A smart massage frame based on motor ripple characteristics

Abstract

This invention provides an intelligent massage frame based on the ripple characteristics of a motor, belonging to the field of massage equipment. It solves the problems of complex structure and poor intelligent control performance of existing massage frames. It includes a seat frame and a backrest frame. A back cover mounting bracket assembly is located above the backrest frame. A ripple motor push rod is hinged between the seat frame and the backrest frame. Two symmetrically arranged stretching and swinging frame assemblies are hinged to the front of the backrest frame. A linear actuator is hinged between each stretching and swinging frame assembly and the backrest frame. A calf cover assembly is located above the front of the stretching and swinging frame assembly, and each calf cover assembly contains a calf massage component. A foot cover assembly is located below the front of the stretching and swinging frame assembly, and a foot massage component is located between the stretching and swinging frame assembly and the foot cover assembly. Each foot cover assembly has a foot strap assembly. This invention achieves integrated intelligent massage with adaptive intelligent massage and highly reliable safety protection.

Description

Technical Field

[0001] This invention belongs to the field of massage equipment technology, and relates to an intelligent massage frame, particularly an intelligent massage frame based on the ripple characteristics of a motor. Background Technology

[0002] Most massage chairs currently on the market use ordinary push rod drives, requiring multiple anti-pinch measures, such as preventing pinching when the backrest tilts back, the lower legs descend, or the legs retract. Each anti-pinch position typically requires an independent sensing system (such as infrared or pressure sensors) to detect foreign objects, and may even require additional mechanical structures. This significantly increases the cost and manufacturing complexity of the massage chair. Furthermore, current massage chairs on the market cannot recognize body sensations and cannot intelligently adjust the massage intensity and angle according to the user's body shape.

[0003] How to create a massage frame that utilizes only the inherent characteristics of the motor to achieve anti-pinch and anti-collision functions, and can intelligently recognize massage sensations, while having a simple structure, reduced hardware costs, rich massage effects, intelligent intensity adjustment, improved user experience, and the ability to provide personalized massage services, is a problem that urgently needs to be solved.

[0004] Based on this, we propose an intelligent massage frame based on the ripple characteristics of a motor. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing an intelligent massage frame based on motor ripple characteristics. The technical problem this invention aims to solve is: how to make the massage frame low-cost, simpler in structure, and capable of achieving integrated intelligent massage with adaptive intelligence, high reliability, and safety protection.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A smart massage frame based on motor ripple characteristics includes a seat frame and a backrest frame. A back cover mounting bracket assembly is detachably provided on the upper part of the backrest frame. The seat frame and the backrest frame are hinged together, and a ripple motor push rod is hinged between the seat frame and the backrest frame. Two symmetrically arranged stretching and swinging frame assemblies are hinged to the front side of the backrest frame. A linear driver is hinged between each stretching and swinging frame assembly and the backrest frame. A calf cover assembly is provided above the front side of the stretching and swinging frame assembly. A calf massage assembly is provided inside each calf cover assembly. A foot cover assembly is provided below the front side of the stretching and swinging frame assembly. A foot massage assembly is provided between the stretching and swinging frame assembly and the foot cover assembly. A foot strap assembly is provided on each foot cover assembly.

[0008] The working principle of this invention: The back cover mounting bracket assembly is used to install the back cover so that the user can sit down;

[0009] Backrest angle adjustment: The first wave motor push rod is hinged between the seat frame and the backrest frame. The extension and retraction of the first wave motor push rod directly drives the backrest frame to rotate around the hinge point between it and the seat frame, so as to realize the user's reclining and sitting posture adjustment.

[0010] Lower leg lifting: Two linear actuators are respectively hinged to the backrest frame and the tension swing frame assembly. The extension and retraction of the linear actuators drive the entire lower leg part to lift around the hinge point with the backrest frame.

[0011] The user's feet are placed on the foot cover assembly, and the foot strap assembly covers the instep of the user's feet to ensure foot stretching and stability;

[0012] Calf extension and ankle stretch: Inside the calf, the stretching swing frame assembly drives the extension and retraction of the foot cover assembly and foot massage assembly, and the pitching and flexing of the ankle stretching frame assembly.

[0013] The calf cover component can hold and massage the sides of the calf, while the calf massage component massages the back of the calf.

[0014] Location perception and memory:

[0015] Principle: The frequency of the ripple signal of the tension swing frame assembly, ripple motor push rod 1, and linear driver is proportional to the motor speed; by counting the number of ripple pulses per unit time, the rotation angle of the motor can be accurately calculated, and then the precise displacement of the push rod can be calculated.

[0016] Applications: Stretch swing frame assembly, ripple motor actuator, and travel limit control for linear drives: A sudden increase in motor load causes a sharp drop in speed, resulting in a sudden change in ripple frequency. The system recognizes this unique frequency characteristic and uses it as a soft limit signal to control the motor to stop, eliminating the need for physical limit switches.

[0017] The linear drive is converted into a specific position code to enable the "one-key reset" or "memory position" function.

[0018] Symmetrical synchronization: When the ankle is stretched and reset, the displacement is synchronized by keeping the ripple frequency of the motors of the two stretching and swinging frame components on the left and right sides consistent, so that the feet are reset to the same horizontal plane without the need for additional Hall sensor alignment.

[0019] Force perception and body recognition:

[0020] Principle: The amplitude of the ripple signal is proportional to the motor load. By sampling the motor current in real time, a current waveform reflecting the load can be obtained. When the linear driver encounters resistance during operation, the change in motor load will immediately manifest as an abnormal increase in the current amplitude.

[0021] Applications for anti-pinch and anti-collision: During the movement of the tension swing frame assembly, the ripple motor push rod, and the linear driver, the system continuously monitors the current curve. Once the integral value of the current over a period of time exceeds the preset safety threshold, it is determined that "pinching" or "collision" has occurred, and the motor is immediately commanded to stop or reverse, thereby achieving the protection function.

[0022] Motion recognition and intelligent adjustment:

[0023] Calf length recognition: During body shape detection, the airbag of the calf cover assembly clamps in place, and the stretching and swinging frame assembly that controls the extension and retraction of the calf retracts. When the end of the foot cover assembly contacts the user's foot, the increased resistance causes a change in the current ripple characteristics. The system analyzes this change point through an algorithm to intelligently identify the user's actual leg length and automatically adjusts the stroke of the stretching and swinging frame assembly to the appropriate position.

[0024] Massage intensity adjustment: During ankle stretching or calf kneading massage, the foot and calf massage components continuously output power. The user's muscle tension is reflected in different resistance levels, causing real-time changes in the current ripple of the drive motor. Based on these changes, the control system dynamically adjusts the motor's output force and speed through algorithms, achieving personalized, adaptive massage that is "gentle when strong, deep when weak".

[0025] External force compensation: The system analyzes the ripple pattern generated when the user actively applies force and adds corresponding bias compensation to the control algorithm to avoid false triggering of anti-pinch or misjudgment of massage status, thereby improving the naturalness of the interaction.

[0026] Mechanical anti-pinch redundancy protection: As a backup for electronic anti-pinch, the linear drive is designed with a unique mechanical anti-pinch structure, realizing purely mechanical anti-pinch protection.

[0027] The seat frame includes a seat frame body, with a backrest fixing bracket fixed to the inner front part of the seat frame body, and a rear hinge seat fixed to the upper middle part of the seat frame body.

[0028] With the above structure, the seat frame is the core skeleton of the entire massage frame, fixed to the ground or massage chair base. It supports the weight of the backrest frame, all motor push rods, leg components, and the user, providing a stable mechanical foundation for the entire massage system. The rear hinge serves as the mounting point for the rotation axis of the backrest frame. The inverted backrest fixing bracket serves as the fixing point for the drive end of the ripple motor push rod. The other end of the push rod is hinged to the backrest frame. When the ripple motor push rod extends or retracts, the thrust or pull force it generates is transmitted to the robust seat frame through this inverted backrest fixing bracket, thereby driving the backrest to rotate around the rear hinge. When the system calculates the backrest angle based on the ripple of the ripple motor push rod, it is essentially based on the relative displacement between the push rod and the connection point of the seat frame.

[0029] The backrest frame includes a backrest frame body. A second backrest fixing bracket is fixed to the lower front side of the backrest frame body. The two ends of the first ripple motor push rod are respectively hinged to the first and second backrest fixing brackets. Four frame hinge seats are fixed to the upper front side of the backrest frame body. The four frame hinge seats are divided into two symmetrical groups, with two frame hinge seats in each group arranged symmetrically. A lower leg linkage frame is provided in the middle of the lower part of the backrest frame body. A rear hinge frame is provided in the lower rear part of the backrest frame body. The rear hinge frame is hinged to the rear hinge seat.

[0030] Using the above structure, the main body of the backrest frame forms the direct or indirect support surface for the user's back. The rear hinge frame is hinged to the rear hinge seat, forming the physical axis of the backrest rotation. When the ripple motor push rod one extends or retracts, its thrust acts on the backrest fixing bracket two, driving the entire backrest frame to recline or sit up around the axis of the rear hinge frame. The symmetrically arranged frame hinge seats on the left and right sides are the mounting points for the tension swing frame assembly. The lower legs are hinged to the backrest frame through these points, thus obtaining a stable fulcrum for movement. The lower leg linkage frame is used to mount the linear actuator, ensuring coordinated movement of the tension swing frame assemblies on both sides.

[0031] The backrest mounting bracket assembly includes a back frame and a seat frame, both of which are U-shaped. The seat frame is detachably mounted on the front side of the back frame. The back frame has a backrest clearance hole on its inner side, and the seat frame has a seat clearance hole on its inner side. The seat clearance hole and the backrest clearance hole are combined to form a massage clearance hole. The upper top of the back frame has an abutment hollow frame. The lower sides of both the back frame and the seat frame have several screw seats and several abutment seats. The screw seats are detachably mounted on the upper part of the backrest frame body by bolt pairs, and the abutment seats abut against the upper part of the backrest frame body.

[0032] Using the above structure, the main components—the back frame and the seat frame—together form a complete, ergonomic U-shaped frame. This frame serves as the skeleton for mounting the fabric or leather back cover, providing shaping and support for the soft back cover and ensuring a comfortable sitting experience for the user. Multiple screw-in seats distributed on the underside of the back frame and seat frame securely bolt the back cover mounting bracket assembly to the main backrest frame body, ensuring the stability and safety of the overall structure. The abutment seats directly abut against the surface of the main backrest frame body during installation, serving to assist in positioning and distribute the load, preventing localized deformation of the frame due to stress. The back frame clearance holes and seat frame clearance holes, after assembly, together form a complete massage clearance hole, allowing the massage mechanism installed inside the backrest frame to pass through this hole without obstruction, directly contacting and acting on the user's back. This avoids the attenuation of massage force due to the multi-layered structure, ensuring effective transmission of the massage effect. The back frame and seat frame are designed as separate units, connected to the main body via screws. This detachable structure greatly facilitates the installation, replacement, and cleaning of the back cover, as well as the inspection of the internal massage mechanism, improving the product's maintainability. The hollow frame located at the top not only increases structural rigidity but also serves as an interface for connecting to the headrest or other upper accessories, enhancing comfort.

[0033] The stretching and swinging frame assembly includes a calf hinge frame, a calf stretching frame, and an L-shaped adjusting frame. The upper end of the calf hinge frame is hinged to a set of frame hinge seats at corresponding positions. A second stretching fixing bracket is fixed to the upper end of the calf hinge frame, and a drive fixing bracket is fixed to the rear side of the calf hinge frame. Two linear actuators are respectively hinged between the calf linkage frame and the drive fixing bracket. Several guide wheels are rotatably provided on both the left and right sides of the calf stretching frame. The guide wheels are rolled inside the calf hinge frame. A stretching bracket is fixed to the lower side of the calf stretching frame. The calf stretching frame has two symmetrically arranged front calf hinge frames fixed on its front side. The lower end of the calf stretching frame has two symmetrically arranged support wheels. A ripple motor push rod three is hinged between stretching fixed code one and stretching fixed code two. The vertical part of the adjusting frame is hinged to the two calf hinge frames. An angle-adjusting fixed code two is fixed on the rear side of the adjusting frame. A ripple motor push rod two is hinged between angle-adjusting fixed code two and angle-adjusting fixed code one. The horizontal part of the adjusting frame has a conveyor belt hole.

[0034] With the above structure, the upper end of the calf articulation frame is hinged to the backrest frame via a frame hinge seat, forming the basic fulcrum and load-bearing skeleton for the entire calf movement. Power-driven lifting: A linear actuator is hinged between the calf linkage frame of the backrest frame and the drive fixing bracket of the calf articulation frame; the extension and retraction of the linear actuator directly drives the entire stretching and swinging frame assembly to move up and down around the hinge axis of the frame hinge seat, realizing the raising or lowering of the legs.

[0035] Intelligent telescopic adjustment of calf length, sliding pair structure: The calf stretching frame is installed in the track inside the calf hinge frame through guide wheels on both sides, forming a low-friction sliding pair.

[0036] Motor-driven telescopic movement: The three-linked motor push rod is hinged between the second tension fixing block of the lower leg articulation frame and the first tension fixing block of the lower leg articulation frame; the telescopic movement of the three-linked motor push rod drives the lower leg articulation frame and all its front-end components to slide back and forth relative to the lower leg articulation frame.

[0037] Intelligent Control: During this extension and retraction process, the current ripple characteristics of the ripple motor push rod three are used to sense resistance in real time. When the sliding end contacts the user's foot, the change in resistance is detected by the system, thereby achieving automated leg length detection and intelligent stroke adjustment.

[0038] Precise adjustment of foot angle, angle adjustment hub: The adjustment frame is hinged to the front hinge of the lower leg stretcher through its vertical part, forming an independent rotation axis.

[0039] Motor-driven pitch: The second ripple motor push rod is hinged between the first angle-adjusting fixing bracket of the lower leg extension frame and the second angle-adjusting fixing bracket of the adjustment frame. The extension and retraction of the second ripple motor push rod drives the adjustment frame to pitch around the axis of the lower leg front hinge frame.

[0040] Intelligent stretching: This exercise directly achieves dorsiflexion and plantarflexion of the ankle. The ripple signal from the ripple motor push rod 2 can provide real-time feedback on the stretching force, enabling the system to intelligently adjust the output force according to the user's muscle tension, achieving "adaptive" stretching and avoiding excessive force.

[0041] The auxiliary function design includes a walking strap hole, which provides a neat channel for the foot strap components, ensuring both safety and a clean appearance during exercise.

[0042] Support wheels: Located at the lower end of the lower leg tension frame, they provide rolling support when used with external structures to reduce friction.

[0043] The foot cover assembly includes a lower foot cover shell, which is fixed below the horizontal part of the adjustment frame. An upper foot cover shell is detachably provided at the upper end of the lower foot cover shell. Two strap through holes are provided on the upper foot cover shell, which is symmetrically arranged on the left and right sides. A second massage through hole is provided at the bottom of the upper foot cover shell.

[0044] With the above structure, the upper foot cover provides a shell space that conforms to the contours of the human foot, directly supporting the user's feet and providing basic support and protection. The strap openings on the upper foot cover are channels for the foot strap assembly; the straps pass through these openings and tighten around the user's instep, thus firmly locking the foot inside the foot cover. This fixation is crucial for performing ankle stretching movements and preventing the foot from slipping during massage. A second massage opening at the bottom of the upper foot cover corresponds to the foot massage assembly mounted above the adjustment frame. This second massage opening allows the massage actuator to pass unobstructed through the shell, directly contacting and acting on the user's acupoints on the soles of the feet, ensuring that the massage force is not buffered by the shell structure, thus efficiently transmitting the massage effect. The upper foot cover is detachably mounted on the lower foot cover, allowing for easy opening of the shell for cleaning, or for inspecting and replacing the internal foot massage assembly, greatly improving the product's hygiene and maintainability.

[0045] The foot strap assembly includes a take-up and release roller frame, a second ripple motor, and a foot-stop strap. The take-up and release roller frame and the second ripple motor are fixed above the lower shell of the foot cover. The take-up and release roller is rotatably installed inside the take-up and release roller frame. The output shaft of the second ripple motor is fixedly connected to the take-up and release roller. One end of the foot-stop strap is fixedly connected to the take-up and release roller. The other end of the foot-stop strap passes through the conveyor hole and two strap through holes in sequence. A tension sensor is fixed to the other end of the foot-stop strap. The tension sensor is fixed to the inside of the upper shell of the foot cover.

[0046] Using the above structure, the second ripple motor serves as the power source, its output shaft directly driving the rotation of the take-up and release rollers within the take-up and release roller frame. When the second ripple motor rotates, the take-up and release rollers wind or release the foot-stop straps, thus tightening and loosening the straps. The tightened foot-stop straps cross the user's instep, securely binding the foot within the foot cover assembly, providing the necessary counterforce fulcrum for subsequent ankle stretching massage and preventing slippage. Force feedback monitoring: A tension sensor installed at the end of the straps monitors the tension of the straps acting on the instep in real time. This tension data is the most direct physical quantity reflecting the tightness of the restraint. Closed-loop control: The control system compares the preset comfortable tension value or instructions obtained from the massage program with the actual tension value fed back by the tension sensor, forming a closed-loop control. By controlling the rotation of the second ripple motor, the tightness of the straps is dynamically adjusted, ensuring the restraint force remains within a range that is both effective and comfortable. Potential correlation with ripple signals: The operating current ripple of the second ripple motor also contains load information. The change in its ripple amplitude can indirectly reflect the resistance during the extension and retraction process, and can complement or verify the data from the tension sensor, enhancing the system's reliability. Coordination with stretching movements: During ankle stretching, the foot strap assembly must provide sufficient and stable fixation force. The intelligent adjustment system can appropriately increase the restraint force during the stretching phase and decrease the restraint force during the relaxation phase, improving comfort. Anti-overtightness protection: Direct feedback from the tension sensor is a key safety feature to prevent the strap from becoming too tight, causing user discomfort or impaired blood circulation. Once the tension exceeds the safety threshold, the system can immediately command the motor to reverse and relax.

[0047] The foot massage assembly includes a three-wave motor and two foot massage rollers. The three-wave motor is fixed above the horizontal part of the adjustment frame. The two foot massage rollers are rotatably positioned above the horizontal part. A pulley pair is provided between the rotating shafts of the two foot massage rollers. The output shaft of the three-wave motor is fixedly connected to the rotating shaft of one of the foot massage rollers. The two foot massage rollers are located inside the massage through hole two.

[0048] Using the above structure, the three-wave motor serves as the power source, with its output shaft directly and fixedly connected to the rotating shaft of one of the foot massage rollers, driving that roller to rotate. Synchronous counter-rotation: The two foot massage rollers are linked by a pulley pair. When the motor drives the driving roller to rotate, the pulley pair transmits power to the driven roller, ensuring that the two rollers rotate in opposite directions at the same speed. This counter-rotation motion simulates the "kneading" action of a human hand.

[0049] Effect transmission: The two foot massage rollers are precisely positioned inside the massage through-holes on the upper shell of the foot cover. When the rollers rotate, their raised massage contacts act directly on the acupoints and fascia of the user's feet through the massage through-holes, producing a kneading and pressing massage effect.

[0050] Ripple signal sensing load: As a ripple motor, the amplitude of the current ripple of the ripple motor is proportional to the motor load when it is working. When the foot massage roller rolls on the user's feet, the resistance encountered is directly converted into a change in the motor load.

[0051] Real-time feedback and control: The control system continuously monitors the current ripple characteristics of the ripple motor. When increased resistance is detected, indicating that the user's foot muscles are tense or sensitive to the current pressure, the system can dynamically reduce the motor's drive voltage or current through algorithms, thereby gently reducing the pressure and speed of the rollers. Conversely, when resistance decreases, the system can increase the output to achieve a deeper massage.

[0052] Personalized massage experience: Through this closed-loop control based on real-time force feedback, massage is no longer a mechanical rotation with fixed force, but a personalized and adaptive process that can be dynamically adjusted according to the user's real-time physiological state, thus improving comfort and effectiveness.

[0053] This component works in conjunction with the foot strap component: the straps secure the foot, providing a stable base for the rollers' reaction force and ensuring that the massage pressure is applied effectively.

[0054] Its working state and ankle stretching movements can be programmed together to form a comprehensive foot care program.

[0055] The calf cover assembly includes a calf main cover and an air pump. The calf main cover is fixed to the front side of the calf hinge frame. The calf main cover is U-shaped. A massage through hole is provided on the rear side of the calf main cover. The inner side of the calf main cover is provided with clamping airbags arranged symmetrically on the left and right. The air pump is fixed inside the seat frame body. The air pump and the clamping airbags are connected by an air pipe.

[0056] Adopting the above structure, the main calf cover is U-shaped with its opening facing forward, wrapping around the user's calf from the sides and rear to form a stable and ergonomic support and protection space. It is fixed to the front of the calf articulation frame and can move up and down with the entire leg assembly. The core component is the symmetrically placed clamping airbags located inside the main calf cover. These airbags can change volume by inflating and deflating. An air pump fixed inside the seat frame serves as the power source and is connected to the clamping airbags via air tubes. The control system can precisely control the start and stop of the air pump and the airflow direction, thereby regulating the air pressure within the airbags.

[0057] Adaptive clamping: When the massage program starts or body shape detection is performed, the air pump inflates the airbags, which then gently and firmly clamp the user's calves from both sides. This clamping force can be adjusted according to presets or algorithms to suit different users' leg circumferences and comfort needs.

[0058] Basic somatosensory recognition: In the "calf length recognition" function, for example, the airbag clamping provides a known and stable clamping point for the calf. When the stretching swing frame assembly retracts, the calf cover assembly moves backward as a whole until the user's heel or foot contacts the foot cover assembly. The change in resistance encountered during this process contains effective information about the leg length. The stable clamping of the airbag is a prerequisite for ensuring the accuracy of this detection.

[0059] The massage through-hole on the rear side of the main calf cover corresponds to the calf massage component installed inside. This massage through-hole allows the massage actuator to pass through the cover and directly contact and act on the user's calf muscles, avoiding structural buffering of massage force and ensuring the effective transmission of massage effects such as kneading and tapping.

[0060] In conjunction with the calf massage component: the clamping of the airbag provides stable reaction force support for the subsequent massage action, allowing the massage force to penetrate deeper into the muscle tissue.

[0061] Collaborating with the stretching and oscillating frame components: As mentioned earlier, this is a key collaborative component for intelligent leg length detection.

[0062] The calf massage assembly includes a ripple motor four, which is fixed to the rear side of the calf main cover. A calf massage disc is fixed on the output shaft of the ripple motor four, and the calf massage disc extends out of the corresponding massage through hole one.

[0063] Using the above structure, the ripple motor four serves as the power source, with its output shaft directly fixed to the calf massage disc. After the ripple motor four starts, it drives the calf massage disc to rotate. The surface of the massage disc is typically designed with raised massage contacts or a specific contour. The calf massage disc extends precisely into the massage through-hole one on the rear side of the main calf cover. When the massage disc rotates, its massage contacts directly contact and act on the user's calf muscles through this massage through-hole one, producing a deep massage effect such as rolling and kneading.

[0064] The ripple signal acts as a "force sensor": as a ripple motor, the amplitude of the current ripple during operation is proportional to its load. When the massage disc presses and kneads the user's calf muscles, the resistance encountered is converted into a real-time change in the motor's load.

[0065] Real-time feedback closed-loop control: The control system continuously monitors the current ripple characteristics of the ripple motor. When an abnormal increase in ripple amplitude is detected, the system dynamically reduces the motor's drive power through a control algorithm, thereby gently reducing the pressure and speed of the massage disc, achieving "gentle when encountering strong resistance." Conversely, when the resistance decreases, the system can enhance the output to achieve a deeper stimulation, achieving the effect of "deep when encountering weak resistance."

[0066] Personalized massage experience: This transforms calf massage from a fixed, mechanical motion into a personalized, adaptive process that dynamically adjusts based on the user's real-time muscle condition, enhancing comfort and relieving fatigue.

[0067] Working closely with the calf cover assembly: The clamping airbags of the calf cover assembly hug the calf from both sides, providing stable support and reaction force for the massage movements behind, ensuring that the massage force can effectively penetrate into the muscle tissue, rather than pushing away the limb.

[0068] Its function can be combined with other massage programs to form a coordinated full-body or leg massage treatment.

[0069] The linear actuator includes a gearbox upper cover and a gearbox lower cover, which are detachably connected. A guide rail fixing plate is fixed to the outer side of the gearbox upper cover, and a fixed guide rail is fixed to the side of the guide rail fixing plate. A sliding guide rail is slidably mounted on the fixed guide rail. A ripple motor is fixed to the side of both the gearbox upper and lower covers, and a worm gear is fixed to the output shaft of the ripple motor. Bearings are fixed inside both the gearbox upper and lower covers, and a worm wheel is provided between the two bearings. The worm wheel meshes with the worm gear, and a transmission screw hole is provided inside the worm wheel. A lead screw is screwed into the transmission screw hole, and the lead screw passes through the gear. Both ends of the lead screw in the top cover and bottom cover of the gearbox are equipped with limiting rubber. One end of the lead screw is equipped with a push rod fixing code. A bottom fixing plate is fixed to the side of the push rod fixing code. An encoding strip is fixed to the bottom fixing plate. An encoding sensor mounting base is fixed to the side of the gearbox top cover. An encoding sensor is fixed inside the encoding sensor mounting base. An outer cover plate is provided on the encoding sensor mounting base. The encoding sensor is located inside the outer cover plate. The encoding strip passes through the outer cover plate, the encoding sensor and the encoding sensor mounting base in sequence. The push rod fixing code is hinged to the lower leg linkage frame. The end of the sliding guide rail is hinged to the drive fixing code at the corresponding position.

[0070] Using the above structure, the ripple motor acts as the power source, and its output shaft drives the worm gear to rotate. Reduction and reversal: the worm gear meshes with the worm wheel, forming a worm gear pair. This structure achieves speed reduction, increased torque, and a 90-degree change in the motor's rotation plane.

[0071] Rotation to Linear Motion: The worm gear has a transmission screw hole inside, which engages with the lead screw via a thread. When the worm gear is driven to rotate, the axial movement of the lead screw is restricted by the hinge point between the push rod fixing bracket and the small leg linkage bracket, thus preventing it from rotating. Therefore, the rotational motion is converted into linear motion of the lead screw relative to the gearbox assembly.

[0072] The linear motion of the lead screw drives the entire gearbox upper cover, gearbox lower cover, and fixed guide rails on the gearbox to move together. The sliding guide rail and the fixed guide rail form a sliding pair, with its end hinged to the drive fixing block, providing stable linear guidance for the movement of the entire assembly and bearing lateral forces to prevent the gearbox from rotating.

[0073] Absolute position encoding: The encoding strip fixed to the bottom plate moves with the lead screw. The encoding strip passes through the encoding sensor fixed to the gearbox. The preset light and dark or magnetic pattern on the encoding strip is read by the sensor and converted into a unique absolute position encoding signal, realizing high-precision position memory and "one-key reset" function.

[0074] Soft limit and ripple sensing: When the limit rubber at both ends of the lead screw is squeezed by the gearbox assembly at the travel limit, the load on the ripple motor increases sharply and the speed drops abruptly, causing a sudden change in the current ripple frequency. The system recognizes this feature as an electronic soft limit signal and controls the motor to stop, eliminating the need for a physical limit switch. Simultaneously, continuous monitoring of the ripple amplitude also serves as the basis for collision avoidance and electronic anti-pinch judgments.

[0075] Electronic anti-pinch / anti-collision: During the push rod movement, the system continuously monitors the current curve of the ripple motor. Once the integrated current value exceeds the threshold, the protection is immediately triggered, commanding the motor to stop or reverse.

[0076] Mechanical anti-pinch redundancy: When the electronic system fails to respond in time, the sliding pair formed by the sliding guide rail and the fixed guide rail plays a crucial role. If the push rod encounters an obstacle during retraction, the fixed guide rail will continue to retract with the gearbox, while the sliding guide rail will be blocked by the obstacle, and the two will slide relative to each other. In this way, the pulling force will not be directly transmitted to the obstacle, achieving purely mechanical passive anti-pinch protection and forming a reliable safety redundancy.

[0077] Power output end: The push rod fixing bracket is hinged to the lower leg linkage bracket of the backrest frame, serving as the fixed fulcrum for drive.

[0078] Motion output end: The end of the sliding guide rail is hinged to the drive fixing code of the tension swing frame assembly, which directly drives the lower leg to rise and fall.

[0079] Compared with existing technologies, this intelligent massager based on motor ripple characteristics has the following advantages:

[0080] By leveraging the inherent characteristics of ripple motors, the need for numerous independent sensors and corresponding wiring, such as Hall effect sensors, limit switches, and tactile switches, is eliminated. The detachable design greatly facilitates cleaning and maintenance, extending product lifespan and improving user experience.

[0081] By analyzing ripple signals, the system can sense the user's body shape, muscle tension, and external resistance in real time, thereby enabling adaptive adjustment of massage intensity, speed, and angle, and providing exclusive personalized massage programs.

[0082] The electronic anti-pinch / anti-collision system based on current ripple is highly responsive. A unique sliding rail structure provides redundant passive mechanical anti-pinch protection, offering dual safeguards for enhanced safety. All safety functions are integrated into the drive unit, eliminating the need for additional safety modules.

[0083] The ripple motor functions as both an actuator and a sensor, integrating motion execution with position / force sensing. This innovative design simplifies system architecture, reduces potential points of failure, and improves control accuracy and overall reliability. Attached Figure Description

[0084] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0085] Figure 2 This is a schematic diagram of the overall exploded structure of the present invention.

[0086] Figure 3 This is a structural schematic diagram of the seat frame, backrest frame, and back cover mounting bracket assembly in this invention.

[0087] Figure 4 This is a three-dimensional structural diagram of the linear actuator in this invention.

[0088] Figure 5 This is an exploded structural diagram of the linear actuator in this invention.

[0089] Figure 6 This is a three-dimensional structural diagram of the foot cover assembly, foot strap assembly, foot massage assembly, stretching and swinging frame assembly, and calf massage assembly in this invention.

[0090] Figure 7 This is an exploded structural diagram of the foot cover assembly, foot strap assembly, foot massage assembly, stretching and swinging frame assembly, and calf massage assembly in this invention.

[0091] In the diagram, 1. Seat frame; 2. Backrest frame; 3. Backrest cover mounting bracket assembly; 4. Calf cover assembly; 5. Foot cover assembly; 6. Foot strap assembly; 7. Foot massage assembly; 8. Tensioning and swinging frame assembly; 9. Ripple motor push rod 1; 10. Linear driver; 11. Calf massage assembly; 12. Backrest fixing bracket 1; 13. Seat frame body; 14. Rear hinge seat; 15. Calf linkage frame; 16. Rear hinge frame; 17. Backrest frame body; 8. Backrest fixing bracket II; 19. Frame hinge seat; 20. Hollow frame with contact; 21. Back frame; 22. Screw seat; 23. Contact seat; 24. Seat bracket clearance hole; 25. Seat frame; 26. Back frame clearance hole; 27. Sliding guide rail; 28. Fixed guide rail; 29. ​​Guide rail fixing plate; 30. Gearbox upper cover; 31. Gearbox lower cover; 32. Lead screw; 33. Push rod fixing bracket; 34. Bottom fixing plate; 35. Encoding strip; 36. Ripple motor I; 37. Outer cover plate; 38. Worm gear; 39. Encoder sensor; 40. Encoder sensor mounting base; 41. Bearing; 42. Worm gear; 43. Transmission screw hole; 44. Lower leg main cover; 45. Massage through hole one; 46. Upper foot cover; 47. Strap through hole; 48. Massage through hole two; 49. Foot strap; 50. Lower foot cover; 51. Retractable roller frame; 52. Ripple motor two; 53. Ripple motor three; 54. Foot massage roller; 55. 56. Pulley pair; 57. Adjusting frame; 58. Angle adjustment fixing bracket II; 59. Ripple motor push rod II; 60. Lower leg front hinge frame; 61. Support wheel; 62. Tension fixing bracket I; 63. Angle adjustment fixing bracket I; 64. Guide wheel; 65. Lower leg tension frame; 66. Drive fixing bracket; 67. Lower leg hinge frame; 68. Tension fixing bracket II; 69. Ripple motor push rod III; 70. Ripple motor IV; 71. Lower leg massage disc; 72. Lower leg side cover. Detailed Implementation

[0092] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0093] like Figures 1-7As shown, this intelligent massage frame based on the ripple characteristics of a motor includes a seat frame 1 and a backrest frame 2. A back cover mounting bracket assembly 3 is detachably provided on the upper part of the backrest frame 2. The seat frame 1 and the backrest frame 2 are hinged together, and a ripple motor push rod 9 is hinged between the seat frame 1 and the backrest frame 2. Two symmetrically arranged stretching and swinging frame assemblies 8 are hinged to the front side of the backrest frame 2. A linear driver 10 is hinged between the stretching and swinging frame assembly 8 and the backrest frame 2. A calf cover assembly 4 is provided above the front side of the stretching and swinging frame assembly 8. Calf massage components 11 are provided inside the calf cover assembly 4. A foot cover assembly 5 is provided below the front side of the stretching and swinging frame assembly 8. A foot massage component 7 is provided between the stretching and swinging frame assembly 8 and the foot cover assembly 5. A foot strap assembly 6 is provided on the foot cover assembly 5.

[0094] The back cover mounting bracket assembly 3 is used to mount the back cover so that the user can sit down.

[0095] Backrest angle adjustment: The ripple motor push rod 9 is hinged between the seat frame 1 and the backrest frame 2. The extension and retraction of the ripple motor push rod 9 directly drives the backrest frame 2 to rotate around the hinge point between it and the seat frame 1, so as to realize the user's reclining and sitting posture adjustment.

[0096] The lower leg section is raised and lowered as a whole: two linear actuators 10 (i.e. special push rods using a ripple motor) are respectively hinged to the backrest frame 2 and the stretching swing frame assembly 8. The extension and retraction of the linear actuators 10 drives the entire lower leg section (including the lower leg cover assembly 4, the foot cover assembly 5 and its internal massage mechanism) to move up and down around the hinge point with the backrest frame 2.

[0097] The user's feet are placed on the foot cover component 5, and the foot strap component 6 covers the instep of the user's feet to ensure the stability of the stretched feet.

[0098] Calf extension and ankle stretch: Inside the calf, the stretching swing frame assembly 8 drives the foot cover assembly 5 and foot massage assembly 7 to extend and retract (to accommodate different leg lengths) and the ankle stretching frame assembly to tilt and flex (to achieve foot stretching and massage).

[0099] Calf cover component 4 can clamp and massage the side of the calf, while calf massage component 11 massages the back of the calf.

[0100] Position sensing and memory (replacement for limit switches and Hall sensors):

[0101] Principle: The frequency of the ripple signal of the tension swing frame assembly 8, the ripple motor push rod 9, and the linear driver 10 is proportional to the motor speed; by counting the number of ripple pulses per unit time, the rotation angle of the motor can be accurately calculated, and then the precise displacement of the push rod can be calculated.

[0102] Applications: Travel limit of the tension swing frame assembly 8, ripple motor push rod 1 9, and linear driver 10: A sudden increase in motor load causes a sharp drop in speed, resulting in a sudden change in ripple frequency. The system recognizes this unique frequency characteristic and uses it as a soft limit signal to control the motor to stop, eliminating the need for physical limit switches.

[0103] The linear drive 10 is converted into a specific position code to enable the "one-key reset" or "memory position" function.

[0104] Symmetrical synchronization: When the ankle tendon is repositioned, the displacement synchronization can be ensured by keeping the ripple frequency of the motors of the two stretching swing frame components 8 consistent, so that both feet are repositioned to the same horizontal plane without the need for additional Hall sensor alignment.

[0105] Force sensing and body recognition (enabling intelligent adjustment and anti-pinch / anti-collision):

[0106] Principle: The amplitude of the ripple signal is proportional to the motor load (i.e., output torque / thrust). By sampling the motor current in real time (e.g., by inserting a sampling resistor in series in the circuit and measuring its voltage), a current waveform reflecting the load can be obtained. When the linear driver 10 encounters resistance during the execution of the action (e.g., contact with the human body during massage, or encountering a foreign object during anti-pinch operation), the change in motor load will immediately manifest as an abnormal increase in the current amplitude.

[0107] Applications for anti-pinch and anti-collision: During the movement of the stretching swing frame assembly 8, the ripple motor push rod 9, and the linear driver 10 (such as the retraction of the lower leg or the reclining of the backrest), the system continuously monitors the current curve. Once the integral value of the current over a period of time (reflecting continuous abnormal resistance) is detected to exceed the preset safety threshold, it is determined that "pinching" or "collision" has occurred, and the motor is immediately commanded to stop or reverse, thereby achieving the protection function.

[0108] Motion recognition and intelligent adjustment:

[0109] Calf length recognition: During body shape detection, the airbag of the calf cover assembly 4 clamps, and the stretching and swinging frame assembly 8, which controls the extension and retraction of the calf, retracts. When the end of the foot cover assembly 5 contacts the user's foot, the increased resistance causes a change in the current ripple characteristics. The system analyzes this change point through an algorithm to intelligently identify the user's actual leg length and automatically adjusts the stroke of the stretching and swinging frame assembly 8 to the appropriate position.

[0110] Massage intensity adjustment: During ankle stretching or calf kneading massage, the foot massage component 7 and calf massage component 11 continuously output power. The user's muscle tension will be reflected as different resistances, which will cause real-time changes in the current ripple of the drive motor. Based on these changes, the control system dynamically adjusts the output force and speed of the motor through algorithms to achieve personalized and adaptive massage that is "gentle when encountering strong pressure and deep when encountering weak pressure".

[0111] External force compensation: The system analyzes the ripple pattern generated when the user actively applies force (such as by pedaling) and adds corresponding bias compensation to the control algorithm to avoid false triggering of anti-pinch or misjudging of massage status, thereby improving the naturalness of the interaction.

[0112] Mechanical anti-pinch redundancy protection (passive safety mechanism): As a backup for electronic anti-pinch, the linear driver 10 is designed with a unique mechanical anti-pinch structure, realizing pure mechanical anti-pinch protection.

[0113] The seat frame 1 includes a seat frame body 13, with a backrest fixing bracket 12 fixed to the front inner side of the seat frame body 13, and a rear hinge seat 14 fixed to the middle upper end of the seat frame body 13.

[0114] The main body 13 of the seat frame is the core skeleton of the entire massage frame. It is fixed to the ground or the base of the massage chair and is used to support the weight of the backrest frame 2, all motor push rods, leg components and the user, providing a stable mechanical foundation for the entire massage system.

[0115] The rear hinge seat 14 serves as the mounting point for the rotation axis of the backrest frame 2.

[0116] The backrest fixing bracket 12 serves as the drive end fixing point for the ripple motor push rod 9. The other end of the push rod is hinged to the backrest frame 2. When the ripple motor push rod 9 extends or retracts, the thrust or pull force it generates is transmitted to the robust seat frame body 13 through this backrest fixing bracket 12, thereby driving the backrest to rotate around the rear hinge seat 14 in a reaction.

[0117] When the system calculates the backrest angle using the ripple of the ripple motor push rod 9, it is actually converting the angle based on the relative displacement between the backrest and the connection point of the seat frame.

[0118] The backrest frame 2 includes a backrest frame body 17. A backrest fixing bracket 2 18 is fixed to the lower front side of the backrest frame body 17. The two ends of the ripple motor push rod 1 9 are respectively hinged to the backrest fixing bracket 1 12 and the backrest fixing bracket 2 18. Four frame hinge seats 19 are fixed to the upper front side of the backrest frame body 17. The four frame hinge seats 19 are divided into two symmetrical groups, and the two frame hinge seats 19 in each group are symmetrically arranged. A small leg linkage frame 15 is provided in the lower middle part of the backrest frame body 17. A rear hinge frame 16 is provided in the lower rear part of the backrest frame body 17. The rear hinge frame 16 is hinged to the rear hinge seat 14.

[0119] The backrest frame body 17 forms the direct or indirect (via the back cover mounting bracket assembly 3) support surface for the user's back.

[0120] The rear hinge frame 16 is hinged to the rear hinge seat 14, forming the physical axis of the backrest rotation. When the ripple motor push rod 9 extends or retracts, its thrust acts on the backrest fixing bracket 18, driving the entire backrest frame 2 to recline or sit up around the axis of the rear hinge frame 16.

[0121] The frame hinge seats 19, which are symmetrically arranged on the left and right, are the mounting points for the stretching and swinging frame assembly 8. The lower leg part is hinged to the backrest frame 2 through this point, thereby obtaining a stable fulcrum for movement.

[0122] The lower leg linkage frame 15 is used to mount the linear actuator 10 to ensure coordinated movement of the left and right stretching swing frame assemblies 8.

[0123] The backrest mounting bracket assembly 3 includes a back frame 21 and a seat frame 25. Both the back frame 21 and the seat frame 25 are U-shaped. The seat frame 25 is detachably mounted on the front side of the back frame 21. The back frame 21 has a backrest clearance hole 26 on its inner side, and the seat frame 25 has a seat clearance hole 24 on its inner side. The seat clearance hole 24 and the backrest clearance hole 26 are combined to form a massage clearance hole. The upper top of the back frame 21 is provided with an abutting hollow frame 20. The lower sides of both the back frame 21 and the seat frame 25 are provided with several screw seats 22 and several abutting seats 23. The screw seats 22 are detachably mounted on the upper part of the backrest frame body 17 by bolt pairs, and the abutting seats 23 abut against the upper part of the backrest frame body 17.

[0124] The main structure of the component—the back frame 21 and the seat frame 25—together form a complete, ergonomic U-shaped frame. This frame is the skeleton for mounting the fabric or leather back cover, providing shaping and support for the soft back cover, and giving the user a comfortable sitting experience.

[0125] The backrest mounting bracket assembly 3 is securely (but detachably) bolted to the backrest frame body 17 by means of multiple screw seats 22 distributed on the underside of the backrest frame 21 and the seat frame 25, ensuring the stability and safety of the overall structure.

[0126] The abutment seat 23 directly abuts against the surface of the backrest frame body 17 during installation, serving to assist in positioning and distribute the load, preventing the frame from undergoing local deformation due to stress.

[0127] After the components are assembled, the backrest clearance hole 26 and the seat clearance hole 24 together form a complete massage clearance hole, which allows the massage mechanism (such as rollers, airbags, etc.) installed inside the backrest frame 2 to pass through this hole without obstruction, directly contact and act on the user's back, avoiding the attenuation of massage force due to the multi-layer structure and ensuring the effective transmission of massage effect.

[0128] The back frame 21 and seat frame 25 are designed as separate units, connected to the main body by screws. This detachable structure greatly facilitates the installation, replacement, and cleaning of the back cover, as well as the inspection of the internal massage mechanism, improving the product's maintainability.

[0129] The hollow frame 20, located at the top, not only increases structural rigidity but also serves as an interface for connecting to the headrest or other upper accessories, enhancing comfort.

[0130] The stretching swing frame assembly 8 includes a calf hinge frame 66, a calf stretching frame 64, and an L-shaped adjusting frame 56. The upper end of the calf hinge frame 66 is hinged to a set of frame hinge seats 19 at corresponding positions. A stretching fixing bracket 67 is fixed to the upper end of the calf hinge frame 66, and a drive fixing bracket 65 is fixed to the rear side of the calf hinge frame 66. Two linear actuators 10 are respectively hinged between the calf linkage frame 15 and the drive fixing bracket 65. Several guide wheels 63 are rotatably provided on both the left and right sides of the calf stretching frame 64. The guide wheels 63 are rolled inside the calf hinge frame 66. A stretching fixing bracket is fixed to the lower side of the calf stretching frame 64. The calf stretching frame 64 has two symmetrically arranged front calf hinge frames 59 fixed on the front side, and two symmetrically arranged support wheels 60 rotatably arranged at the lower end of the calf stretching frame 64. A ripple motor push rod 68 is hinged between the stretching fixed code 61 and the stretching fixed code 67. The vertical part of the adjusting frame 56 is hinged to the two front calf hinge frames 59. An angle-adjusting fixed code 57 is fixed on the rear side of the adjusting frame 56. A ripple motor push rod 58 is hinged between the angle-adjusting fixed code 57 and the angle-adjusting fixed code 62. The horizontal part of the adjusting frame 56 has a conveyor belt hole.

[0131] The upper end of the lower leg hinge frame 66 is hinged to the backrest frame 2 through the frame hinge seat 19, forming the basic support point and load-bearing skeleton for the entire lower leg movement.

[0132] Power-driven lifting: The linear actuator 10 is hinged between the lower leg linkage frame 15 and the lower leg hinge frame 66 drive fixing code 65 of the backrest frame 2; the extension and retraction movement of the linear actuator 10 directly drives the entire stretching swing frame assembly 8 to perform overall lifting and lowering movement around the hinge axis of the frame hinge seat 19, so as to raise or flatten the legs.

[0133] Intelligent adjustable calf length (to accommodate different user leg lengths)

[0134] Sliding pair structure: The lower leg tensioning frame 64 is mounted in the track inside the lower leg hinge frame 66 via guide wheels 63 on both sides, forming a low-friction sliding pair.

[0135] Motor-driven telescopic movement: The three-axis push rod 68 of the ripple motor is hinged between the second tension fixing code 67 of the lower leg articulation frame 66 and the first tension fixing code 61 of the lower leg extension frame 64; the telescopic movement of the three-axis push rod 68 of the ripple motor drives the lower leg extension frame 64 together with all its front end components (adjusting frame 56, foot cover assembly 5, etc.) to slide back and forth relative to the lower leg articulation frame 66.

[0136] Intelligent Control: During this extension and retraction process, the current ripple characteristics of the ripple motor push rod 368 are used to sense resistance in real time. When the sliding end contacts the user's foot, the change in resistance is detected by the system, thereby achieving automated leg length detection and intelligent stroke adjustment.

[0137] Precise adjustment of foot angle (to achieve stretching and relaxation)

[0138] Angle adjustment hub: The adjustment frame 56 is hinged to the front calf hinge frame 59 at the front end of the calf extension frame 64 via its vertical part, forming an independent rotation axis.

[0139] Motor-driven pitch: Ripple motor push rod 2 58 is hinged between the angle adjustment fixing bracket 1 62 of the calf stretching frame 64 and the angle adjustment fixing bracket 2 57 of the adjusting frame 56. The extension and retraction movement of the ripple motor push rod 2 58 drives the adjusting frame 56 (and its connected foot cover assembly 5 and foot massage assembly 7) to pitch and rotate around the axis of the calf front hinge frame 59.

[0140] Intelligent Stretching: This exercise directly achieves dorsiflexion and plantarflexion of the ankle (i.e., stretching). The ripple signal of the ripple motor push rod 258 can provide real-time feedback on the stretching force, enabling the system to intelligently adjust the output force according to the user's muscle tension, achieving "adaptive" stretching and avoiding excessive force.

[0141] The auxiliary function design includes a walking hole: providing a neat channel for the foot strap assembly 6, ensuring sports safety and a clean appearance.

[0142] Support wheel 60: Located at the lower end of the lower leg stretcher 64, it provides rolling support when in conjunction with external structures (such as the lower leg sliding frame) to reduce friction.

[0143] The foot cover assembly 5 includes a lower foot cover 50, which is fixed below the horizontal part of the adjustment frame 56. The upper end of the lower foot cover 50 is detachably provided with an upper foot cover 46. The upper foot cover 46 has two left-right symmetrical strap through holes 47 and a massage through hole 48 at the bottom.

[0144] The foot cover 46 provides a shell space that conforms to the contours of the human foot, directly supporting the user's feet and providing them with basic support and protection.

[0145] The strap through-holes 47 on the foot cover 46 serve as passageways for the foot strap assembly 6. After passing through these through-holes 47, the straps are tightened around the user's instep, thus securely locking the foot inside the foot cover. This fixation is crucial for performing ankle stretching movements (driven by the pitch of the adjustment frame 56) and preventing the foot from slipping during massage.

[0146] The foot cover 46 has a massage through-hole 48 at its bottom, which corresponds to the foot massage component 7 (such as rollers, push rods, etc.) mounted above the adjustment frame 56. This massage through-hole 48 allows the massage actuator to pass through the housing without obstruction, directly contact and act on the user's acupoints on the soles of the feet, ensuring that the massage force is not buffered by the housing structure, thereby efficiently transmitting the massage effect.

[0147] The upper shell 46 of the foot cover is detachably installed on the lower shell 50 of the foot cover (such as with clips or screws), which makes it easy to open the shell, clean the inside, or inspect or replace the foot massage components 7 inside, greatly improving the hygiene and maintainability of the product.

[0148] The foot strap assembly 6 includes a take-up and release roller frame 51, a second ripple motor 52, and a foot-stopping strap 49. The take-up and release roller frame 51 and the second ripple motor 52 are fixed above the lower shell 50 of the foot cover. The take-up and release roller is rotatably installed inside the take-up and release roller frame 51. The output shaft of the second ripple motor 52 is fixedly connected to the take-up and release roller. One end of the foot-stopping strap 49 is fixedly connected to the take-up and release roller. The other end of the foot-stopping strap 49 passes through the conveyor belt hole and two strap through holes 47 in sequence. A tension sensor is fixed to the other end of the foot-stopping strap 49. The tension sensor is fixed inside the upper shell 46 of the foot cover.

[0149] The ripple motor 52 serves as the power source, and its output shaft directly drives the take-up and take-up rollers in the take-up and take-up roller frame 51 to rotate.

[0150] When the ripple motor 252 rotates, the take-up and release rollers wind or release the foot straps, thereby tightening and loosening the straps.

[0151] The tightened foot strap 49 spans across the user's instep, securely binding the foot within the foot cover assembly 5, providing the necessary counterforce fulcrum for subsequent ankle stretching massage, and preventing the foot from slipping.

[0152] Force feedback monitoring: A tension sensor installed at the end of the strap monitors the tension of the strap acting on the instep in real time. This tension data is the most direct physical quantity reflecting the tightness of the restraint.

[0153] Closed-loop control: The control system compares the preset comfort tension value or the command obtained from the massage program with the actual tension value fed back by the tension sensor to form a closed-loop control. By controlling the rotation (tightening or loosening) of the ripple motor 52, the tightness of the straps is dynamically adjusted so that the restraint force is always kept within a range that is both effective and comfortable.

[0154] Potential correlation with ripple signals: The operating current ripple of the ripple motor 252 also contains load information. Changes in its ripple amplitude can indirectly reflect the resistance during the winding and unwinding process (such as the friction between the strap and the strap through-hole 47, and whether the winding is smooth). It can complement or verify the data from the tension sensor, enhancing the reliability of the system.

[0155] In coordination with stretching movements: During ankle stretching (driven by the ripple motor push rod 2 58 to adjust the frame 56 in pitch), the foot strap assembly 6 must provide sufficient and stable restraint force. The intelligent adjustment system can appropriately increase the restraint force during the stretching phase and decrease the restraint force during the relaxation phase to improve comfort.

[0156] Overtightness Protection: Direct feedback from the tension sensor is a key safety feature to prevent the straps from becoming too tight, causing user discomfort or impaired blood circulation. Once the tension is detected to exceed the safety threshold, the system can immediately command the motor to reverse and loosen the straps.

[0157] The foot massage assembly 7 includes a three-wave motor 53 and two foot massage rollers 54. The three-wave motor 53 is fixed above the horizontal part of the adjustment frame 56. The two foot massage rollers 54 are rotatably positioned above the horizontal part. A pulley pair 55 is provided between the rotating shafts of the two foot massage rollers 54. The output shaft of the three-wave motor 53 is fixedly connected to the rotating shaft of one of the foot massage rollers 54. The two foot massage rollers 54 are located inside the massage through hole 48.

[0158] The ripple motor 53 serves as the power source, and its output shaft is directly and fixedly connected to the rotating shaft of one of the foot massage rollers 54, driving the roller to rotate.

[0159] Synchronous counter-rotation: The two foot massage rollers 54 are linked by a pulley pair 55. When the motor drives the driving roller to rotate, the pulley pair 55 transmits power to the driven roller, ensuring that the two rollers rotate in opposite directions at the same speed. This counter-rotation motion simulates the "kneading" action of a human hand.

[0160] Action transmission: The two foot massage rollers 54 are precisely located inside the massage through-holes 48 of the foot cover 46. When the rollers rotate, their raised massage contacts act directly on the user's acupoints and fascia on the soles of the feet through the massage through-holes 48, producing a kneading and pressing massage effect.

[0161] Ripple signal sensing load: As a ripple motor, the amplitude of the current ripple of ripple motor 3 53 is proportional to the load of the motor (i.e., the output torque) when it is working. When the foot massage roller 54 rolls on the user's foot, the resistance encountered (reflecting the tension of the user's foot muscles, the thickness of soft tissue, etc.) will be directly converted into changes in the load of the motor.

[0162] Real-time feedback and control: The control system continuously monitors the current ripple characteristics (especially the amplitude) of the ripple motor 353. When increased resistance is detected (increased ripple amplitude), it indicates that the user's foot muscles are tense or sensitive to the current pressure. The system can dynamically reduce the motor's drive voltage or current through algorithms, thereby gently reducing the pressure and speed of the rollers (i.e., "gentle when encountering strong resistance"). Conversely, when the resistance decreases, the system can increase the output to achieve a deeper massage (i.e., "deeper when encountering weak resistance").

[0163] Personalized massage experience: Through this closed-loop control based on real-time force feedback, massage is no longer a mechanical rotation with fixed force, but a personalized and adaptive process that can be dynamically adjusted according to the user's real-time physiological state, thus improving comfort and effectiveness.

[0164] This component works in conjunction with the foot strap component 6: the straps secure the foot, providing a stable reaction force base for the rollers and ensuring that the massage force can be effectively applied.

[0165] Its working status (start / stop, intensity mode) and ankle stretching movements (driven by the wave motor push rod 258) can be programmed together to form a complex foot care program.

[0166] The calf cover assembly 4 includes a calf main cover 44 and an air pump. The calf main cover 44 is fixed to the front side of the calf hinge frame 66. The calf main cover 44 is U-shaped. A massage through hole 45 is provided on the rear side of the calf main cover 44. A clamping airbag is provided on the inner side of the calf main cover 44. The air pump is fixed inside the seat body 13. The air pump and the clamping airbag are connected by an air pipe.

[0167] The lower leg main cover 44 is U-shaped with its opening facing forward, allowing it to wrap around the user's lower leg from the sides and rear, forming a stable and ergonomic support and protection space. It is fixed to the front of the lower leg hinge frame 66 and can move up and down together with the entire leg assembly.

[0168] The core component consists of symmetrically placed clamping airbags located on the inner side of the main calf cover 44. These airbags can change their volume by inflating and deflating.

[0169] An air pump, fixed inside the main body 13 of the seat frame, serves as the power source and is connected to the clamping airbag via an air tube. The control system can precisely control the start and stop of the air pump and the direction of airflow, thereby regulating the air pressure inside the airbag.

[0170] Adaptive clamping: When the massage program starts or body shape detection is performed, the air pump inflates the airbags, which then gently and firmly hug the user's calves from both sides. This clamping force can be adjusted according to presets or by algorithms (possibly in conjunction with feedback from other sensors) to suit different users' leg circumference and comfort needs.

[0171] Basic somatosensory recognition: In the "calf length recognition" function, for example, the airbag clamping provides a known and stable clamping point for the calf. When the stretching swing frame assembly retracts, the calf cover assembly moves backward as a whole until the user's heel or foot contacts the foot cover assembly 5. The change in resistance encountered during this process (sensed through the ripple signal of the drive motor) contains effective information about the leg length. Stable airbag clamping is a prerequisite for ensuring accurate detection.

[0172] The massage through-hole 45, located on the rear side of the calf main cover 44, corresponds to the calf massage components 11 (such as rollers, tapping hammers, etc.) installed inside. This massage through-hole 45 allows the massage actuator to pass through the cover and directly contact and act on the user's calf muscles (such as the gastrocnemius muscle), avoiding structural buffering of massage force and ensuring the effective transmission of massage effects such as kneading and tapping.

[0173] In conjunction with the calf massage component 11: the clamping of the airbag provides stable reaction force support for the subsequent massage action, allowing the massage force to penetrate deeper into the muscle tissue.

[0174] Collaborating with the stretching and swinging frame component 8: As previously mentioned, it is a key collaborative component for intelligent leg length detection.

[0175] The calf massage component 11 includes a ripple motor 469, which is fixed to the rear side of the calf main cover 44. A calf massage disc 70 is fixed on the output shaft of the ripple motor 469, and the calf massage disc 70 extends out of the corresponding massage through hole 45.

[0176] The ripple motor 469 serves as the power source, and its output shaft is directly fixed to the calf massage disc 70. After the ripple motor 469 is started, it drives the calf massage disc 70 to rotate. The surface of the massage disc is usually designed with raised massage contacts or a specific contour.

[0177] The calf massage disc 70 extends precisely into the massage through-hole 45 on the rear side of the calf main cover 44. When the massage disc rotates, its massage contacts directly contact and act on the user's calf muscles through the massage through-hole 45, producing deep massage effects such as rolling and kneading.

[0178] Ripple signal as a "force sensor": As a ripple motor, the amplitude of the current ripple when the ripple motor is working is proportional to its load (output torque). When the massage disc presses and kneads the user's calf muscles, the resistance encountered (reflecting the tension and fatigue of the muscles) will be converted into changes in the motor's load in real time.

[0179] Real-time feedback closed-loop control: The control system continuously monitors the current ripple characteristics of the ripple motor 469. When an abnormally high ripple amplitude is detected (indicating increased resistance, user muscle tension, or sensitivity to the current pressure), the system dynamically reduces the motor's drive power through a control algorithm, thereby gently reducing the pressure and speed of the massage disc, achieving a "gentle when encountering strong resistance" effect. Conversely, when the resistance decreases, the system can increase the output to achieve a deeper stimulation, achieving a "deep when encountering weak resistance" effect.

[0180] Personalized massage experience: This transforms calf massage from a fixed, mechanical motion into a personalized, adaptive process that dynamically adjusts based on the user's real-time muscle condition, enhancing comfort and relieving fatigue.

[0181] Working closely with the calf cover assembly 4: The clamping airbags of the calf cover assembly hug the calf from both sides, providing stable support and reaction force for the massage action from behind, ensuring that the massage force can effectively penetrate into the muscle tissue, rather than push away the limb.

[0182] Its function can be combined with other massage procedures (such as foot stretching and foot massage) to form a coordinated full-body or leg massage treatment.

[0183] The linear actuator 10 includes a gearbox upper cover 30 and a gearbox lower cover 31, which are detachably connected. A guide rail fixing plate 29 is fixed to the outer side of the gearbox upper cover 30, and a fixed guide rail 28 is fixed to the side of the guide rail fixing plate 29. A sliding guide rail 27 is slidably provided on the fixed guide rail 28. A ripple motor 36 is fixed to the side of the gearbox upper cover 30 and the gearbox lower cover 31. A worm gear 38 is fixed to the output shaft of the ripple motor 36. Bearings 41 are fixed inside the gearbox upper cover 30 and the gearbox lower cover 31. A worm wheel 42 is provided between the two bearings 41 and meshes with the worm gear 38. A transmission screw hole 43 is provided inside the worm wheel 42, and a lead screw 32 is screwed into the transmission screw hole 43. The lead screw 32 passes through the worm wheel 42. The gearbox upper cover 30 and gearbox lower cover 31, both ends of the lead screw 32 are provided with limiting rubber, one end of the lead screw 32 is provided with a push rod fixing code 33, the side of the push rod fixing code 33 is fixed with a bottom fixing plate 34, the bottom fixing plate 34 is fixed with an encoding strip 35, the side of the gearbox upper cover 30 is fixed with an encoding sensor mounting base 40, the encoding sensor mounting base 40 is fixed with an encoding sensor 39 inside, the encoding sensor mounting base 40 is provided with an outer cover plate 37, the encoding sensor 39 is located inside the outer cover plate 37, the encoding strip 35 passes through the outer cover plate 37, the encoding sensor 39 and the encoding sensor mounting base 40 in sequence, the push rod fixing code 33 is hinged to the lower leg linkage frame 15, and the end of the sliding guide rail 27 is hinged to the corresponding drive fixing code 65.

[0184] The ripple motor 36 serves as the power source, and its output shaft drives the worm gear 38 to rotate.

[0185] Speed ​​reduction and reversal: The worm 38 meshes with the worm wheel 42 to form a worm gear pair. This structure achieves speed reduction, increases torque, and changes the rotation plane of the motor by 90 degrees.

[0186] Rotation to linear motion: The worm gear 42 has a transmission screw hole 43 inside, which is threadedly engaged with the lead screw 32. When the worm gear 42 is driven to rotate, the axial movement of the lead screw 32 is restricted by the hinge point between the push rod fixing bracket 33 and the small leg linkage bracket 15, and therefore cannot rotate. Thus, the rotational motion is converted into linear motion of the lead screw 32 relative to the gearbox assembly.

[0187] The linear motion of the lead screw 32 drives the entire gearbox upper cover 30, gearbox lower cover 31, and fixed guide rail 28 fixed on the gearbox to move together (extend or retract). The sliding guide rail 27 and the fixed guide rail 28 form a sliding pair, and its end is hinged to the drive fixing block 65, providing stable linear guidance for the movement of the entire assembly and bearing lateral forces to prevent the gearbox from rotating.

[0188] Absolute position encoding: The encoding strip 35, fixed on the bottom mounting plate 34, moves together with the lead screw 32. The encoding strip 35 passes through the encoding sensor 39 fixed on the gearbox. The preset light and dark or magnetic pattern on the encoding strip is read by the sensor and converted into a unique absolute position encoding signal, realizing high-precision position memory and "one-key reset" function.

[0189] Soft limit and ripple sensing: When the limit rubber at both ends of the lead screw 32 is squeezed by the gearbox assembly at the limit of its stroke, the load on the ripple motor 36 increases sharply and its speed drops abruptly, causing a sudden change in its current ripple frequency. The system recognizes this feature as an electronic soft limit signal and controls the motor to stop, eliminating the need for a physical limit switch. At the same time, continuous monitoring of the ripple amplitude also serves as the basis for collision avoidance and electronic anti-pinch judgment.

[0190] Electronic anti-pinch / anti-collision: During the push rod movement, the system continuously monitors the current curve of the ripple motor-36. Once the integrated current value exceeds the threshold (indicating continuous abnormal resistance, such as being clamped by a foreign object), the protection is triggered, commanding the motor to stop or reverse.

[0191] Mechanical anti-pinch redundancy: When the electronic system fails to respond in time, the sliding pair formed by the sliding guide rail 27 and the fixed guide rail 28 plays a crucial role. If the push rod encounters an obstacle during retraction, the fixed guide rail 28 will continue to retract with the gearbox, while the sliding guide rail 27 will be blocked by the obstacle, and the two will slide relative to each other. In this way, the pulling force will not be directly transmitted to the obstacle, realizing a purely mechanical passive anti-pinch protection and forming a reliable safety redundancy.

[0192] Power output end: The push rod fixing bracket 33 is hinged to the lower leg linkage bracket 15 of the backrest frame 2, serving as the fixed fulcrum for drive.

[0193] Motion output end: The end of the sliding guide rail 27 is hinged to the drive fixing code 65 of the stretching swing frame assembly 8, which directly drives the lower leg to rise and fall.

[0194] In summary, the design reduces hardware costs and simplifies the structure: by utilizing the inherent characteristics of the ripple motor, numerous independent sensors such as Hall effect sensors, limit switches, and tactile switches, along with their corresponding wiring, are eliminated. The detachable design (such as the back cover mounting bracket and foot covers) greatly facilitates cleaning and maintenance, extending product lifespan and improving user experience.

[0195] Achieving a highly intelligent massage experience: By analyzing ripple signals, the system can sense the user's body shape (such as leg length), muscle tension, and external resistance in real time, thereby achieving adaptive adjustment of massage intensity, speed, and angle (gentle when strong, deep when weak) and providing exclusive personalized massage programs.

[0196] Enhanced reliability and integration of safety protection: The electronic anti-pinch / anti-collision system based on current ripple offers highly sensitive response. A unique sliding rail structure provides passive mechanical anti-pinch redundancy protection, offering dual safeguards for improved safety. All safety functions are integrated into the drive unit, eliminating the need for additional safety modules.

[0197] Achieving a high degree of integration between sensing and control: The ripple motor simultaneously functions as both an actuator and a sensor, integrating motion execution with position / force sensing. This innovative design simplifies the system architecture, reduces potential points of failure, and improves control accuracy and overall reliability.

[0198] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A smart massage frame based on motor ripple characteristics, comprising a seat frame (1) and a backrest frame (2), characterized in that, The backrest frame (2) is detachably provided with a back cover mounting bracket assembly (3). The seat frame (1) and the backrest frame (2) are hinged together, and a ripple motor push rod (9) is hinged between the seat frame (1) and the backrest frame (2). Two symmetrically arranged stretching swing frame assemblies (8) are hinged to the front side of the backrest frame (2). A linear driver (10) is hinged between the stretching swing frame assembly (8) and the backrest frame (2). A calf cover assembly (4) is provided above the front side of the stretching swing frame assembly (8). A calf massage assembly (11) is provided inside the calf cover assembly (4). A foot cover assembly (5) is provided below the front side of the stretching swing frame assembly (8). A foot massage assembly (7) is provided between the stretching swing frame assembly (8) and the foot cover assembly (5). A foot strap assembly (6) is provided on the foot cover assembly (5). The linear actuator (10) includes a gearbox upper cover (30) and a gearbox lower cover (31), which are detachably connected. A guide rail fixing plate (29) is fixed on the outer side of the gearbox upper cover (30), and a fixed guide rail (28) is fixed on the side of the guide rail fixing plate (29). A sliding guide rail (27) is slidably provided on the fixed guide rail (28). A ripple motor (36) is fixed on the side of the gearbox upper cover (30) and the gearbox lower cover (31). A worm gear (38) is fixed on the output shaft of the ripple motor (36). Bearings (41) are fixed inside the gearbox upper cover (30) and the gearbox lower cover (31). A worm wheel (42) is provided between the two bearings (41). The worm wheel (42) meshes with the worm gear (38). A transmission screw hole (43) is provided inside the worm wheel (42). A lead screw (32) is screwed into the inside of the transmission screw hole (43). The lead screw (32) passes through the gearbox upper cover (30) and the gearbox lower cover (31). Both ends of the lead screw (32) are provided with limit rubber. One end of the lead screw (32) is provided with a push rod fixing code (33). A bottom fixing plate (34) is fixed on the side of the push rod fixing code (33). A coding strip (35) is fixed on the bottom fixing plate (34). A coding sensor mounting base (40) is fixed on the side of the gearbox upper cover (30). A coding sensor (39) is fixed inside the coding sensor mounting base (40). An outer cover plate (37) is provided on the coding sensor mounting base (40). The coding sensor (39) is located inside the outer cover plate (37). The coding strip (35) passes through the outer cover plate (37), the coding sensor (39) and the coding sensor mounting base (40) in sequence.

2. The intelligent massage frame based on motor ripple characteristics according to claim 1, characterized in that, The seat frame component (1) includes a seat frame body (13), with a back-mounted fixing bracket (12) fixed to the inner front part of the seat frame body (13), and a rear hinge seat (14) fixed to the upper middle part of the seat frame body (13).

3. The intelligent massage frame based on motor ripple characteristics according to claim 2, characterized in that, The backrest frame (2) includes a backrest frame body (17), a backrest fixing code 2 (18) is fixed on the lower front side of the backrest frame body (17), the two ends of the ripple motor push rod 1 (9) are respectively hinged to the backrest fixing code 1 (12) and the backrest fixing code 2 (18), four frame hinge seats (19) are fixed on the upper front side of the backrest frame body (17), the four frame hinge seats (19) are divided into two groups of left and right symmetrical, and the two frame hinge seats (19) in each group are symmetrically arranged, a small leg linkage frame (15) is provided in the lower middle part of the backrest frame body (17), and a rear hinge frame (16) is provided in the lower rear part of the backrest frame body (17), and the rear hinge frame (16) is hinged to the rear hinge seat (14).

4. The intelligent massage frame based on motor ripple characteristics according to claim 3, characterized in that, The backrest mounting bracket assembly (3) includes a back frame (21) and a seat frame (25). Both the back frame (21) and the seat frame (25) are U-shaped. The seat frame (25) is detachably mounted on the front side of the back frame (21). The back frame (21) has a backrest clearance hole (26) on its inner side, and the seat frame (25) has a seat clearance hole (24) on its inner side. The seat clearance hole (24) and the backrest clearance hole (26) are combined to form a massage clearance hole. The upper top of the back frame (21) is provided with an abutting hollow frame (20). The lower sides of the back frame (21) and the seat frame (25) are provided with several screw seats (22) and several abutting seats (23). The screw seats (22) are detachably mounted on the upper part of the backrest frame body (17) by bolt pairs, and the abutting seats (23) abut on the upper part of the backrest frame body (17).

5. A smart massage frame based on motor ripple characteristics according to claim 4, characterized in that, The stretching swing frame assembly (8) includes a calf hinge frame (66), a calf stretch frame (64), and an L-shaped adjusting frame (56). The upper end of the calf hinge frame (66) is hinged to a set of frame hinge seats (19) at a corresponding position. A stretching fixing code (67) is fixed to the upper end of the calf hinge frame (66). A drive fixing code (65) is fixed to the rear side of the calf hinge frame (66). Two linear actuators (10) are respectively hinged between the calf linkage frame (15) and the drive fixing code (65). Several guide wheels (63) are rotatably provided on both the left and right sides of the calf stretch frame (64). The guide wheels (63) are rolled inside the calf hinge frame (66). A tensioning mechanism is fixed to the lower side of the calf stretch frame (64). The lower end of the calf stretching frame (64) is provided with two symmetrically arranged front calf hinge frames (59), and two symmetrically arranged support wheels (60) are provided at the lower end of the calf stretching frame (64). A ripple motor push rod three (68) is hinged between the stretching fixed code one (61) and the stretching fixed code two (67). The vertical part of the adjusting frame (56) is hinged on the two front calf hinge frames (59). An angle-adjusting fixed code two (57) is fixed on the rear side of the adjusting frame (56). A ripple motor push rod two (58) is hinged between the angle-adjusting fixed code two (57) and the angle-adjusting fixed code one (62). A belt-carrying hole is provided on the horizontal part of the adjusting frame (56).

6. The intelligent massage frame based on motor ripple characteristics according to claim 5, characterized in that, The foot cover assembly (5) includes a lower foot cover shell (50), which is fixed below the horizontal part of the adjustment frame (56). The upper end of the lower foot cover shell (50) is detachably provided with an upper foot cover shell (46). The upper foot cover shell (46) has two left-right symmetrical strap through holes (47) and a massage through hole (48) at the bottom.

7. A smart massage frame based on motor ripple characteristics according to claim 6, characterized in that, The foot strap assembly (6) includes a take-up and release roller frame (51), a second ripple motor (52), and a foot-stopping strap (49). The take-up and release roller frame (51) and the second ripple motor (52) are fixed above the lower shell (50) of the foot cover. The take-up and release roller is rotatably provided inside the take-up and release roller frame (51). The output shaft of the second ripple motor (52) is fixedly connected to the take-up and release roller. One end of the foot-stopping strap (49) is fixedly connected to the take-up and release roller. The other end of the foot-stopping strap (49) passes through the conveyor belt hole and two strap through holes (47) in sequence. A tension sensor is fixed to the other end of the foot-stopping strap (49). The tension sensor is fixed inside the upper shell (46) of the foot cover.

8. The intelligent massage frame based on motor ripple characteristics according to claim 7, characterized in that, The foot massage assembly (7) includes a three-wave motor (53) and two foot massage rollers (54). The three-wave motor (53) is fixed above the horizontal part of the adjustment frame (56). The two foot massage rollers (54) are rotatably set above the horizontal part. A pulley pair (55) is provided between the rotating shafts of the two foot massage rollers (54). The output shaft of the three-wave motor (53) is fixedly connected to the rotating shaft of one of the foot massage rollers (54). The two foot massage rollers (54) are located inside the massage through hole (48).

9. A smart massage frame based on motor ripple characteristics according to claim 8, characterized in that, The calf cover assembly (4) includes a calf main cover (44) and an air pump. The calf main cover (44) is fixed to the front side of the calf hinge frame (66). The calf main cover (44) is U-shaped. A massage through hole (45) is provided on the rear side of the calf main cover (44). A clamping airbag is provided on the inner side of the calf main cover (44) with left and right symmetrical arrangement. The air pump is fixed inside the seat body (13). The air pump and the clamping airbag are connected by an air pipe. The calf massage assembly (11) includes a ripple motor (69). The ripple motor (69) is fixed to the rear side of the calf main cover (44). A calf massage disc (70) is fixed on the output shaft of the ripple motor (69). The calf massage disc (70) extends out of the massage through hole (45) at the corresponding position.

10. A smart massage frame based on motor ripple characteristics according to claim 9, characterized in that, The push rod fixing bracket (33) is hinged to the lower leg linkage bracket (15), and the end of the sliding guide rail (27) is hinged to the corresponding drive fixing bracket (65).

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