universal ball socket is configured on the body.

11. The compound motion mechanism according to claim 10, characterized in that: The universal ball socket is configured as a spherical hole that passes through the body along the second axis. The upper and lower ends of the hole wall of the spherical hole have multiple notches arranged at intervals in the circumferential direction. The multiple notches are configured to reduce the structural strength of the upper and lower edges of the spherical hole to facilitate the assembly of the universal ball head into the universal ball socket.

12. The compound motion mechanism according to claim 11, characterized in that: The notch extends along the second axis direction to a position not exceeding the great circle of the spherical hole, and the notches on the upper and lower sides of the universal ball socket are staggered in the circumferential direction.

13. A mechanical massage device, characterized in that: A composite motion mechanism comprising any one of claims 1 to 12.

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