Multi-axis linkage machine core of massager and control method of multi-axis linkage machine core

Abstract

The multi-axis linkage machine core comprises a shell, a base, a driving seat, a driving device, a first swing arm and a second swing arm, the base is fixedly installed on the shell, a guide groove is formed in the middle of the base, the driving seat is installed in the guide groove in a sliding mode, the driving device is used for driving the driving seat to slide in a reciprocating mode in the vertical direction, and the first swing arm is connected with the second swing arm. The number of the first swing arm is at least one, the first swing arm is installed on the base in a pivoted mode through a first rotating shaft, the lower section of the first swing arm is a first driving arm, the second swing arm is installed on the base in a pivoted mode through a second rotating shaft, the second rotating shaft is arranged on a driving base, and the lower section of the second swing arm is a second driving arm; the driving seat is provided with a driving shaft, and at least one first driving arm and at least one second driving arm extend oppositely, are connected with the same driving shaft and drive the upper end of the first swing arm and the second swing arm to swing in a reciprocating mode. The problem that linkage cannot be achieved when existing movement rotating shafts are located at different radial positions is solved.

Description

Technical Field

[0001] The invention relates to the field of movement, and in particular to a multi-axis linkage movement of a massager and a control method thereof. Background Art

[0002] In the field of toys or massagers, linkage movements are used to achieve linkage of predetermined actions. However, the linkage of existing movements is generally synchronous linkage. When the linkage is asynchronous, interference of one of the swing structures is likely to occur, thereby affecting the rhythm consistency and causing wear or burnout of the movement.

[0003] For example, in Chinese patent 202323495690.6, two Pegasus wings are linked by a single drive structure, so how to add a linked swing arm to the two Pegasus wings or any one of the Pegasus wings is a design difficulty.

[0004] Of course, the structure is not limited to toys, and can also be applied to some existing toys, massagers or household items.

[0005] Of course, existing massage devices also have linkage structure movements, but the existing ones generally use cams to achieve relative movement of multiple swing arms. In particular, for existing massages, point-to-point massage is generally used, such as fascia guns, and two swing arms are used to achieve local massage. However, the above two structures cannot achieve a good massage effect in actual end massage, such as finger massage.

[0006] For example, the existing massage of the fingers of stroke patients, in addition to the pressure applied to the finger ends, also requires the fingers to be kneaded with clamping pressure, thereby improving finger exercise and simulating the techniques of human hands.

[0007] Of course, the massage is not limited to massaging the fingertips, but can also be performed by pinching and plucking the massage areas. Summary of the invention

[0008] The main purpose of the present invention is to propose a multi-axis linkage movement of a massager and a control method thereof, aiming to adopt a single drive structure to realize the linkage of multiple swing structures without interfering with each other, thereby improving the consistency and stability of the linkage, and then simulating a double stimulation massage technique.

[0009] To achieve the above object, the present invention provides a multi-axis linkage movement of a massager, comprising:

[0010] case;

[0011] A base, the base is fixedly mounted on the shell, and a guide groove is provided in the middle of the base;

[0012] A driving seat, wherein the driving seat is slidably mounted in the guide groove;

[0013] A driving device, the driving device is used to drive the driving seat to slide back and forth in the vertical direction;

[0014] A first swing arm, at least one of which is provided, and the first swing arm is pivotally mounted on the base via a first rotating shaft, and the lower section of the first swing arm is a first driving arm;

[0015] A second swing arm, wherein the second swing arm is pivotally mounted on the base via a second rotating shaft, the second rotating shaft is disposed on the driving seat, and the lower section of the second swing arm is a second driving arm;

[0016] The axes of the two first rotating shafts and the axes of the second rotating shafts are located at the same horizontal position and are relatively parallel;

[0017] A flexible member, the flexible member includes a clamping portion sleeved on the first swing arm and a kneading portion sleeved on the second swing arm, the flexible member is a deformable material, and the flexible member can apply a bending force to the first swing arm and the second swing arm to apply an elastic force to the first swing arm and the second swing arm;

[0018] The driving seat is provided with a driving shaft, and at least one first driving arm and a second driving arm extend toward each other and are connected to the same driving shaft, and drive the upper end of the first swing arm and the second swing arm to swing back and forth.

[0019] A control method for a multi-axis linkage movement of a massager,

[0020] The massage steps of the multi-axis linkage movement of the massager according to any one of claims 1 to 9 include:

[0021] S1: The flexible body is brought into contact with the massage site and pressure is applied;

[0022] S2: When the first swing arm moves relatively, a clamping activity zone is generated that is relatively close to or far away from each other, thereby achieving a kneading effect on the predetermined position. At the same time, the middle part of the massage position is reciprocated by the second swing arm, thereby achieving a muscle-pulling effect on the middle part of the massage position and stimulating the middle part;

[0023] S21: When the end of the second swing arm is lower than the end of the first swing arm, the two first swing arms form a clamping interval, and the part to be massaged can be extended into the clamping interval;

[0024] S22: When the end of the second swing arm and the end of the first swing arm are at the same horizontal position, the massage site is a flexible site, and the end of the first swing arm and the end of the second swing arm perform multi-point massage on the massage site.

[0025] In the actual design, how to realize the linkage swing of the second swing arm above the driving seat and the first swing arm is the key to the design. The first rotating shaft and the second rotating shaft are arranged on the base, thereby realizing the swing of the first swing arm and the second swing arm at the fulcrum;

[0026] By connecting the first driving arm and the second driving arm through the same driving shaft, when the driving seat moves vertically, the linkage swing can be achieved through the single driving shaft;

[0027] In a specific embodiment, one, two, three or four first swing arms can be provided, wherein the first driving arm of any first swing arm and the second driving arm of the second swing arm can use the same driving shaft to realize the conversion of the vertical stroke into the swing stroke.

[0028] The problem that the existing movement shaft cannot be linked when it is located at a different radial position is solved.

[0029] In the actual massage process, for example, when massaging a finger, when the length of the second swing arm is less than that of the first swing arm, the two first swing arms can enclose a clamping interval, and the finger can be inserted into the clamping interval. The flexible body of the first swing arm applies a clamping force to the outer peripheral wall of the finger for massage. At the same time, the second swing arm can reciprocate the end of the finger and stimulate the nerve at the end, thereby improving the massage effect.

[0030] When the end of the first swing arm and the end of the second swing arm are at the same horizontal position, the flexible body is brought into contact with the massage site and a predetermined pressure is applied. The two first swing arms can apply clamping pressure to the massage site to simulate the kneading effect of fingers. At the same time, the second swing arm can be used as a tendon-pushing effect to massage the predetermined massage site (such as acupoints) to improve the massage effect, which changes the traditional single massage movement and the massage effect of a relatively single position.

[0031] At the same time, the setting of the flexible body not only makes the skin contact softer, but also can achieve a predetermined elastic force to protect the mechanical load generated by the swing arm during the reciprocating motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0033] Figure 2 It is a cross-sectional view of the present invention;

[0034] Figure 3 Explosion for the present invention Figure 1 ;

[0035] Figure 4 Explosion for the present invention Figure 2 ;

[0036] Figure 5 is a schematic diagram of a driving device;

[0037] Figure 6 This is a schematic diagram of the movement in the unfolded and folded states;

[0038] Figure 7 Schematic diagram of a flexible body being wrapped.

[0039] In the figure,

[0040] 1 is a base, 11 is a guide groove,

[0041] 2 is a driving seat, 20 is a positioning arm,

[0042] 3 is a driving device, 31 is a rotating motor, 32 is a rotating seat, 33 is a guide slide seat, 33a is a guide slide groove, 34 is a vertical slide seat, 35 is an arc groove, 36 is a ball bearing,

[0043] 4 is a first swing arm, 40 is a first driving arm, 41 is a first rotating shaft, 401 is an active swing arm, 402 is a driven swing arm,

[0044] 5 is a second swing arm, 50 is a second driving arm, 51 is a second rotating shaft,

[0045] 6 is a clamping groove,

[0046] 71 is a first pivoting portion, 72 is a second pivoting portion,

[0047] 81 is a first strip-shaped groove, and 82 is a second strip-shaped groove. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0049] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...), then the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] In addition, if there are descriptions involving "first" or "second" etc. in the embodiments of the present invention, the descriptions of "first" or "second" etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] like Figures 1 to 6 As shown, a multi-axis linkage movement of a massager includes:

[0052] case;

[0053] A base 1, wherein the base 1 is fixedly mounted on the housing, and a guide groove 11 is provided in the middle of the base 1;

[0054] A driving seat 2, wherein the driving seat 2 is slidably mounted in the guide groove 11;

[0055] A driving device 3, wherein the driving device 3 is used to drive the driving seat 2 to slide back and forth in a vertical direction;

[0056] A first swing arm 4, wherein at least one first swing arm 4 is provided, and the first swing arm 4 is pivotally mounted on the base 1 via a first rotating shaft 41, and a lower section of the first swing arm 4 is a first driving arm 40;

[0057] A second swing arm 5, wherein the second swing arm 5 is pivotally mounted on the base 1 via a second rotating shaft, wherein the second rotating shaft is disposed on the driving base 2, and a lower section of the second swing arm 5 is a second driving arm 50;

[0058] The flexible member includes a clamping portion 91 sleeved on the first swing arm and a kneading portion 92 sleeved on the second swing arm. The flexible member is a deformable material. The flexible member can apply a bending force to the first swing arm and the second swing arm to apply an elastic force to the first swing arm and the second swing arm.

[0059] The driving seat 2 is provided with a driving shaft, and at least a first driving arm 40 and a second driving arm 50 extend toward each other and are connected to the same driving shaft, and drive the upper end of the first swing arm 4 and the second swing arm 5 to swing back and forth.

[0060] In the actual design, how to realize the linkage swing of the second swing arm 5 above the driving seat 2 and the first swing arm 4 is the key to the design. The first rotating shaft 41 and the second rotating shaft are arranged on the base 1, thereby realizing the swing of the first swing arm 4 and the second swing arm 5 at the fulcrum;

[0061] By connecting the first driving arm 40 and the second driving arm 50 through the same driving shaft, when the driving seat 2 moves vertically, the linkage swing can be achieved through the single driving shaft;

[0062] In a specific embodiment, one, two, three or four first swing arms 4 can be provided, wherein the first driving arm 40 of any first swing arm 4 and the second driving arm 50 of the second swing arm 5 use the same driving shaft to realize the conversion of the vertical stroke into the swing stroke.

[0063] The problem that the existing movement shaft cannot be linked when it is located at a different radial position is solved.

[0064] Specifically, the first driving arm 40 and the second driving arm 50 are respectively provided with a first strip groove and a second strip groove;

[0065] The driving shaft is inserted into the first strip groove and the second strip groove;

[0066] The driving shaft can slide along the length direction of the first strip groove and the length direction of the second strip groove.

[0067] The vertical stroke is then converted into a swing stroke, that is, the driving shaft slides along the first strip groove and the second strip groove.

[0068] In the embodiment of the present invention, the first strip groove and the second strip groove are symmetrically arranged about the axis of the driving shaft.

[0069] Specifically, the width of the first strip groove and the width of the second strip groove are greater than the outer diameter of the drive shaft or are consistent with the outer wall of the drive shaft, so that the drive shaft can move along the inner wall of the first strip groove and the inner wall of the second strip groove, thereby driving the first swing arm 4 and the second swing arm 5 to swing.

[0070] The axis of the first strip groove and the axis of the second strip groove are symmetrically arranged with respect to the axis center of the driving shaft.

[0071] In the embodiment of the present invention, the first driving arm 40 extends obliquely from the first rotating shaft 41 as a reference position;

[0072] The second driving arm 50 extends obliquely from the second rotation axis as a reference position.

[0073] Specifically, when the first driving arm 40 and the second driving arm 50 use the same driving shaft,

[0074] The first driving arms are provided with two and are spaced apart from each other. A clamping groove 6 is provided between the two first driving arms 40 , and the second driving arm 50 is provided in the clamping groove 6 .

[0075] In the embodiment of the present invention, two first swing arms 4 are provided and arranged opposite to each other, and the two first swing arms 4 include an active swing arm and a driven swing arm, and the active swing arm is linked with the second driving arm 50 through the same driving shaft;

[0076] The inclination angle of the driven driving arm of the driven swing arm is the same as the inclination angle of the second swing arm 5, so a linkage structure of swinging on both sides and swinging in the middle can be realized.

[0077] Specifically, the base 1 is provided with two first pivot seats arranged at intervals, the first pivot seats are extended upward from the base 1, and the first rotating shaft 41 is pivotally mounted on the first pivot seats;

[0078] The middle part of the base 1 is provided with two second pivot seats arranged at intervals, the second pivot seats are located in the middle of the driving seat 2, and the second rotating shaft is integrally formed with the second swing arm 5.

[0079] The second rotating shaft is pivotally mounted on the second pivot seat, wherein the first pivot seat 71 and the second pivot seat 72 extending upwardly can provide the first swing arm 4 and the second swing arm 5 with a predetermined swing range, thereby avoiding swing interference.

[0080] The swing arm and driving arm are bent structures, which can effectively reduce the overall height of the movement and make the movement more compact.

[0081] Specifically, the upper wall of the driving seat 2 is provided with two spaced apart positioning arms, and the positioning arms are extended upward from the driving seat 2.

[0082] Both ends of the driving shaft are arranged at the upper position of the positioning arm 20 , wherein the positioning arm extending upward can provide an avoidance interval at the lower position of the driving shaft, thereby realizing the swing range of the first driving arm 40 and the second driving arm 50 .

[0083] In the embodiment of the present invention, the driving device 3 is a telescopic motor or a rotating motor 31 and a linkage structure;

[0084] The linkage structure includes a rotating motor 31, a rotating motor 32 connected to the rotating motor 31, a guide slide seat 33 sleeved on the outer wall of the rotating motor 32, and a vertical slide seat 34 sleeved on the outer wall of the guide slide seat 33;

[0085] The outer peripheral wall of the rotating motor 32 is provided with a closed loop arc groove 35 which is not in the same plane, and the guide slide seat 33 is provided with a vertically arranged guide slide groove 33a;

[0086] The vertical sliding seat 34 is provided with a ball 36, and the ball 36 passes through the guide groove 33a and is partially stuck in the arc groove 35;

[0087] When the rotary motor 31 rotates, it drives the rotary motor 32 to rotate and forces the ball 36 to slide along the arc groove and the guide groove 33a, thereby driving the vertical slide seat 34 to move vertically;

[0088] The upper end of the vertical sliding seat 34 is connected to the bottom of the driving seat 2, wherein the linkage structure can be used to convert the rotation stroke into a vertical sliding stroke, thereby making the vertical reciprocating movement more linear.

[0089] A control method for a multi-axis linkage movement of a massager, characterized in that:

[0090] The massage steps of the multi-axis linkage movement of the massager according to any one of claims 1 to 9 include:

[0091] S1: The flexible body is brought into contact with the massage site and pressure is applied;

[0092] S2: When the first swing arm moves relatively, a clamping activity zone is generated that is relatively close to or far away from each other, thereby achieving a kneading effect on the predetermined position. At the same time, the middle part of the massage position is reciprocated by the second swing arm, thereby achieving a muscle-pulling effect on the middle part of the massage position and stimulating the middle part;

[0093] S21: When the end of the second swing arm is lower than the end of the first swing arm, the two first swing arms form a clamping interval, and the part to be massaged can be extended into the clamping interval;

[0094] S22: When the end of the second swing arm and the end of the first swing arm are at the same horizontal position, the massage site is a flexible site, and the end of the first swing arm and the end of the second swing arm perform multi-point massage on the massage site.

[0095] In the present application, the overall length from the bottom end of the rotating motor to the uppermost end of the first swing arm when folded is 10 cm ± 5 cm, so it has good portability and avoids the problem of large size and inconvenient storage.

[0096] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A multi-axis linkage movement of a massager, characterized in that: include: case; A base, the base is fixedly mounted on the shell, and a guide groove is provided in the middle of the base; A driving seat, wherein the driving seat is slidably mounted in the guide groove; A driving device, the driving device is used to drive the driving seat to slide back and forth in the vertical direction; A first swing arm, wherein two first swing arms are provided and are arranged opposite to each other, the first swing arms are pivotally mounted on the base via a first rotating shaft, and the lower section of the first swing arm is a first driving arm; A second swing arm, wherein the second swing arm is pivotally mounted on the base via a second rotating shaft, the second rotating shaft is disposed on the driving seat, and the lower section of the second swing arm is a second driving arm; The axes of the two first rotating shafts and the axes of the second rotating shafts are located at the same horizontal position and are relatively parallel; A flexible member, the flexible member includes a clamping portion sleeved on the first swing arm and a kneading portion sleeved on the second swing arm, the flexible member is a deformable material, and the flexible member can apply a bending force to the first swing arm and the second swing arm to apply an elastic force to the first swing arm and the second swing arm; The driving seat is provided with a driving shaft, at least one first driving arm and a second driving arm extend toward each other and are connected to the same driving shaft, and drive the upper ends of the two first swing arms and the second swing arm to swing back and forth; The driving device is a telescopic motor or a rotary motor and a linkage structure; The linkage structure includes a rotating motor, a rotating seat connected to the rotating motor, a guide slide seat sleeved on the outer wall of the rotating seat, and a vertical slide seat sleeved on the outer wall of the guide slide seat; The outer peripheral wall of the rotating seat is provided with a closed-loop arc groove which is not in the same plane, and the guide slide seat is provided with a vertically arranged guide slide groove; The vertical sliding seat is provided with a ball, and the ball is partially stuck in the arc groove after passing through the guide groove; When the rotary motor rotates, it drives the rotating seat to rotate and forces the balls to slide along the arc groove and the guide groove, thereby driving the vertical sliding seat to move vertically; The upper end of the vertical sliding seat is connected to the bottom of the driving seat.

2. The multi-axis linkage movement of the massager as claimed in claim 1, characterized in that: The first driving arm and the second driving arm are respectively provided with a first strip groove and a second strip groove; The driving shaft is inserted into the first strip groove and the second strip groove; The driving shaft can slide along the length direction of the first strip groove and the length direction of the second strip groove.

3. The multi-axis linkage movement of the massager as claimed in claim 2, characterized in that: The first strip groove and the second strip groove are symmetrically arranged about the axis of the driving shaft.

4. The multi-axis linkage movement of the massager as claimed in claim 2, characterized in that: The width of the first strip groove and the width of the second strip groove are greater than the outer diameter of the drive shaft or are adapted to the outer wall of the drive shaft; The axis of the first strip groove and the axis of the second strip groove are symmetrically arranged with respect to the axis center of the driving shaft.

5. The multi-axis linkage movement of the massager according to claim 1, characterized in that: The first driving arm extends obliquely from a position with the first rotating axis as a reference; The second driving arm extends obliquely from the second rotation axis to a reference position.

6. The multi-axis linkage movement of the massager according to claim 1, characterized in that: When the first driving arm and the second driving arm use the same driving shaft, The first driving arms are provided with two and are spaced apart from each other, a clamping groove is provided between the two first driving arms, and the second driving arm is provided in the clamping groove.

7. The multi-axis linkage movement of the massager according to claim 1, characterized in that: The base is provided with two first pivot seats arranged at intervals, the first pivot seats are extended upward from the base, and the first rotating shaft is pivotally mounted on the first pivot seats; The middle part of the base is provided with two second pivot seats arranged at intervals, the second pivot seats are located in the middle part of the driving seat, and the second rotating shaft is integrally formed with the second swing arm. The second rotating shaft is pivotally mounted on the second pivot seat.

8. The multi-axis linkage movement of the massager as claimed in claim 1, characterized in that: The upper wall of the driving seat is provided with two spaced apart positioning arms, and the positioning arms are extended upward from the driving seat. The two ends of the driving shaft are arranged at the upper position of the positioning arm.

9. A control method for a multi-axis linkage movement of a massager, characterized in that: The massage steps of the multi-axis linkage movement of the massager according to any one of claims 1 to 8 include: S1: The flexible body is brought into contact with the massage site and pressure is applied; S2: When the first swing arm moves relatively, a clamping activity zone is generated that is relatively close to or far away from each other, thereby achieving a kneading effect on the predetermined position. At the same time, the middle part of the massage position is reciprocated by the second swing arm, thereby achieving a muscle-pulling effect on the middle part of the massage position and stimulating the middle part; S21: When the end of the second swing arm is lower than the end of the first swing arm, the two first swing arms form a clamping interval, and the part to be massaged can be extended into the clamping interval; S22: When the end of the second swing arm and the end of the first swing arm are at the same horizontal position, the massage site is a flexible site, and the end of the first swing arm and the end of the second swing arm perform multi-point massage on the massage site.

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