Finger kneading massage structure and massage robot

Abstract

The invention provides a finger kneading massage structure and a massage robot. The finger kneading massage structure comprises a support, an input shaft, an output shaft, a gear transmission mechanism, massage fingers and a driving mechanism. The input shaft is rotatably mounted on the bracket; the output shaft is rotatably mounted on the input shaft, and the central axis of the output shaft deviates from the central axis of the input shaft; the input shaft and the output shaft are connected through a gear transmission mechanism; the massage fingers are fixedly mounted on the output shaft; the driving mechanism is installed on the support and used for driving the input shaft to rotate so as to drive the massage fingers to rotate with the output shaft as the center while conducting revolution with the input shaft as the center, and therefore the massage fingers can conduct translational motion. When the massage fingers revolve with the input shaft as the center, the directions of the massage fingers can be kept unchanged, and therefore the massage effect is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a finger massage structure and a massage robot. Background Technology

[0002] With the improvement of medical living standards and the increasing labor costs, the demand for service robots is growing, such as massage robots. Massage robots have been widely used in the field of muscle relaxation and rehabilitation. However, most massage robots currently lack stability in the spatial orientation of their massage fingers (or massage heads) when performing massage actions. They are prone to unexpected deviations due to the flexibility of the mechanical structure or changes in the curvature of the human body. This continuous change in massage orientation can easily lead to inconsistent force directions applied to the target muscles or tendons, making it impossible to form continuous and concentrated effective stimulation, thus affecting the massage effect and failing to meet the needs of people and the market. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a finger-kneading massage structure and a massage robot that can improve the massage effect of the finger-kneading massage structure.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution: In a first aspect, an embodiment of this application provides a finger massage structure, including a support, an input shaft, an output shaft, a gear transmission mechanism, a massage finger, and a drive mechanism; the input shaft is rotatably mounted on the support; the output shaft is rotatably mounted on the input shaft, and the central axis of the output shaft is offset from the central axis of the input shaft; the input shaft and the output shaft are connected by a gear transmission mechanism; the massage finger is fixedly mounted on the output shaft; the drive mechanism is mounted on the support, and the drive mechanism is used to drive the input shaft to rotate, thereby causing the massage finger to revolve around the input shaft while rotating on its own axis around the output shaft, so as to make the massage finger translate.

[0005] Furthermore, the centerline of the input shaft is parallel to the centerline of the output shaft.

[0006] Furthermore, the finger massage structure also includes a first bearing, through which the input shaft is mounted on the bracket.

[0007] Furthermore, the finger massage structure also includes a second bearing, through which the output shaft is mounted to the input shaft.

[0008] Furthermore, the input shaft includes a shaft segment and a connecting part, with the central axis of the input shaft being the central axis of the shaft segment; one end of the shaft segment is connected to the drive mechanism, and the other end of the shaft segment is connected to the connecting part, with a second bearing disposed in the connecting part.

[0009] Furthermore, the gear transmission mechanism includes: a first gear, fixedly mounted on the input shaft; a first transmission shaft, rotatably mounted on the bracket, the central axis of the first transmission shaft being offset from the central axis of the input shaft; a second gear, fixedly mounted on the first transmission shaft, and meshing with the first gear; a third gear, fixedly mounted on the first transmission shaft; a fourth gear, rotatably mounted on the input shaft, and meshing with the third gear; and a fifth gear, fixedly mounted on the output shaft, and meshing with the fourth gear; satisfying the following formula:

[0010] in, This represents the number of teeth on the first gear. This represents the number of teeth on the second gear. This represents the number of teeth on the third gear. This represents the number of teeth on the fourth gear. This represents the number of teeth on the fifth gear.

[0011] Furthermore, the finger-kneading massage structure includes a third bearing, and the first drive shaft is mounted on the bracket via the third bearing.

[0012] Furthermore, the finger massage structure also includes a first bushing, and the fourth gear is mounted on the input shaft through the first bushing.

[0013] Furthermore, the gear transmission mechanism includes: a first gear, fixedly mounted on the input shaft; a first transmission shaft, rotatably mounted on the bracket, the central axis of the first transmission shaft being offset from the central axis of the input shaft; a second gear, fixedly mounted on the first transmission shaft and meshing with the first gear; a second transmission shaft, rotatably mounted on the bracket, the central axis of the second transmission shaft being offset from the central axis of the first transmission shaft; a third gear, fixedly mounted on the second transmission shaft and meshing with the second gear; a first internal gear, rotatably mounted on the bracket and meshing with the third gear; a second internal gear, coaxially arranged with the first internal gear and fixedly connected to the first internal gear; and a fourth gear, fixedly mounted on the output shaft and meshing with the second internal gear. The following relationship must be satisfied:

[0014] in, This represents the number of teeth on the first gear. The number of teeth on the first internal gear; This represents the number of teeth on the second internal gear. This represents the number of teeth on the fourth gear.

[0015] Furthermore, the central axis of the first drive shaft is parallel to the central axis of the input shaft and the central axis of the second drive shaft.

[0016] Furthermore, the finger-kneading massage structure includes a third bearing, and the first drive shaft is mounted on the bracket via the third bearing.

[0017] Furthermore, the finger massage structure also includes a fourth bearing, through which the second drive shaft is mounted to the bracket.

[0018] Furthermore, the gear transmission mechanism also includes: an outer gear sleeve, fixedly mounted on the bracket; an inner gear sleeve, rotatably mounted on the outer gear sleeve; a first inner gear and a second inner gear are spaced apart along the central axis of the input shaft, and the inner gear sleeve is disposed between the first inner gear and the second inner gear, and is fixedly connected to the first inner gear and the second inner gear.

[0019] Secondly, this application also provides a massage robot, including the finger massage structure provided in the above embodiments.

[0020] The beneficial effects of the embodiments of the present invention are: This embodiment of the application sets up an input shaft, an output shaft connected to the massage fingers, and a gear transmission mechanism that transmits the power from the input shaft to the output shaft. Ultimately, the power driven by the drive mechanism is transmitted to the massage fingers, allowing the massage fingers to both revolve around the input shaft and rotate around the output shaft. This cancels out the angular velocity of the revolution, thereby achieving translational motion of the massage fingers. Ultimately, this allows the massage fingers to maintain their direction while revolving around the input shaft, thus improving the massage effect. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0022] Figure 1 This is a schematic diagram of the structure of a finger massage structure shown in one embodiment of this application; Figure 2 This is a front view of a finger massage structure shown in an embodiment of this application; Figure 3 This is a cross-sectional view of a finger massage structure shown in one embodiment of this application; Figure 4 This is a schematic diagram of the motion trajectory of a finger-kneading massage structure shown in one embodiment of this application; Figure 5 This is a schematic diagram of the structure of a finger massage structure shown in another embodiment of this application; Figure 6 This is a cross-sectional view of a finger massage structure shown in another embodiment of this application; Figure 7 This is a top view of the gear transmission mechanism of a finger massage structure shown in another embodiment of this application; Figure 8This is a schematic diagram of the gear transmission mechanism of a finger massage structure according to an embodiment of this application; Figure 9 This is a schematic diagram of the motion trajectory of a finger massage structure shown in another embodiment of this application.

[0023] Reference numerals: Finger massage structure 100; bracket 1; first support plate 11; second support plate 12; connector 13; input shaft 2; shaft segment 21; connecting part 22; output shaft 3; gear transmission mechanism 4; first gear 41; first transmission shaft 42; second gear 43; third gear 44; fourth gear 45; fifth gear 46; first internal gear 47; second internal gear 48; second transmission shaft 49; massage finger 5; drive mechanism 6; coupling 7; first bearing 71; second bearing 72; third bearing 73; fourth bearing 74; first bushing 75; outer gear sleeve 81; inner gear sleeve 82. Detailed Implementation

[0024] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0026] Finger kneading is one of the important techniques in traditional Chinese massage. Taking the thumb pressing and then applying a circular motion as an example, during the operation, the thumb continuously pulls on the local muscles and fascia, thereby effectively relieving muscle tension, promoting lactic acid metabolism, and quickly alleviating tissue strain. In actual operation, in order to maintain the concentration of force and avoid slippage between the thumb and the muscle fascia, the direction of the thumb must remain stable to ensure that the force penetrates deeply and the technique is continuous.

[0027] Currently available massage robots often lack stability in the direction of their massage fingers in space when performing massage actions. They are prone to unexpected deviations due to the flexibility of the mechanical structure or changes in the curvature of the human body. This change in linearity can easily lead to uneven massage force from the massage fingers, resulting in poor massage effect and reduced user experience.

[0028] In view of this, this application provides a finger-kneading massage structure, which includes a support, an input shaft, an output shaft, a gear transmission mechanism, massage fingers, and a drive mechanism. The input shaft is rotatably mounted on the support, and the output shaft is rotatably mounted on the input shaft, with the central axis of the output shaft offset from the central axis of the input shaft. The input shaft and the output shaft are connected by the gear transmission mechanism. The massage fingers are fixedly mounted on the output shaft. The drive mechanism is mounted on the support and is used to drive the input shaft to rotate, thereby causing the massage fingers to revolve around the input shaft and rotate on their own axis around the output shaft, thus translating the massage fingers. During this process, the gear transmission mechanism moves together with the input shaft, transmitting power to the massage fingers so that while the massage fingers are revolving around the input shaft, they are also rotating on their own axis, thus keeping their orientation essentially unchanged. This movement mode highly simulates the movement characteristics of real finger kneading, maintaining the orientation and force essentially unchanged when massaging tendons or muscles, thereby improving the massage effect.

[0029] See Figure 1-5 This application provides a finger massage structure 100, including a support 1, an input shaft 2, an output shaft 3, a gear transmission mechanism 4, massage fingers 5, and a drive mechanism 6.

[0030] Input shaft 2 is rotatably mounted on bracket 1. Output shaft 3 is rotatably mounted on input shaft 2, with its central axis offset from that of input shaft 2. Input shaft 2 and output shaft 3 are connected by gear transmission mechanism 4, and massage fingers 5 are fixedly mounted on output shaft 3. Drive mechanism 6 is mounted on bracket 1. Drive mechanism 6 drives input shaft 2 to rotate, thereby causing massage fingers 5 to revolve around input shaft 2 while rotating on their own axis around output shaft 3, so that massage fingers 5 can translate.

[0031] In the finger massage structure 100, the support 1 can be understood as a stationary component. The input shaft 2 is driven by the drive mechanism 6, which in turn drives the massage finger 5 to revolve around the input shaft 2, while the massage finger 5 rotates around the output shaft 3. This means that the gear transmission mechanism 4 can transmit the power of the drive mechanism 6 to the massage finger 5. Its setting allows the massage finger 5 to maintain the same orientation at different positions on the revolution trajectory.

[0032] The translation of massage finger 5 means that the relative angle between massage finger 5 and input axis 2 remains unchanged.

[0033] In one embodiment, the shape of the massage finger 5 is designed to mimic the shape of a real human finger.

[0034] It should be noted that "input shaft 2 is rotatably mounted on bracket 1" means that input shaft 2 is mounted on bracket 1 and can rotate relative to bracket 1; "output shaft 3 is rotatably mounted on input shaft 2" means that output shaft 3 is mounted on input shaft 2 and can rotate relative to input shaft 2. "Massage finger 5 is fixedly mounted on output shaft 3" means that massage finger 5 and output shaft 3 are rigidly connected together, and there is no relative movement between them.

[0035] In one embodiment, the central axis of the output shaft 3 is offset from the central axis of the input shaft 2, meaning that the central axis of the output shaft 3 does not coincide with the central axis of the input shaft 2. It can also be said that the central axis of the output shaft 3 is eccentrically set to the central axis of the input shaft 2 (it should be noted that eccentricity does not limit the central axis of the input shaft 2 to be parallel to the central axis of the output shaft 3).

[0036] In one embodiment, the central axis of the input shaft 2 is parallel to the central axis of the output shaft 3.

[0037] It should be noted that the parallelism between the central axis of input shaft 2 and the central axis of output shaft 3 does not mean that the central axis of input shaft 2 and the central axis of output shaft 3 are completely parallel. They can be understood as roughly parallel, and errors in parallelism are allowed.

[0038] In the above scheme, setting the revolution axis of the massage finger 5 to be parallel to its rotation axis allows the power of the drive mechanism 6 to be transmitted to the massage finger 5 efficiently and stably, enabling the massage finger 5 to rotate smoothly, effectively reducing unnecessary vibration and energy loss, thereby ensuring that the massage force of the massage finger 5 on the user's body is uniform and improving the massage effect.

[0039] In one embodiment, the finger massage structure 100 includes a first bearing 71, and the input shaft 2 is mounted on the bracket 1 via the first bearing 71.

[0040] Specifically, in one embodiment, the bracket 1 has a first mounting hole, and the first bearing 71 can be embedded in the first mounting hole. Of course, the first bearing 71 can also be installed in the bracket 1 by means of fasteners or the like.

[0041] In one embodiment, the first bearing 71 may include, but is not limited to, ball bearings, roller bearings, or sliding bearings.

[0042] The first bearing 71 can improve the rotational accuracy of the input shaft 2, thereby reducing the risk of the massage finger 5 getting stuck, and improving the overall operational stability of the finger massage structure 100.

[0043] In one embodiment, the finger massage structure 100 further includes a second bearing 72, through which the output shaft 3 is mounted to the input shaft 2.

[0044] In one embodiment, the second bearing 72 may include, but is not limited to, ball bearings or roller bearings.

[0045] In the above scheme, by installing the output shaft 3 on the input shaft 2 through the second bearing 72, the output shaft 3 can rotate within the input shaft 2 with the output shaft 3 as the center, maintaining its rotational ability. At the same time, the setting of the second bearing 72 can improve the rotational accuracy of the output shaft 3, reduce the risk of the massage finger 5 getting stuck, and further improve the overall operational reliability of the finger kneading massage structure 100.

[0046] In one embodiment, the input shaft 2 includes a shaft segment 21 and a connecting portion 22, and the central axis of the input shaft 2 is the central axis of the shaft segment 21.

[0047] One end of the shaft segment 21 can be connected to the drive mechanism 6 via a key, and the other end of the shaft segment 21 is connected to the connecting part 22. The second bearing 72 is disposed in the connecting part 22.

[0048] The connecting part 22 and the shaft segment 21 can be integrally formed or connected by welding or other means. The extension line of the connecting part 22 is eccentrically set with respect to the central axis of the shaft segment 21.

[0049] In one embodiment, a mounting cavity is formed in the connecting portion 22, and the second bearing 72 can be embedded in the mounting cavity. Of course, the second bearing 72 can also be installed in the connecting portion 22 by means of fasteners or the like.

[0050] In one embodiment, the bracket 1 includes a first support plate 11, a second support plate 12, and a connector 13. The first support plate 11 and the second support plate 12 are spaced apart along the extension direction of the central axis of the input shaft 2. The connector 13 is located between the first support plate 11 and the second support plate 12 and connects the first support plate 11 and the second support plate 12. The drive mechanism 6 is mounted on the first support plate 11, and the first bearing 71 is mounted on the first support plate 11.

[0051] In one embodiment, the first support plate 11, the second support plate 12, and the connector 13 are integrally formed.

[0052] In one embodiment, the connector 13 can connect the first support plate 11 and the second support plate 12 by means of fasteners, adhesives, or welding.

[0053] In the above scheme, the bracket 1 is divided into three parts: the first support plate 11, the second support plate 12, and the connector 13, which facilitates disassembly and installation and improves maintenance convenience.

[0054] In one embodiment, the connector 13 is a connecting post.

[0055] In one embodiment, the drive mechanism 6 can be connected to the bracket 1 by means of fasteners or welding.

[0056] In one embodiment, the drive mechanism 6 is a geared motor, which can be connected to the input shaft 2 via a reducer.

[0057] In one embodiment, the finger massage structure 100 includes a coupling 7 located between a first support plate 11 and a second support plate 12, and the drive mechanism 6 is connected to the input shaft 2 via the coupling 7.

[0058] Specifically, coupling 7 is disposed between input shaft 2 and geared motor for connecting geared motor and input shaft 2. For example, geared motor includes motor output shaft, and motor output shaft is connected to coupling 7.

[0059] In the above scheme, the coupling 7 can improve the accuracy of power transmission of the drive mechanism 6 and improve the stability of the massage finger 5 operation.

[0060] In one embodiment, the drive mechanism 6 includes only one geared motor, which can reduce the volume of the finger massage structure 100 and thus reduce the space occupied by the finger massage structure 100. At the same time, the cost can be reduced by driving with only one geared motor.

[0061] In one embodiment, the drive mechanism 6 may also be a hydraulic motor.

[0062] In one embodiment, the gear transmission mechanism 4 includes a first gear 41, a first transmission shaft 42, a second gear 43, a third gear 44, a fourth gear 45, and a fifth gear 46.

[0063] The first gear 41 is fixedly mounted on the input shaft 2. The first drive shaft 42 is rotatably mounted on the bracket 1, and the central axis of the first drive shaft 42 is offset from the central axis of the input shaft 2. The second gear 43 is fixedly mounted on the first drive shaft 42, and the second gear 43 meshes with the first gear 41. The third gear 44 is fixedly mounted on the first drive shaft 42. The fourth gear 45 is rotatably mounted on the input shaft 2, and the fourth gear 45 meshes with the third gear 44. The fifth gear 46 is fixedly mounted on the output shaft 3, and the fifth gear 46 meshes with the fourth gear 45.

[0064] And satisfy the following formula: Formula (1) in, The number of teeth of the first gear 41; The number of teeth on the second gear 43; The number of teeth of the third gear 44; The number of teeth of the fourth gear 45; The number of teeth of the fifth gear 46.

[0065] The fact that the first gear 41 is fixedly installed on the input shaft 2 means that there is no relative movement between the first gear 41 and the input shaft 2.

[0066] In one embodiment, the first gear 41 can be mounted on the input shaft 2 by fasteners such as pins.

[0067] In another embodiment, the first gear 41 can also be mounted on the input shaft 2 by welding or interference fit.

[0068] The fact that the second gear 43 is fixedly installed on the first transmission shaft 42 and the third gear 44 is fixedly installed on the first transmission shaft 42 means that there is no relative movement between the second gear 43 and the third gear 44 and the first transmission shaft 42.

[0069] In one embodiment, the second gear 43 and the third gear 44 can be mounted on the first drive shaft 42 by fasteners such as pins.

[0070] In another embodiment, the second gear 43 and the third gear 44 can also be installed on the first drive shaft 42 by welding or interference fit.

[0071] The fourth gear 45 is rotatably mounted on the input shaft 2, meaning that the fourth gear 45 is mounted on the input shaft 2 and can rotate relative to the input shaft 2.

[0072] In one embodiment, the fifth gear 46 can be mounted on the output shaft 3 by fasteners such as pins.

[0073] In another embodiment, the fifth gear 46 can also be mounted on the output shaft 3 by welding or interference fit.

[0074] In one embodiment, the fifth gear 46 may be located at the end of the output shaft 3 near the connecting portion 22. The position of the fifth gear 46 may also be changed according to the specific structure of the finger massage structure 100 to adapt to meshing with the fourth gear 45.

[0075] In one embodiment, the finger massage structure 100 further includes a third bearing 73, through which the first drive shaft 42 is mounted on the bracket 1.

[0076] Specifically, in one embodiment, the bracket 1 has a second mounting hole, and the third bearing 73 can be embedded in the second mounting hole. Of course, the third bearing 73 can also be installed in the bracket 1 by means of fasteners or the like.

[0077] In one embodiment, the third bearing 73 may include, but is not limited to, ball bearings or roller bearings.

[0078] In one embodiment, the finger massage structure 100 further includes a first bushing 75, and a fourth gear 45 is mounted on the input shaft 2 via the first bushing 75.

[0079] By setting the first bushing 75, a certain lubrication effect is provided, thereby ensuring that the rotation between the fourth gear 45 and the input shaft 2 does not affect each other.

[0080] It should be noted that the rotation of the fourth gear 45 is not driven by the input shaft 2, but by meshing with the third gear 44. The third gear 44 transmits power to the fourth gear 45, mainly through the second gear 43, the first transmission shaft 42 and the third gear 44. By setting the fourth gear 45, the power of the drive mechanism 6 is finally transmitted to the massage finger 5.

[0081] The following is combined Figure 4 The movement achieved by the finger massage structure 100 provided in one embodiment of this application will be described.

[0082] When the connecting part 22 rotates while the fourth gear 45 does not rotate, the rotation angle of the connecting part 22 is... The result is obtained by formula (2): Formula (2) in, The rotation angle of the connecting part 22; ω is the angular velocity of the connecting part 22; t is the rotation time of the connecting part 22.

[0083] Rotation angle of the fifth gear 46 The result is obtained by formula (3): Formula (3) in, This is the rotation angle of the fifth gear 46; ω is the angular velocity of the fifth gear 46; t is the rotation time of the fifth gear 46.

[0084] The two satisfy the following relationship: Formula (4) Where m is the module of the gear, the module of the fourth gear 45 and the module of the fifth gear 46 are equal, both being m, to ensure that the fourth gear 45 and the fifth gear 46 can rotate relative to each other.

[0085] When the connecting part 22 does not rotate, but the fourth gear 45 rotates, the rotation angle of the fourth gear 45 is... The result is obtained by formula (5): Formula (5) in, The rotation angle of the fourth gear is 45°. ω is the angular velocity of the fourth gear 45; t is the time it takes for the fourth gear 45 to rotate one revolution.

[0086] Rotation angle of the fifth gear 46 The result is obtained by formula (6): Formula (6) in, ω is the angular velocity of the fifth gear 46; t is the time it takes for the fifth gear 46 to rotate one revolution.

[0087] The two satisfy the following relationship: Formula (7) Where m is the module of the gear, the module of the fourth gear 45 and the module of the fifth gear 46 are equal, both being m, to ensure that the fourth gear 45 and the fifth gear 46 can rotate relative to each other.

[0088] When the connecting part 22 and the fourth gear 45 rotate simultaneously, the massage finger 5 performs a circular motion, and the orientation remains unchanged, with the following relationship: Formula (8) Formulas (4) and (7) above are calculated under the condition that they satisfy the relationship of formula (8) to obtain the following formula (9): = Formula (9) Wherein, the rotation angle of the first gear 41 is equal to the rotation angle of the connecting part 22, so formula (10) can be obtained: =

[0089] Since the first gear 41 drives the second gear 43 to rotate, the transmission ratio is: The first gear 41 drives the second gear 43 to rotate. The second gear 43 and the third gear 44 are coaxially arranged. The fourth gear 45 meshes with the third gear 44, and the transmission ratio is [ratio missing]. Therefore, the gear ratio of the assembly is expressed by the following formula: Formula (11) Based on formulas (10) and (11), we obtain formula (1): Formula (1) When the parameters of the gear transmission mechanism 4 of the finger massage structure 100 satisfy formula (1), the movement to be achieved by the massage finger 5 of this application can be realized: In the above scheme, the geared motor drives the input shaft 2 to rotate around the central axis of the input shaft 2 via the coupling 7, which in turn drives the first gear 41, the output shaft 3 connected to the connection part 22 of the input shaft 2, and the massage finger 5 connected to the output shaft 3 to perform a rotational motion centered on the input shaft 2. The first gear 41 drives the second gear 43 to rotate through gear meshing. Since the second gear 43, the third gear 44 and the first transmission shaft 42 are all fixedly connected, the second gear 43 drives the first transmission shaft 42 and the third gear 44 to perform a circular motion with the same angular velocity centered on the first transmission shaft 42. At this time, the third gear 44 drives the fourth gear 45 to rotate around the input shaft 2 through gear meshing. Since the transmission ratios of the above gears are different, the angular velocity of the fourth gear 45 is different from that of the input shaft 2. The fourth gear 45 drives the fifth gear 46 to rotate around the output shaft 3 through gear meshing. Since the fifth gear 46 is fixedly connected to the output shaft 3, the output shaft 3 can drive the massage finger 5 to rotate around the central axis of the output shaft 3. The final motion of the massage finger 5 is as follows: the massage finger 5 revolves around the central axis of the input shaft 2 while rotating around the central axis of the output shaft 3, so that the massage finger 5 translates.

[0090] By calculating the transmission ratio of the gears mentioned above, this application can realize that while the massage finger 5 revolves around the central axis of the input shaft 2, it can also rotate around the central axis of the output shaft 3, so that its relative angle with the input shaft 2 remains unchanged, thereby keeping its direction unchanged.

[0091] like Figure 6-9 As shown, in another embodiment, the gear transmission mechanism 4 includes a first gear 41, a first transmission shaft 42, a second gear 43, a second transmission shaft 49, a third gear 44, a first internal gear 47, a second internal gear 48, and a fourth gear 45.

[0092] The first gear 41 is fixedly mounted on the input shaft 2. The first drive shaft 42 is rotatably mounted on the bracket 1, and the central axis of the first drive shaft 42 is offset from the central axis of the input shaft 2. The second gear 43 is fixedly mounted on the first drive shaft 42, and the second gear 43 meshes with the first gear 41. The second drive shaft 49 is rotatably mounted on the bracket 1, and the central axis of the second drive shaft 49 is offset from the central axis of the first drive shaft 42. The third gear 44 is fixedly mounted on the second drive shaft 49, and the third gear 44 meshes with the second gear 43. The first internal gear 47 is rotatably mounted on the bracket 1, and the first internal gear 47 meshes with the third gear 44. The second internal gear 48 is coaxially arranged with the first internal gear 47 and is fixedly connected to the first internal gear 47. The fourth gear 45 is fixedly mounted on the output shaft 3, and the fourth gear 45 meshes with the second internal gear 48.

[0093] And satisfy the following relationship: Formula (12) in, The number of teeth of the first gear 41; The number of teeth of the first internal gear 47; The number of teeth on the second internal gear 48; The number of teeth of the fourth gear 45.

[0094] In one embodiment, the number of teeth of the second gear 43 and the third gear 44 are equal, so as to ensure that the rotation direction of the first gear 41 and the first internal gear 47 is consistent without changing the total transmission ratio of the gear transmission mechanism 4, thereby ensuring that the rotation direction of the input shaft 2 and the output shaft 3 is opposite.

[0095] The fact that the first gear 41 is fixedly installed on the input shaft 2 means that there is no relative movement between the first gear 41 and the input shaft 2.

[0096] In one embodiment, the first gear 41 can be mounted on the input shaft 2 by fasteners such as pins.

[0097] In another embodiment, the first gear 41 can also be mounted on the input shaft 2 by welding or interference fit.

[0098] The second gear 43 is fixedly installed on the first transmission shaft 42, meaning that there is no relative movement between the second gear 43 and the first transmission shaft 42.

[0099] In one embodiment, the second gear 43 can be mounted on the first drive shaft 42 by fasteners such as pins.

[0100] In another embodiment, the second gear 43 can also be mounted on the first drive shaft 42 by welding or interference fit.

[0101] The fact that the third gear 44 is fixedly installed on the second transmission shaft 49 means that there is no relative movement between the third gear 44 and the second transmission shaft 49.

[0102] In one embodiment, the third gear 44 can be mounted on the second drive shaft 49 by fasteners such as pins.

[0103] In another embodiment, the third gear 44 can also be mounted on the second drive shaft 49 by welding or interference fit.

[0104] The first internal gear 47 is rotatably mounted on the bracket 1, meaning that the first internal gear 47 is mounted on the bracket 1 and can rotate relative to the bracket 1.

[0105] The fixed connection between the second internal gear 48 and the first internal gear 47 means that the second internal gear 48 is connected to the first internal gear 47, and there is no relative movement between the two.

[0106] The fourth gear 45 is fixedly installed on the output shaft 3, which means that there is no relative movement between the fourth gear 45 and the output shaft 3.

[0107] In one embodiment, the central axis of the first drive shaft 42 is parallel to the central axis of the input shaft 2 and the central axis of the second drive shaft 49. This improves the meshing accuracy between the first gear 41 and the second gear 43, and between the third gear 44 and the third gear 49, thereby efficiently and stably transmitting the rotational power of the input shaft 2.

[0108] It should be noted that the parallelism between the central axis of the first drive shaft 42 and the central axis of the input shaft 2 and the central axis of the second drive shaft 49 does not mean that the central axis of the first drive shaft 42 is completely parallel to the central axis of the input shaft 2 and the central axis of the second drive shaft 49. It can be understood as being roughly parallel, and errors in parallelism are allowed.

[0109] In one embodiment, the finger massage structure 100 includes a third bearing 73, and the first drive shaft 42 is mounted on the bracket 1 via the third bearing 73.

[0110] In one embodiment, the bracket 1 has a second mounting hole, and the third bearing 73 can be embedded in the second mounting hole. Of course, the third bearing 73 can also be installed in the bracket 1 by means of fasteners or the like.

[0111] In one embodiment, the third bearing 73 may include, but is not limited to, ball bearings or roller bearings.

[0112] The third bearing 73 can improve the rotational accuracy of the first drive shaft 42, reduce the risk of the massage finger 5 getting stuck, and further improve the overall operational stability of the finger kneading massage structure 100.

[0113] In one embodiment, the finger massage structure 100 further includes a fourth bearing 74, through which the second drive shaft 49 is mounted on the bracket 1.

[0114] In one embodiment, the bracket 1 has a third mounting hole, and the fourth bearing 74 can be embedded in the third mounting hole. Of course, the fourth bearing 74 can also be installed in the bracket 1 by means of fasteners or the like.

[0115] In one embodiment, the fourth bearing 74 may include, but is not limited to, ball bearings or roller bearings.

[0116] The fourth bearing 74 can improve the rotational accuracy of the second drive shaft 49, reduce the risk of the massage finger 5 getting stuck, and further improve the overall operational stability of the finger kneading massage structure 100.

[0117] In one embodiment, the gear transmission mechanism 4 further includes an outer gear sleeve 81 and an inner gear sleeve 82.

[0118] The outer gear sleeve 81 is fixedly installed on the bracket 1. The inner gear sleeve 82 is rotatably installed on the outer gear sleeve 81. The first internal gear 47 and the second internal gear 48 are spaced apart along the central axis of the input shaft 2. The inner gear sleeve 82 is located between the first internal gear 47 and the second internal gear 48 and is fixedly connected to the first internal gear 47 and the second internal gear 48.

[0119] In the above scheme, the first internal gear 47 and the second internal gear 48 are fixedly connected by the inner gear sleeve 82 and rotatably disposed in the outer gear sleeve 81, so that the first internal gear 47 and the second internal gear 48 can rotate in the outer gear sleeve 81, and provide support for the first internal gear 47 and the second internal gear 48 to prevent them from falling off, thereby further improving the structural stability of the finger massage structure 100.

[0120] In one embodiment, the finger massage structure 100 further includes a second bushing, with the inner toothed sleeve 82 mounted on the outer toothed sleeve 81 via the second bushing.

[0121] By setting a second bushing, a certain lubrication effect is provided, thereby ensuring that the first internal gear 47 and the second internal gear 48 can rotate smoothly within the outer gear sleeve 81.

[0122] In another embodiment, the inner toothed sleeve 82 can be directly snapped into and slidably disposed within the outer toothed sleeve 81.

[0123] In one embodiment, the number of teeth of the first internal gear 47 is equal to the number of teeth of the second internal gear 48. By setting the first internal gear 47 and the second internal gear 48 with the same number of teeth, the rotation of the third gear 44 is transmitted to the fourth gear 45, ensuring that the massage finger 5 can rotate smoothly while revolving around the sun.

[0124] The following is combined Figure 9 The movement achieved by the finger massage structure 100 provided in another embodiment of this application will be described.

[0125] When the connecting part 22 rotates while the second internal gear 48 does not rotate, the rotation angle of the connecting part 22 is... The result is obtained by formula (13): Formula (13) in: The rotation angle of the connecting part 22; ω is the angular velocity of the connecting part 22; t is the time it takes for the connecting part 22 to rotate one revolution.

[0126] Rotation angle of the fourth gear 45 The result is obtained by formula (14): Formula (14) in, The rotation angle of the fourth gear is 45°. ω is the angular velocity of the fourth gear 45; t is the rotation time of the fourth gear 45.

[0127] The two satisfy the following relationship: Formula (15) Where m is the module of the gear, the module of the fourth gear 45 is equal to the module of the second internal gear 48, both being m, to ensure that the fourth gear 45 and the second internal gear 48 can rotate relative to each other.

[0128] When the connecting part 22 does not rotate, but the second internal gear 48 rotates, the rotation angle of the second internal gear 48 is... The result is obtained by formula (16): Formula (16) in, The rotation angle of the second internal gear 48; ω is the angular velocity of the second internal gear 48; t is the time it takes for the second internal gear 48 to rotate one revolution.

[0129] Rotation angle of the fourth gear 45 The result is obtained by formula (17): Formula (17) in, The rotation angle of the fourth gear is 45°. ω is the angular velocity of the fourth gear 45; t is the time it takes for the fourth gear 45 to rotate one revolution.

[0130] The two satisfy the following relationship: Formula (18) Where m is the module of the gear, the module of the fourth gear 45 is equal to the module of the second internal gear 48, both being m, to ensure that the fourth gear 45 and the second internal gear 48 can rotate relative to each other.

[0131] When the connecting part 22 and the second internal gear 48 rotate simultaneously, the massage finger 5 performs a circular motion, and the orientation remains unchanged, with the following relationship: Formula (19) Formulas (15) and (18) above are calculated under the condition that they satisfy the relationship of formula (19) to obtain the following formula (20): = Formula (20) Wherein, the rotation angle of the first gear 41 is equal to the rotation angle of the connecting part 22, so formula (21) can be obtained: =

[0132] Since the first gear 41 drives the first internal gear 48 to rotate through the second gear 43 and the third gear 44, which in turn drives the second gear 48 to rotate, the transmission ratio is: Therefore, the total transmission ratio is expressed by the following formula: Formula (22) Based on formulas (21) and (22), we obtain formula (12): Formula (12) When the parameters of the gear transmission mechanism 4 of the finger massage structure 100 satisfy formula (12), the movement to be achieved by the massage finger 5 of this application can be realized: In the above scheme, the geared motor drives the input shaft 2 to rotate around its central axis via coupling 7. Since the first gear 41 is fixedly connected to the input shaft 2, the rotation of the input shaft 2 drives the first gear 41 to rotate, and the output shaft 3 and massage fingers 5, which are connected to the input shaft 2, to rotate around the input shaft 2. The first gear 41 drives the second gear 43 to rotate through gear meshing, the second gear 43 drives the third gear 44 to rotate through gear meshing, and the third gear 44 drives the first internal gear 47 to rotate through meshing. Since the first internal gear 47 and the second internal gear 48 are fixed together, the second internal gear 48 performs a circular motion around the input shaft 2 with the same angular velocity and direction as the first internal gear 47. The second internal gear 48 drives the fourth gear 45 to rotate through gear meshing. Since the fourth gear 45 is fixedly connected to the output shaft 3, it ultimately drives the massage fingers 5 to rotate around the fourth gear 45. The coordination of the above components enables the massage finger 5 to move in the following manner: while making circular motion around the central axis of the input shaft 2, it can also rotate around the central axis of the output shaft 3, that is, to achieve rotational motion, and thus to achieve translational motion of the massage finger 5.

[0133] In the above solution, the finger massage structure 100 of this application can keep the direction of the massage fingers 5 stable in real time during dynamic massage, and ensure that the force is continuously perpendicular to or in contact with the muscle tissue of the human body, thereby improving the massage effect.

[0134] According to some embodiments of this application, this application also provides a massage robot, including the finger massage structure 100 of one or more of the above embodiments.

[0135] In one embodiment, the massage robot includes a finger-kneading massage structure 100, a robotic arm, and a support structure. The finger-kneading massage structure 100 is used to perform finger-kneading movements, and the robotic arm is used to adjust the position of the finger-kneading massage structure 100. Optionally, the robotic arm can be a three-axis robotic arm, a six-axis robotic arm, etc. The finger-kneading massage structure 100 is mounted at the end of the robotic arm, and the robotic arm is mounted on the support structure. Optionally, guide wheels can be provided at the bottom of the support structure.

[0136] In the above solutions, since the finger massage structure 100 of one or more of the above embodiments has a good massage effect, the massage robot including the finger massage structure 100 of the above embodiments also has a good massage effect.

[0137] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0138] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0139] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A finger-kneading massage structure, characterized in that, include: support; An input shaft is rotatably mounted on the bracket; An output shaft is rotatably mounted on the input shaft, and the central axis of the output shaft is offset from the central axis of the input shaft; A gear transmission mechanism, wherein the input shaft and the output shaft are connected via the gear transmission mechanism; The massage finger is fixedly installed on the output shaft; A drive mechanism is mounted on the bracket. The drive mechanism is used to drive the input shaft to rotate, thereby causing the massage fingers to revolve around the input shaft and rotate around the output shaft, so that the massage fingers can translate.

2. The finger-kneading massage structure according to claim 1, characterized in that, The central axis of the input shaft is parallel to the central axis of the output shaft.

3. The finger-kneading massage structure according to claim 1, characterized in that, The finger massage structure also includes a first bearing, and the input shaft is mounted on the bracket via the first bearing.

4. The finger-kneading massage structure according to claim 1, characterized in that, The finger-kneading massage structure also includes a second bearing, and the output shaft is mounted on the input shaft via the second bearing.

5. The finger-kneading massage structure according to claim 4, characterized in that, The input shaft includes a shaft segment and a connecting part, and the central axis of the input shaft is the central axis of the shaft segment; One end of the shaft segment is connected to the drive mechanism, and the other end of the shaft segment is connected to the connecting part, with the second bearing disposed on the connecting part.

6. The finger-kneading massage structure according to claim 1, characterized in that, The gear transmission mechanism includes: The first gear is fixedly mounted on the input shaft; A first drive shaft is rotatably mounted on the bracket, and the central axis of the first drive shaft is offset from the central axis of the input shaft; The second gear is fixedly mounted on the first drive shaft, and the second gear meshes with the first gear; The third gear is fixedly mounted on the first drive shaft; A fourth gear is rotatably mounted on the input shaft, and the fourth gear meshes with the third gear; The fifth gear is fixedly mounted on the output shaft, and the fifth gear meshes with the fourth gear; Satisfy the following formula: in, The number of teeth on the first gear; The number of teeth on the second gear; The number of teeth on the third gear; The number of teeth on the fourth gear; The number of teeth on the fifth gear.

7. The finger-kneading massage structure according to claim 6, characterized in that, The finger-kneading massage structure includes a third bearing, and the first drive shaft is mounted on the bracket via the third bearing.

8. The finger-kneading massage structure according to claim 6, characterized in that, The finger-kneading massage structure also includes a first bushing, and the fourth gear is mounted on the input shaft through the first bushing.

9. The finger-kneading massage structure according to claim 1, characterized in that, The gear transmission mechanism includes: The first gear is fixedly mounted on the input shaft; A first drive shaft is rotatably mounted on the bracket, and the central axis of the first drive shaft is offset from the central axis of the input shaft; The second gear is fixedly mounted on the first drive shaft, and the second gear meshes with the first gear; A second drive shaft is rotatably mounted on the bracket, and the central axis of the second drive shaft is offset from the central axis of the first drive shaft; The third gear is fixedly installed on the second drive shaft, and the third gear meshes with the second gear. A first internal gear is rotatably mounted on the bracket, and the first internal gear meshes with the third gear; The second internal gear is coaxially arranged with the first internal gear and is fixedly connected to the first internal gear. The fourth gear is fixedly mounted on the output shaft, and the fourth gear meshes with the second internal gear; The following relationship must be satisfied: in, The number of teeth on the first gear; The number of teeth on the first internal gear; The number of teeth on the second internal gear; The number of teeth on the fourth gear.

10. The finger-kneading massage structure according to claim 9, characterized in that, The central axis of the first drive shaft is parallel to the central axis of the input shaft and the central axis of the second drive shaft.

11. The finger-kneading massage structure according to claim 9, characterized in that, The finger-kneading massage structure includes a third bearing, and the first drive shaft is mounted on the bracket via the third bearing.

12. The finger-kneading massage structure according to claim 9, characterized in that, The finger-kneading massage structure also includes a fourth bearing, through which the second drive shaft is mounted to the bracket.

13. The finger-kneading massage structure according to claim 9, characterized in that, The gear transmission mechanism also includes: The outer toothed sleeve is fixedly installed on the bracket; An inner toothed sleeve is rotatably mounted on the outer toothed sleeve; The first internal gear and the second internal gear are spaced apart along the central axis of the input shaft, and the internal gear sleeve is disposed between the first internal gear and the second internal gear and is fixedly connected to the first internal gear and the second internal gear.

14. A massage robot, characterized in that, Includes the finger massage structure as described in any one of claims 1-13.

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