Prostrate type massage device

Abstract

The invention belongs to the technical field of massage equipment, and discloses a prostrate massage device which comprises a base, a moving assembly is arranged in the base, and the moving assembly is in transmission connection with a steering assembly arranged in the base; a height-adjustable lifting joint is arranged on the base; the multi-degree-of-freedom stretching arm comprises a first movable assembly installed on the side wall of the top end of the lifting joint, and the movable end of the first movable assembly is sequentially provided with a second movable assembly and a third movable assembly which can move at different degrees of freedom. The massage assembly comprises a massage rod and a driving rod which are arranged on the side wall of the third movable assembly in parallel, the elastically-arranged massage rod is in transmission connection with the driving rod, and the massage head is installed at the end of the massage rod and can be replaced. The massage device disclosed by the invention is convenient to use, has the characteristics of high flexibility, low cost, multi-degree-of-freedom stretching and personalized massage, can be conveniently and independently used by a user at home without the assistance of other people, and provides more accurate, comfortable, convenient and comprehensive massage experience for the user.

Description

Technical Field

[0001] The invention belongs to the technical field of massage equipment, and in particular relates to a prone massage device. Background Art

[0002] At present, employees in many industries suffer from muscle pain in the neck, shoulders, back and waist due to long-term sitting or certain high-intensity physical labor. Due to the high pace of modern life, even if they feel pain or discomfort in the above-mentioned parts, they cannot get proper rest. At the same time, my country has entered an aging society, and many elderly people have declined in physical function, and they also feel pain or discomfort in the above-mentioned parts.

[0003] There are many massage places or Chinese medicine clinics that specialize in massage and can provide massage therapy to relieve body pain and discomfort. However, the cost of massage relaxation in professional massage places is high, and many people with relatively low incomes will not choose this method. At the same time, since professional massage places need to serve more people, more waiting time may be required, which makes this method difficult to be adopted by high-income people with less leisure time. The existing home massage equipment is mainly massage chairs and handheld massage guns, but massage chairs can only perform sitting massages, mainly targeting the cervical spine, and have poor massage effects on the back and other parts of the body. Handheld massage guns need to be held in the hand for massage, which can easily fatigue the hands, and cannot massage the back of the body, requiring assistance from others, which is inconvenient to use.

[0004] Therefore, in view of the above-mentioned groups of people and situations, the present application has developed a prone massage device to solve the above-mentioned technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a prone massage device, which can be used at home, is easy to operate and has a low price.

[0006] To achieve the above object, the present invention provides a prone massage device, comprising:

[0007] A base, wherein a moving assembly for assisting walking is arranged at the lower part of the base, and the moving assembly is drivingly connected to a steering assembly arranged in the base; a height-adjustable lifting joint is arranged on the base;

[0008] A multi-degree-of-freedom extension arm, the multi-degree-of-freedom extension arm comprises a first movable component mounted on the top side wall of the lifting joint, and a second movable component and a third movable component capable of performing different degrees of freedom are sequentially arranged at the movable end of the first movable component;

[0009] A massage assembly, the massage assembly comprising a massage rod and a drive rod arranged in parallel on the side wall of the third movable assembly, the elastically arranged massage rod is transmission-connected with the drive rod, and the massage rod extends above the user;

[0010] A massage head is mounted on the end of the massage rod and can be easily replaced.

[0011] Preferably, a mounting seat is provided at the end of the massage rod, the mounting seat faces the user, and the massage head is detachably connected to the mounting seat.

[0012] Preferably, an electromagnet with adjustable magnetic force and direction is provided on the side of the driving rod facing the massage rod, and a permanent magnet corresponding to the electromagnet is provided on the massage rod, and the electromagnet interacts with the permanent magnet.

[0013] Preferably, the first movable component includes a first fixed cylinder fixedly connected to the top side wall of the lifting joint, a first mounting groove is opened in the first fixed cylinder, a first movable rod is rotatably connected in the first mounting groove, the first movable rod extends out of the first mounting groove, and the second movable component is transmission-connected to the first movable rod.

[0014] Preferably, a rotating motor is fixedly mounted on the top of the first fixed cylinder, the output end of the rotating motor extends into the first mounting groove and is transmission-connected to a first driving gear, and the first driving gear is transmission-connected to a first driven gear sleeved on the outside of the first movable rod.

[0015] Preferably, the second movable component includes a second mounting seat fixedly mounted on the end of the first movable rod, the second mounting seat is provided with a second mounting groove, a second movable rod is rotatably connected in the second mounting groove, the second movable rod extends out of the second mounting groove, and the third movable component is fixedly mounted on the second movable rod.

[0016] Preferably, a driving groove is opened at the bottom end of the second installation groove, and a driving motor is fixedly installed in the driving groove. The output end of the driving motor is transmission-connected to a second driving gear, and the second driving gear is meshed with a second driven gear fixed to the end of the second movable rod.

[0017] Preferably, the third movable component includes a third mounting seat fixedly connected to the second movable rod, the third mounting seat is provided with a third mounting groove arranged perpendicular to the second mounting groove, a third movable rod is rotatably connected in the third mounting groove, the third movable rod extends out of the third mounting groove and is fixedly mounted with a mounting plate, and the massage rod and the driving rod are respectively mounted on the mounting plate.

[0018] Preferably, the steering assembly includes a steering driving cavity arranged in the base, a steering motor is fixedly installed in the steering driving cavity, the output end of the steering motor is transmission-connected with a driving shaft, a plurality of driven sleeves are threadedly connected on the driving shaft, transmission rods are fixedly connected on both sides of the driven sleeves, a steering rack is fixedly connected on the transmission rod, and the steering rack is transmission-connected to the moving assembly.

[0019] Preferably, the moving assembly includes a plurality of steering shafts rotatably connected to the bottom end of the base, and the bottom end of the steering shaft is provided with a walking wheel for walking; the top end of the steering shaft extends into the steering drive cavity, and the steering rack is meshed with a steering gear sleeved and fixedly connected to the steering shaft for transmission.

[0020] Compared with the prior art, the present invention has the following advantages and technical effects: the present invention discloses a prone massage device, which aims to provide a massage device that can be flexibly moved, height-adjustable, and has multi-degree-of-freedom extension capabilities. A moving component and a steering component are arranged in the base, so that the device can be easily moved between different positions, and it is also convenient for the user to control the moving direction of the device, thereby improving the convenience and flexibility of use; the lifting joint is installed on the base, and has a height adjustment function, and the massage component can be driven to rise and fall through the multi-degree-of-freedom extension arm. The overall height of the device can be adjusted according to the user's height or massage needs, ensuring that the massage head can accurately reach the target part, improving the accuracy and comfort of the massage, and providing a full range of massage experience. The invention meets the diverse needs of users; the multi-degree-of-freedom extension arm is connected in sequence by the first, second and third movable components, each of which has different degrees of freedom of movement, so that the massage head can reach and adapt to different parts of the body and angles, providing a more accurate and comprehensive massage experience; the massage component is composed of a driving rod and a massage rod that are arranged in parallel and transmitted. The massage rod can produce massage movements under the drive of the driving rod. The elastic design of the massage rod helps to adapt to users of different body shapes and ensure the comfort and effect of the massage; the massage head is installed at the end of the massage rod and can be easily replaced according to massage needs. It can adapt to a variety of massage methods and strengths, meet the personalized needs of different users, and improve the applicability and practicality of the device.

[0021] The massage device disclosed in the present invention is easy to use, has the characteristics of high flexibility, low cost, multi-degree-of-freedom extension and personalized massage, can be used by users alone at home without the assistance of others, and provides users with a more accurate, comfortable, convenient and comprehensive massage experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0023] Figure 1 This is an axial view of the prone massage device of the present invention;

[0024] Figure 2 This is a front view of the prone massage device of the present invention;

[0025] Figure 3 This is a schematic diagram of the appearance of the base of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the steering assembly of the present invention;

[0027] Figure 5 For the present invention Figure 4 A partial enlarged view of middle A;

[0028] Figure 6 This is a schematic diagram of the first movable rod connection structure of the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of the second movable rod of the present invention;

[0030] Figure 8 This is a schematic diagram of the lifting joint structure of the present invention;

[0031] In the figure: 1, base; 2, lifting joint; 3, multi-freedom extension arm; 4, massage component; 5, massage head; 6, fixed bed; 11, counterweight; 12, steering drive chamber; 13, steering motor; 14, drive shaft; 15, driven sleeve; 16, transmission rod; 17, steering rack; 18, support seat; 19, steering shaft; 110, walking wheel; 111, steering gear; 112, walking motor; 113, guide groove; 114, guide rod; 115, guide spring; 116, support rod; 21, lifting column; 22, lifting cylinder; 23, lifting motor; 24, lifting screw; 25, lifting screw nut; 31, first fixed cylinder; 32, first mounting groove; 3 3. First movable rod; 34. Rotating motor; 35. First driving gear; 36. First driven gear; 37. Positioning ring; 38. Positioning groove; 39. Second mounting seat; 310. Second mounting groove; 311. Second movable rod; 312. Driving groove; 313. Driving motor; 314. Second driving gear; 315. Second driven gear; 316. Third mounting seat; 317. Third mounting groove; 318. Third movable rod; 319. Mounting plate; 320. Connecting shaft; 321. Smooth section; 322. Threaded section; 323. Locking nut; 41. Massage rod; 42. Driving rod; 43. Electromagnet; 44. Permanent magnet; 51. Mounting seat; 61. User. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figure 1-Figure 8 As shown, this embodiment provides a prone massage device, comprising:

[0035] A base 1, a moving assembly for assisting walking is arranged at the lower part of the base 1, and the moving assembly is transmission-connected with a steering assembly arranged in the base 1; a height-adjustable lifting joint 2 is arranged on the base 1;

[0036] The multi-degree-of-freedom extension arm 3 comprises a first movable component mounted on the top side wall of the lifting joint 2, and a second movable component and a third movable component capable of performing different degrees of freedom are sequentially arranged at the movable end of the first movable component;

[0037] The massage component 4 includes a massage rod 41 and a drive rod 42 which are arranged in parallel on the side wall of the third movable component. The elastically arranged massage rod 41 is transmission-connected with the drive rod 42, and the massage rod 41 extends above the user 61.

[0038] The massage head 5 is installed at the end of the massage rod 41, and the massage head 5 can be easily replaced.

[0039] The present invention discloses a prone massage device, which aims to provide a massage device that can be flexibly moved, height-adjustable, and has multi-degree-of-freedom extension capabilities. A moving component is arranged at the lower part of a base 1, and a steering component is arranged inside the base 1, so that the device can be easily moved between different positions, and it is also convenient for a user 61 to control the moving direction of the device, thereby improving the convenience and flexibility of use; a lifting joint 2 is installed on the base 1, and has a height adjustment function, and can drive a massage component 4 to rise and fall through a multi-degree-of-freedom extension arm 3, and can adjust the overall height of the device according to the height or massage needs of the user 61, to ensure that the massage head 5 can accurately reach the target part, thereby improving the accuracy and comfort of the massage, providing a full range of massage experience, and meeting the diverse needs of the user 61. ; The multi-degree-of-freedom extension arm 3 is formed by connecting the first, second and third movable components in sequence, and each movable component has different degrees of freedom of movement, so that the massage head 5 can reach and adapt to different body parts and angles, providing a more accurate and comprehensive massage experience; the massage component 4 is composed of a driving rod 42 and a massage rod 41 that are arranged in parallel and transmitted. The massage rod 41 can produce massage actions under the drive of the driving rod 42. The elastic design of the massage rod 41 helps to adapt to users 61 of different body shapes, ensuring the comfort and effect of the massage; the massage head 5 is installed at the end of the massage rod 41, which can be easily replaced according to the massage needs, and can adapt to a variety of massage methods and strengths to meet the personalized needs of different users 61, thereby improving the applicability and practicality of the device. The massage device disclosed in the present invention is easy to use, has the characteristics of high flexibility, low cost, multi-degree-of-freedom extension and personalized massage, and can be convenient for the user 61 to use alone at home without the assistance of others, providing the user 61 with a more accurate, comfortable, convenient and comprehensive massage experience.

[0040] In one embodiment of the present application, the user 61 lies prone on the fixed bed 6 to perform massage.

[0041] In one embodiment of the present application, a counterweight 11 is provided on the base 1 to balance the force on the base 1, thereby improving the stability of the base 1 and enhancing the safety of use.

[0042] In one embodiment of the present application, the counterweight 11 can be translated on the base 1 to adjust the distance between it and the lifting joint 2, and the counterweight can be automatically adjusted according to the use process.

[0043] In one embodiment of the present application, a plurality of pressure sensors are arranged in the base 1, and the plurality of pressure sensors are respectively arranged at both ends of the base 1. When the pressure difference measured by the pressure sensors at both ends exceeds a limit value, the counterweight block 11 can be controlled to translate and adjust the balance to achieve stability during use.

[0044] In one embodiment of the present application, the lifting joint 2 includes a lifting column 21 installed on the base 1, a lifting cylinder 22 is slidably connected inside the lifting column 21, the top of the lifting cylinder 22 extends out of the lifting column 21, and the multi-degree-of-freedom extension arm 3 is fixedly installed on the side wall of the lifting cylinder 22; when lifting is required, the lifting cylinder 22 rises and falls and slides inside the lifting column 21 to adjust the height of the multi-degree-of-freedom extension arm 3.

[0045] In one embodiment of the present application, a lifting screw nut 25 is fixedly installed in the lifting column 21, and a lifting screw 24 is threadedly connected to the lifting screw nut 25. The lifting screw 24 extends upward and is transmission-connected to a lifting motor 23 installed in the lifting cylinder 22; when lifting adjustment is required, the lifting motor 23 is started, driving the lifting screw 24 to rotate, thereby causing the lifting screw 24 and the lifting screw nut 25 to be displaced, and then the lifting cylinder 22 can be driven to move up and down through the movement of the lifting motor 23.

[0046] In a further optimized solution, a mounting seat 51 is provided at the end of the massage rod 41, the mounting seat 51 faces the user 61, and the massage head 5 is detachably connected to the mounting seat 51. The connecting parts at the top of different massage heads 5 are adapted to the mounting seat 51, which is convenient for connection and replacement. The massage head 5 can be replaced according to massage needs, and can adapt to a variety of massage methods and strengths to meet the personalized needs of different users 61, thereby improving the applicability and practicality of the device.

[0047] In a further optimized solution, an electromagnet 43 with adjustable magnetic force and direction is provided on the side of the driving rod 42 facing the massage rod 41, and a permanent magnet 44 is provided on the massage rod 41 corresponding to the electromagnet 43, and the electromagnet 43 interacts with the permanent magnet 44. The electromagnet 43 adopts a DC electromagnet 43, and the magnitude of its magnetic force can be controlled by controlling the magnitude and direction of the current of the circuit, thereby adjusting the magnitude of the force between the electromagnet 43 and the permanent magnet 44. When the magnitude and direction of the current of the electromagnet 43 change according to the set sequence, it can periodically provide power to the massage rod 41. The magnitude and direction of the magnetic force are adjustable, which is convenient for adjusting the massage strength and frequency according to the massage needs, and is suitable for the different needs of the user 61.

[0048] In one embodiment of the present application, the magnetic transmission method between the electromagnet 43 and the permanent magnet 44 does not require direct contact, which reduces wear and noise, improves the comfort of use, and extends the service life of the equipment.

[0049] In a further optimized solution, the first movable assembly includes a first fixed cylinder 31 fixed to the top side wall of the lifting joint 2, a first mounting groove 32 is provided in the first fixed cylinder 31, a first movable rod 33 is rotatably connected in the first mounting groove 32, the first movable rod 33 extends out of the first mounting groove 32, and the second movable assembly is transmission-connected to the first movable rod 33. The first movable rod 33 rotates in the first mounting groove 32, thereby providing a rotation force for the subsequent massage assembly 4, thereby realizing the rotation of the first degree of freedom, and increasing the flexibility of the extension arm.

[0050] In a further optimized solution, a rotating motor 34 is fixedly installed at the top of the first fixed cylinder 31, and the output end of the rotating motor 34 extends into the first mounting groove 32 and is transmission-connected with the first driving gear 35, and the first driving gear 35 is transmission-connected with the first driven gear 36 sleeved outside the first movable rod 33. The rotating motor 34 drives the first movable rod 33 to rotate by meshing the first driving gear 35 and the first driven gear 36, and the transmission mode is stable and reliable, and can achieve precise control.

[0051] In one embodiment of the present application, a plurality of annular positioning grooves 38 are provided on the first movable rod 33, and a positioning ring 37 for sliding limitation is provided in the positioning groove 38 and matched with the positioning groove 38. The positioning ring 37 is fixedly connected to the inner cavity of the first mounting groove 32 to position the first movable rod 33 and prevent the first movable rod 33 from slipping out.

[0052] In a further optimized solution, the second movable assembly includes a second mounting seat 39 fixedly mounted on the end of the first movable rod 33, a second mounting slot 310 is provided on the second mounting seat 39, a second movable rod 311 is rotatably connected in the second mounting slot 310, the second movable rod 311 extends out of the second mounting slot 310, and the third movable assembly is fixedly mounted on the second movable rod 311. The second movable rod 311 is fixed to the second mounting slot 310 through a connecting shaft 320 and can rotate, providing another degree of freedom different from the rotation of the first movable rod 33, further increasing the flexibility of the multi-degree-of-freedom extension arm 3.

[0053] Further optimization scheme, the bottom end of the second installation groove 310 is provided with a driving groove 312, and a driving motor 313 is fixedly installed in the driving groove 312. The output end of the driving motor 313 is connected to the second driving gear 314, and the second driving gear 314 is meshed with the second driven gear 315 fixed to the end of the second movable rod 311. The driving motor 313 is installed in the driving groove 312, and it drives the second movable rod 311 to rotate around the connecting shaft 320 through the meshing transmission of the second driving gear 314 and the second driven gear 315, providing power for the rotation of the second movable rod 311. The transmission method is stable and reliable, and can achieve precise control.

[0054] Further optimized solution, the third movable assembly includes a third mounting seat 316 fixedly connected to the second movable rod 311, and a third mounting slot 317 arranged perpendicularly to the second mounting slot 310 is provided on the third mounting seat 316. A third movable rod 318 is rotatably connected in the third mounting slot 317, and the third movable rod 318 extends out of the third mounting slot 317 and is fixedly installed with a mounting plate 319, and the massage rod 41 and the driving rod 42 are respectively installed on the mounting plate 319. The third movable rod 318 is fixed to the third mounting slot 317 through a connecting shaft 320 and can rotate. Since the third movable slot is perpendicular to the second movable slot, another degree of freedom of rotation perpendicular to the second movable rod 311 is provided, further increasing the flexibility of the multi-degree-of-freedom extension arm 3; the massage rod 41 and the driving rod 42 are installed on the mounting plate 319, thereby providing different degrees of freedom for the massage of the massage rod 41.

[0055] In one embodiment of the present application, the driving method of the third movable rod 318 is the same as that of the second movable rod 311. After those skilled in the art understand the driving method of the second movable rod 311, they can adapt it to the driving of the third movable rod 318, which will not be repeated here.

[0056] In one embodiment of the present application, the connecting shaft 320 includes a smooth section 321, which is embedded and clamped with the second movable rod 311 or the third movable rod 318 during installation, so that the smooth section 321 can move and rotate with the second movable rod 311 and the third movable rod 318; the two ends of the smooth section 321 are rotatably connected with threaded sections 322, and the threaded sections 322 extend to both sides of the second mounting seat 39 or the third mounting seat 316, and the connecting shaft 320 is locked by a locking nut 323, which is convenient for connection and can reduce wear.

[0057] According to a further optimized solution, the steering assembly includes a steering driving chamber 12 disposed in the base 1, a steering motor 13 is fixedly installed in the steering driving chamber 12, the output end of the steering motor 13 is drivingly connected to a driving shaft 14, a plurality of driven sleeves 15 are threadedly connected to the driving shaft 14, transmission rods 16 are fixedly connected to both sides of the driven sleeve 15, a steering rack 17 is fixedly connected to the transmission rod 16, and the steering rack 17 is drivingly connected to the moving assembly. The steering motor 13 is installed in the steering driving chamber 12. When steering is required, the steering motor 13 is started, driving the driving shaft 14 to rotate, causing the driven sleeve 15 to translate along the driving shaft 14. When the driven sleeve 15 translates, the steering rack 17 is driven to translate through the transmission rods 16 on both sides, thereby providing steering power for the moving assembly, and realizing precise steering control of the device.

[0058] In one embodiment of the present application, a support seat 18 is disposed in the steering drive cavity 12 to support the driving shaft 14 passing therethrough, thereby improving the stability of the driving shaft 14 .

[0059] In one embodiment of the present application, support rods 116 are provided on both sides of the support seat 18 , and the support rods 116 are fixedly connected to the inner wall of the steering drive cavity 12 , so as to further improve the stability of the support seat 18 .

[0060] In one embodiment of the present application, a guide groove 113 is provided at one end of the steering rack 17 away from the support rod 116, and a guide spring 115 is arranged in the guide groove 113. The guide spring 115 is fixedly connected to a guide rod 114 slidably connected in the guide groove 113, thereby achieving stable support for the steering rack 17 and preventing the steering rack 17 from getting stuck.

[0061] Further optimization scheme, the mobile assembly includes a plurality of steering shafts 19 rotatably connected to the bottom end of the base 1, and the bottom end of the steering shaft 19 is provided with a walking wheel 110 for walking; the top end of the steering shaft 19 extends into the steering driving cavity 12, and the steering rack 17 is meshed with the steering gear 111 sleeved and fixed on the steering shaft 19 for transmission. The steering shaft 19 rotates around its own axis on the base 1, and the bottom end of the steering shaft 19 is provided with a walking wheel 110, and each walking wheel 110 is connected to the walking motor 112 installed at the bottom end of the steering shaft 19 for transmission, providing power for the walking wheel 110; and the top end of the steering shaft 19 extends into the steering driving cavity 12, and the steering gear 111 is sleeved and fixed on the steering shaft 19, and the steering rack 17 is meshed with the steering gear 111, and the steering motor 13 can drive the steering shaft 19 to rotate, so as to realize the steering of the mobile assembly, and the design of the steering shaft 19 and the walking wheel 110 enables the device to walk smoothly in different directions on the ground.

[0062] In one embodiment of the present application, all electrical components of the device can be controlled by a wireless remote control or a wired handle, and the user 61 can make adjustments at any time according to massage needs during the massage process.

[0063] In one embodiment of the present application, all electrical components of the device can also be automatically controlled by the control module of the device and automatically run according to the control program set before use, without the user 61 having to operate distractedly.

[0064] In one embodiment of the present application, wireless control, wired control, automatic control and other control methods of all electrical components of the device are all existing technologies and will not be described in detail here.

[0065] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0066] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A prone massage device, characterized in that: include: A base (1), wherein a moving assembly for assisting walking is arranged at the lower part of the base (1), and the moving assembly is drivingly connected to a steering assembly arranged in the base (1); a height-adjustable lifting joint (2) is arranged on the base (1); A multi-degree-of-freedom extension arm (3), the multi-degree-of-freedom extension arm (3) comprising a first movable component mounted on the top side wall of the lifting joint (2), the movable end of the first movable component being provided with a second movable component and a third movable component capable of performing movements with different degrees of freedom in sequence; A massage component (4), the massage component (4) comprising a massage rod (41) and a drive rod (42) arranged in parallel on the side wall of the third movable component, the massage rod (41) being elastically arranged and being in transmission connection with the drive rod (42), and the massage rod (41) extending above the user (61); A massage head (5), wherein the massage head (5) is mounted on the end of the massage rod (41), and the massage head (5) can be easily replaced.

2. The prone massage device according to claim 1, characterized in that: A mounting seat (51) is provided at the end of the massage rod (41), the mounting seat (51) faces the user (61), and the massage head (5) is detachably connected to the mounting seat (51).

3. The prone massage device according to claim 1, characterized in that: An electromagnet (43) with adjustable magnetic force size and direction is arranged on one side of the driving rod (42) facing the massage rod (41); a permanent magnet (44) corresponding to the electromagnet (43) is arranged on the massage rod (41); the electromagnet (43) interacts with the permanent magnet (44).

4. The prone massage device according to claim 1, characterized in that: The first movable component comprises a first fixed cylinder (31) fixedly connected to the top side wall of the lifting joint (2), a first mounting groove (32) being provided in the first fixed cylinder (31), a first movable rod (33) being rotatably connected in the first mounting groove (32), the first movable rod (33) extending out of the first mounting groove (32), and the second movable component being transmission-connected to the first movable rod (33).

5. The prone massage device according to claim 4, characterized in that: A rotating motor (34) is fixedly mounted on the top of the first fixed cylinder (31); an output end of the rotating motor (34) extends into the first mounting groove (32) and is transmission-connected to a first driving gear (35); and the first driving gear (35) is transmission-connected to a first driven gear (36) sleeved on the outside of the first movable rod (33).

6. The prone massage device according to claim 4, characterized in that: The second movable component comprises a second mounting seat (39) fixedly mounted on the end of the first movable rod (33); a second mounting groove (310) is formed on the second mounting seat (39); a second movable rod (311) is rotatably connected in the second mounting groove (310); the second movable rod (311) extends out of the second mounting groove (310); and the third movable component is fixedly mounted on the second movable rod (311).

7. The prone massage device according to claim 6, characterized in that: A driving groove (312) is provided at the bottom end of the second installation groove (310), a driving motor (313) is fixedly installed in the driving groove (312), an output end of the driving motor (313) is transmission-connected to a second driving gear (314), and the second driving gear (314) is meshed and transmission-engaged with a second driven gear (315) fixedly connected to the end of the second movable rod (311).

8. The prone massage device according to claim 6, characterized in that: The third movable assembly comprises a third mounting seat (316) fixedly connected to the second movable rod (311); the third mounting seat (316) is provided with a third mounting groove (317) which is arranged perpendicularly to the second mounting groove (310); a third movable rod (318) is rotatably connected in the third mounting groove (317); the third movable rod (318) extends out of the third mounting groove (317) and is fixedly mounted with a mounting plate (319); the massage rod (41) and the driving rod (42) are respectively mounted on the mounting plate (319).

9. The prone massage device according to claim 1, characterized in that: The steering assembly comprises a steering drive chamber (12) arranged in the base (1), a steering motor (13) is fixedly installed in the steering drive chamber (12), the output end of the steering motor (13) is drivingly connected to a driving shaft (14), a plurality of driven sleeves (15) are threadedly connected to the driving shaft (14), transmission rods (16) are fixedly connected to both sides of the driven sleeves (15), a steering rack (17) is fixedly connected to the transmission rod (16), and the steering rack (17) is drivingly connected to the moving assembly.

10. The prone massage device according to claim 9, characterized in that: The moving assembly comprises a plurality of steering shafts (19) rotatably connected to the bottom end of the base (1), and the bottom end of the steering shaft (19) is provided with a walking wheel (110) for walking; the top end of the steering shaft (19) extends into the steering drive cavity (12), and the steering rack (17) is meshed with a steering gear (111) sleeved and fixedly connected to the steering shaft (19) for transmission.

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