Self-adaptive curved surface massage driving device

Abstract

The invention discloses a self-adaptive curved surface massage driving device, and relates to the technical field of massage equipment, the self-adaptive curved surface massage driving device comprises a bearing module, the bearing module comprises a backrest plate and a cushion, a mounting platform is arranged in the middle of the backrest plate, mounting seats are arranged at four corners of the mounting platform, and a driving wheel assembly is mounted on one side edge of the mounting platform; the driving wheel assembly and the driven wheel are fixed to the mounting platform through mounting bases, a rotating assembly is arranged in the middle of the mounting platform, a rotating rod is arranged on the rotating assembly, a bidirectional pushing piece is arranged in the middle of the rotating rod, massage pieces are symmetrically installed on the rotating rod, and a limiting assembly is installed near the rotating rod; the backrest plate is basically attached to the curve of the back of the human body, through cooperation of the clamping teeth on the baffle and the driving wheel assembly, the massage pieces in the mounting platform can move along the curve, the massage comfort degree is improved, meanwhile, the distance between the two massage pieces can be adjusted in real time through the bidirectional pushing piece, and the backrest plate can be dynamically matched with the body shape of a user.

Description

Technical Field

[0001] This invention relates to the field of massage equipment technology, specifically a drive device for adaptive curved surface massage. Background Technology

[0002] Massage, as an effective physical therapy, can relieve muscle fatigue, promote blood circulation, and improve soft tissue condition. In recent years, home and commercial massage devices have become increasingly popular; however, the drive mechanisms of existing massage devices still have significant technical deficiencies.

[0003] First, existing massage devices have limited freedom of movement, making it difficult to conform to the curves of the human back. The human back is not a flat surface, but rather has complex three-dimensional curved features such as spinal depressions, scapular prominences, and lumbar curves. Most massage chairs currently use fixed-track walking mechanisms, where the massage rollers can only move vertically up and down, or perform simple planar oscillations within a small range, failing to accurately cover and conform to the curved variations of different areas of the back.

[0004] Secondly, existing devices lack sufficient ability to adjust the spacing between the massage rollers. Users of different body types have significantly different back widths, and factors such as shoulder width and the development of the latissimus dorsi muscles determine the optimal contact position between the massage rollers and the muscles on both sides of the spine. Traditional massage devices often have a fixed distance between the two sets of massage rollers or only allow for rough manual adjustment, failing to dynamically adapt to the user's body shape during use, severely impacting the massage effect and comfort.

[0005] Furthermore, existing drive mechanisms offer only one massage method. While they can simulate some massage techniques, they lack the ability to mimic the "pounding" and "tapping" motions of a human hand. Although some devices attempt to achieve oscillation through eccentric wheels or cranks, the amplitude, frequency, and limit control of these oscillations are not precise enough, resulting in stiff, impactful pounding motions that fail to provide a comfortable experience and limit the therapeutic effects of the massage equipment.

[0006] Therefore, there is an urgent need in this field for a new type of massage drive device that can enable the massage rollers to move flexibly at any position on the back, thereby fully adapting to the curvature of the human back and improving the comfort of the massage. Summary of the Invention

[0007] The purpose of this invention is to provide a driving device for adaptive curved surface massage to solve the problems raised in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: The adaptive curved surface massage driving device includes a support module, the support module includes a backrest and a seat cushion, an installation platform is provided in the middle of the backrest, and installation seats are provided at the four corners of the installation platform. A drive wheel assembly is installed on one side of the installation platform, and a driven wheel is installed on the other side of the installation platform. The drive wheel assembly and the driven wheel are both fixed on the installation platform by the installation seats. A rotating assembly is provided in the middle of the installation platform, a rotating rod is provided on the rotating assembly, a bidirectional pushing member is provided in the middle of the rotating rod, massage components are symmetrically installed on the rotating rod, and a limit assembly is installed near the rotating rod.

[0009] As a preferred technical solution, the drive wheel assembly includes a drive shaft and a drive motor. The drive shaft is rotatably connected to the mounting base. The drive shaft is provided with drive teeth. The output end of the drive motor meshes with the drive teeth. Both ends of the drive shaft are provided with drive wheels. Gears are provided on the inner side of the drive wheels.

[0010] As a preferred technical solution, the rotating assembly includes a rotating motor fixed on the mounting platform, the rotating motor is connected to a reduction gearbox, the reduction gearbox is connected to one end of the rotating rod, the other end of the rotating rod is connected to a bearing seat, and a worm gear is provided at the output end of the rotating motor.

[0011] As a preferred technical solution, the gearbox includes a worm wheel that meshes with the worm and rotating teeth. The worm wheel is provided with small-diameter teeth and large-diameter teeth. The worm meshes with the large-diameter teeth, the rotating teeth mesh with the small-diameter teeth, and the rotating teeth are connected to the rotating rod.

[0012] As a preferred technical solution, the bidirectional push rod is fixedly installed in the middle of the rotating rod. The bidirectional pusher includes a fixed sleeve and push sleeves on both sides of the fixed sleeve. A drive chamber is provided inside the push sleeve, and the push rod is inserted into the movable chamber.

[0013] As a preferred technical solution, the massage component includes a movable seat sleeved on the rotating rod, the movable seat being fixedly connected to the push rod, a positioning post being installed on the movable seat, a circular groove being opened on the side of the movable seat, the movable seat being fixedly connected to a movable plate, the movable plate being Y-shaped, one end of the movable plate being connected to the movable seat, and a main massage wheel and a secondary massage wheel being respectively installed at the other two ends of the movable plate, a connecting post being provided on the movable plate, and a vibration damping spring being installed between the connecting post and the positioning post.

[0014] As a preferred technical solution, the limiting component includes a limiting motor fixed on the mounting platform. The output end of the limiting motor is provided with a pulley, which is connected to the limiting shaft via a belt. Both ends of the limiting shaft are provided with connecting parts, and a limiting rod is movably connected to the connecting parts. A limiting ball is provided at the end of the limiting rod, and the limiting ball is embedded in the circular groove.

[0015] As a preferred technical solution, the backrest panel has a movable groove in the middle, the mounting platform is located in the movable groove, guide rail grooves are provided on both sides of the movable groove, the guide rail grooves are separated from the movable groove by a baffle, the top of the baffle is provided with a locking tooth, and the guide rail grooves are covered by a mounting plate.

[0016] As a preferred technical solution, the seat cushion is movably connected to the backrest, and the angle between the seat cushion and the backrest is adjustable.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The backrest has a certain curvature. Through the cooperation of the teeth on the baffle and the drive wheel assembly, the massage pieces in the installation platform can move along the curve and basically fit the curve of the human back, which can improve the comfort of the massage. At the same time, the distance between the two massage pieces can be adjusted in real time through the bidirectional pusher, which can dynamically adapt to the user's body shape and ensure a comprehensive massage of the user's back. 2. The rotating assembly allows for precise control of the massage component's rotation. By using a worm gear to drive the rotating rod, it provides a large torque, ensuring sufficient massage force and allowing for flexible installation of the rotating motor, saving space required for the drive unit. 3. The limit component can drive the massage piece to swing, and the amplitude and frequency of the swing can be controlled by setting the limit rod. The swing of the massage piece can simulate the effect of human hand pounding, and the shock-absorbing spring set on the moving plate can buffer the pounding of the massage piece and improve the comfort of the massage. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a cross-sectional structural diagram of the main body of the present invention; Figure 3 This is a cross-sectional structural diagram of the rotary motor of the present invention; Figure 4 This is a schematic diagram of the installation platform of the present invention; Figure 5 This is a schematic diagram of the structure of the massage component of the present invention; Figure 6 This is a schematic diagram of the bidirectional pusher of the present invention; Figure 7 yes Figure 6 A schematic diagram of the structure at point A in the middle.

[0019] In the diagram: 1. Load-bearing module; 2. Drive wheel assembly; 3. Driven wheel; 4. Rotating assembly; 5. Bidirectional pusher; 6. Massager; 7. Limiting assembly; 11. Backrest panel; 12. Seat cushion; 13. Mounting platform; 14. Mounting plate; 21. Drive shaft; 22. Drive motor; 23. Drive wheel; 41. Rotating rod; 42. Rotating motor; 43. Gearbox; 44. Bearing housing; 51. Fixed sleeve; 52. Push sleeve; 61. Movable seat; 62. Movable plate; 71. Limit motor; 72. Limit shaft; 73. Connecting part; 74. Limit rod; 1101, Movable groove; 1102, Guide rail groove; 1103, Baffle; 1104, Clamping tooth; 1301, Mounting base; 2101, Drive tooth; 2301, Gear; 4201, Worm gear; 4301, Worm wheel; 4302, Rotating tooth; 4303, Small diameter tooth; 4304, Large diameter tooth; 5201, Movable chamber; 5202, Push rod; 6101, Positioning post; 6102, Circular groove; 6201, Main massage roller; 6202, Secondary massage roller; 6203, Connecting post; 6204, Vibration damping spring; 7101, Pulley; 7102, Belt; 7401, Limit ball. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example: Figures 1-7 As shown, the present invention provides a technical solution in which the adaptive curved surface massage driving device includes a support module 1, the support module 1 includes a backrest 11 and a seat cushion 12, a mounting platform 13 is provided in the middle of the backrest 11, mounting seats 1301 are provided at the four corners of the mounting platform 13, a drive wheel assembly 2 is installed on one side of the mounting platform 13, and a driven wheel 3 is installed on the other side of the mounting platform 13. The drive wheel assembly 2 and the driven wheel 3 are both fixed on the mounting platform 13 by the mounting seats 1301. A rotating assembly 4 is provided in the middle of the mounting platform 13, a rotating rod 41 is provided on the rotating assembly 4, a bidirectional pushing member 5 is provided in the middle of the rotating rod 41, massage members 6 are symmetrically installed on the rotating rod 41, and a limit assembly 7 is installed near the rotating rod 41.

[0022] The backrest panel 11 has a certain curvature, which can basically fit the user's back. Therefore, the guide rail groove 1102 and the baffle 1103 opened in the backrest panel 11 also have a curvature that fits the back, which allows all components on the mounting platform 13 to move along the backrest panel 11 in a curved motion. The mounting platform 13 is rectangular, and each of the four corners is provided with a mounting seat 1301 for connecting the drive wheel assembly 2 and the driven wheel 3. The two sets of wheels can fix the mounting platform 13, which can ensure that the mounting platform 13 remains stable when moving along the curve. When the mounting platform 13 needs to move, the drive motor 22 is started. The lead screw at the output end of the drive motor 22 meshes with the drive gear 2101. The drive motor 22 drives the drive shaft 21 to rotate, which in turn drives the gear 2301 on the inner side of the drive wheel 23 to rotate. The gear 2301 meshes with the locking teeth 1104 on the baffle 1103. Therefore, the drive wheel assembly 2 can drive the entire mounting platform 13 to move along the backrest panel 11 in a curved motion.

[0023] During the movement of the mounting platform 13, the rotating motor 42 drives the worm gear 4201 at the output end to rotate, and the worm gear 4201 meshes with the large-diameter teeth 4304 on the worm wheel 4301, thereby driving the entire worm wheel 4301 to rotate. The small-diameter teeth 4303 on the worm wheel 4301 mesh with the rotating teeth 4302, which are fixedly connected to the rotating rod 41. Therefore, the rotating motor 42 can drive the rotating rod 41 to rotate. Furthermore, the rotating motor 42 increases the torque generated by the rotating motor 42 through the transition between the worm wheel 4301 and the worm gear 4201 in the reduction gearbox 43, thereby enabling the massage component 6 to generate greater massage force and improve the comfort of the massage.

[0024] In addition to rotating the massage element 6 via the rotating rod 41, the massage element 6 can also be driven by the limiting component 7 to massage by pounding. First, the limiting motor 71 drives the output pulley 7101 to rotate, and then the limiting shaft 72 rotates synchronously via the belt 7102. Both ends of the limiting shaft 72 are provided with connecting parts 73, and the connecting parts 73 are provided with limiting rods 74 connected to the movable seat 61. By rotating the limiting motor 71 in both directions, the limiting rods 74 can drive the two sets of massage elements 6 to swing synchronously, thereby simulating the pounding of the user's back by a human hand. Furthermore, the shock-absorbing springs 6204 provided on the massage element 6 can alleviate the impact force generated by the mechanical pounding of the massage element 6, further simulating the pounding effect of a real human hand, and further improving the comfort of the massage.

[0025] In addition, the bidirectional pusher 5 on the rotating rod 41 can adjust the distance between the two massage pieces 6 to adapt to different user body shapes. The bidirectional pusher 5 can be driven pneumatically or hydraulically to drive the movement of the push rod 5202 in the active chamber 5201. Through the real-time adjustment of the bidirectional pusher 5, the distance between the massage pieces 6 can be continuously adjusted as the mounting platform 13 moves along the curved surface, so that the massage wheels contact various positions on the user's back, achieving a comprehensive massage of the back. The backrest 11 has a certain curvature. Through the cooperation of the locking teeth 1104 on the baffle 1103 and the drive wheel assembly 2, the massage pieces 6 in the mounting platform 13 can move along the curve, basically conforming to the curve of the human back, which can improve the comfort of the massage. At the same time, the bidirectional pusher 5 can adjust the distance between the two massage pieces 6 in real time, dynamically adapting to the user's body shape and ensuring a comprehensive massage of the user's back.

[0026] The backrest 11 has a certain curvature. Through the cooperation of the locking teeth 1104 on the baffle 1103 and the drive wheel assembly 2, the massage element 6 in the mounting platform 13 can move along the curve and basically fit the curve of the human back, which can improve the comfort of the massage. At the same time, the distance between the two massage elements 6 can be adjusted in real time through the bidirectional pusher 5, which can dynamically adapt to the user's body shape and ensure a comprehensive massage of the user's back.

[0027] The drive wheel assembly 2 includes a drive shaft 21 and a drive motor 22. The drive shaft 21 is rotatably connected to the mounting base 1301. The drive shaft 21 is provided with drive teeth 2101. The output end of the drive motor 22 meshes with the drive teeth 2101. Both ends of the drive shaft 21 are provided with drive wheels 23. Gears 2301 are provided on the inner side of the drive wheels 23.

[0028] The rotating assembly 4 includes a rotating motor 42 fixed on the mounting platform 13. The rotating motor 42 is connected to a reduction gearbox 43. The reduction gearbox 43 is connected to one end of a rotating rod 41. The other end of the rotating rod 41 is connected to a bearing seat 44. A worm gear 4201 is provided at the output end of the rotating motor 42.

[0029] The gearbox 43 includes a worm wheel 4301 that meshes with the worm 4201 and a rotating tooth 4302. The worm wheel 4301 is provided with a small diameter tooth 4303 and a large diameter tooth 4304. The worm 4301 meshes with the large diameter tooth 4304, and the rotating tooth 4302 meshes with the small diameter tooth 4303. The rotating tooth 4302 is connected to the rotating rod 41.

[0030] The bidirectional push rod 5 is fixedly installed in the middle of the rotating rod 41. The bidirectional pusher 5 includes a fixed sleeve 51 and push sleeves 52 on both sides of the fixed sleeve 51. A drive chamber 5201 is provided inside the push sleeve 52, and the push rod 5202 is inserted into the movable chamber 5201.

[0031] The massage component 6 includes a movable seat 61 sleeved on the rotating rod 41. The movable seat 61 is fixedly connected to the push rod 5202. A positioning post 6101 is installed on the movable seat 61. A circular groove 6102 is opened on the side of the movable seat 61. The movable seat 61 is fixedly connected to the movable plate 62. The movable plate 62 is Y-shaped. One end of the movable plate 62 is connected to the movable seat 62. The other two ends of the movable plate 62 are respectively equipped with a main massage wheel 6201 and a secondary massage wheel 6202. A connecting post 6203 is provided on the movable plate 62. A damping spring 6204 is installed between the connecting post 6203 and the positioning post 6101.

[0032] The limiting component 7 includes a limiting motor 71 fixed on the mounting platform 13. The output end of the limiting motor 71 is provided with a pulley 7101. The pulley 7101 is connected to the limiting shaft 72 through a belt 7102. Both ends of the limiting shaft 72 are provided with connecting parts 73. A limiting rod 74 is movably connected to the connecting part 73. A limiting ball 7401 is provided at the end of the limiting rod 74. The limiting ball 7401 is embedded in the circular groove 6102.

[0033] The backrest panel 11 has a movable groove 1101 in the middle, and the mounting platform 13 is located in the movable groove 1101. The movable groove 1101 has guide rail grooves 1102 on both sides. The guide rail grooves 1102 and the movable groove 1101 are separated by a baffle 1103. The top of the baffle 1103 is provided with a locking tooth 1104. The guide rail grooves 1102 are covered by the mounting plate 14.

[0034] The seat cushion 12 is movably connected to the backrest 11, and the angle between the seat cushion 12 and the backrest 11 is adjustable.

[0035] Working principle of the invention: The backrest panel 11 has a certain curvature, which can basically fit the user's back. Therefore, the guide rail groove 1102 and the baffle 1103 opened in the backrest panel 11 also have a curvature that fits the back, which allows all components on the mounting platform 13 to move along the backrest panel 11 in a curved motion. The mounting platform 13 is rectangular, and each of the four corners is provided with a mounting seat 1301 for connecting the drive wheel assembly 2 and the driven wheel 3. The two sets of wheels can fix the mounting platform 13, which can ensure that the mounting platform 13 remains stable when moving along the curve. When the mounting platform 13 needs to move, the drive motor 22 is started. The lead screw at the output end of the drive motor 22 meshes with the drive gear 2101. The drive motor 22 drives the drive shaft 21 to rotate, which in turn drives the gear 2301 on the inner side of the drive wheel 23 to rotate. The gear 2301 meshes with the locking teeth 1104 on the baffle 1103. Therefore, the drive wheel assembly 2 can drive the entire mounting platform 13 to move along the backrest panel 11 in a curved motion.

[0036] During the movement of the mounting platform 13, the rotating motor 42 drives the worm gear 4201 at the output end to rotate, and the worm gear 4201 meshes with the large-diameter teeth 4304 on the worm wheel 4301, thereby driving the entire worm wheel 4301 to rotate. The small-diameter teeth 4303 on the worm wheel 4301 mesh with the rotating teeth 4302, which are fixedly connected to the rotating rod 41. Therefore, the rotating motor 42 can drive the rotating rod 41 to rotate. Furthermore, the rotating motor 42 increases the torque generated by the rotating motor 42 through the transition between the worm wheel 4301 and the worm gear 4201 in the reduction gearbox 43, thereby enabling the massage component 6 to generate greater massage force and improve the comfort of the massage.

[0037] In addition to rotating the massage element 6 via the rotating rod 41, the massage element 6 can also be driven by the limiting component 7 to massage by pounding. First, the limiting motor 71 drives the output pulley 7101 to rotate, and then the limiting shaft 72 rotates synchronously via the belt 7102. Both ends of the limiting shaft 72 are provided with connecting parts 73, and the connecting parts 73 are provided with limiting rods 74 connected to the movable seat 61. By rotating the limiting motor 71 in both directions, the limiting rods 74 can drive the two sets of massage elements 6 to swing synchronously, thereby simulating the pounding of the user's back by a human hand. Furthermore, the shock-absorbing springs 6204 provided on the massage element 6 can alleviate the impact force generated by the mechanical pounding of the massage element 6, further simulating the pounding effect of a real human hand, and further improving the comfort of the massage.

[0038] In addition, the bidirectional pusher 5 on the rotating rod 41 can adjust the distance between the two massage pieces 6 to adapt to different user body shapes. The bidirectional pusher 5 can be driven pneumatically or hydraulically to drive the movement of the push rod 5202 in the active chamber 5201. Through the real-time adjustment of the bidirectional pusher 5, the distance between the massage pieces 6 can be continuously adjusted as the mounting platform 13 moves along the curved surface, so that the massage wheels contact various positions on the user's back, achieving a comprehensive massage of the back. The backrest 11 has a certain curvature. Through the cooperation of the locking teeth 1104 on the baffle 1103 and the drive wheel assembly 2, the massage pieces 6 in the mounting platform 13 can move along the curve, basically conforming to the curve of the human back, which can improve the comfort of the massage. At the same time, the bidirectional pusher 5 can adjust the distance between the two massage pieces 6 in real time, dynamically adapting to the user's body shape and ensuring a comprehensive massage of the user's back.

[0039] The backrest 11 has a certain curvature. Through the cooperation of the locking teeth 1104 on the baffle 1103 and the drive wheel assembly 2, the massage element 6 in the mounting platform 13 can move along the curve and basically fit the curve of the human back, which can improve the comfort of the massage. At the same time, the distance between the two massage elements 6 can be adjusted in real time through the bidirectional pusher 5, which can dynamically adapt to the user's body shape and ensure a comprehensive massage of the user's back.

[0040] The rotating assembly 4 can precisely control the rotation of the massage component 6. Through the cooperation of the worm gear 4301 and the worm 4201, the rotating rod 41 is driven to move, which can provide a large torque, thereby ensuring that the massage has sufficient force and allowing the rotating motor 42 to be installed flexibly, saving the space required for the installation of the drive device.

[0041] The limiting component 7 can drive the massage piece 6 to swing, and the amplitude and frequency of the swing can be controlled by the limiting rod 74. The swing of the massage piece 6 can simulate the effect of human hand pounding, and the damping spring 6204 set on the movable plate 62 can buffer the pounding of the massage piece 6 and improve the comfort of the massage.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A driving device for adaptive curved surface massage, characterized in that: The adaptive curved surface massage drive device includes a support module (1), which includes a backrest (11) and a seat cushion (12). A mounting platform (13) is provided in the middle of the backrest (11). Mounting seats (1301) are provided at the four corners of the mounting platform (13). A drive wheel assembly (2) is installed on one side of the mounting platform (13), and a driven wheel (3) is installed on the other side of the mounting platform (13). The drive wheel assembly (2) and the driven wheel (3) are both fixed on the mounting platform (13) by the mounting seats (1301). A rotating assembly (4) is provided in the middle of the mounting platform (13). A rotating rod (41) is provided on the rotating assembly (4). A bidirectional pusher (5) is provided in the middle of the rotating rod (41). Massage components (6) are symmetrically installed on the rotating rod (41). A limit assembly (7) is installed near the rotating rod (41).

2. The adaptive curved surface massage driving device according to claim 1, characterized in that: The drive wheel assembly (2) includes a drive shaft (21) and a drive motor (22). The drive shaft (21) is rotatably connected to the mounting base (1301). The drive shaft (21) is provided with drive teeth (2101). The output end of the drive motor (22) meshes with the drive teeth (2101). Both ends of the drive shaft (21) are provided with drive wheels (23). The inner side of the drive wheels (23) is provided with gears (2301).

3. The adaptive curved surface massage driving device according to claim 2, characterized in that: The rotating assembly (4) includes a rotating motor (42) fixed on the mounting platform (13). The rotating motor (42) is connected to a reduction gearbox (43). The reduction gearbox (43) is connected to one end of the rotating rod (41). The other end of the rotating rod (41) is connected to a bearing seat (44). A worm gear (4201) is provided at the output end of the rotating motor (42).

4. The adaptive curved surface massage driving device according to claim 4, characterized in that: The gearbox (43) includes a worm wheel (4301) meshing with the worm (4201) and a rotating tooth (4302). The worm wheel (4301) is provided with a small diameter tooth (4303) and a large diameter tooth (4304). The worm (4301) meshes with the large diameter tooth (4304), and the rotating tooth (4302) meshes with the small diameter tooth (4303). The rotating tooth (4302) is connected to the rotating rod (41).

5. The adaptive curved surface massage driving device according to claim 1, characterized in that: The bidirectional push rod (5) is fixedly installed in the middle of the rotating rod (41). The bidirectional push member (5) includes a fixed sleeve (51) and push sleeves (52) on both sides of the fixed sleeve (51). A drive chamber (5201) is provided inside the push sleeve (52), and a push rod (5202) is inserted into the movable chamber (5201).

6. The adaptive curved surface massage driving device according to claim 5, characterized in that: The massage component (6) includes a movable seat (61) sleeved on the rotating rod (41), the movable seat (61) being fixedly connected to the push rod (5202), a positioning post (6101) being installed on the movable seat (61), a circular groove (6102) being provided on the side of the movable seat (61), the movable seat (61) being fixedly connected to a movable plate (62), the movable plate (62) being Y-shaped, one end of the movable plate (62) being connected to the movable seat (62), and a main massage wheel (6201) and a secondary massage wheel (6202) being installed on the other two ends of the movable plate (62), a connecting post (6203) being provided on the movable plate (62), and a damping spring (6204) being installed between the connecting post (6203) and the positioning post (6101).

7. The adaptive curved surface massage driving device according to claim 6, characterized in that: The limiting component (7) includes a limiting motor (71) fixed on the mounting platform (13). The output end of the limiting motor (71) is provided with a pulley (7101). The pulley (7101) is connected to the limiting shaft (72) via a belt (7102). Both ends of the limiting shaft (72) are provided with connecting parts (73). A limiting rod (74) is movably connected to the connecting part (73). A limiting ball (7401) is provided at the end of the limiting rod (74). The limiting ball (7401) is embedded in the circular groove (6102).

8. The adaptive curved surface massage driving device according to claim 1, characterized in that: The backrest panel (11) has a movable groove (1101) in the middle, and the mounting platform (13) is located in the movable groove (1101). The movable groove (1101) has guide rail grooves (1102) on both sides. The guide rail grooves (1102) and the movable groove (1101) are separated by a baffle (1103). The baffle (1103) has a locking tooth (1104) on the top. The guide rail grooves (1102) are covered by the mounting plate (14).

9. The adaptive curved surface massage driving device according to claim 8, characterized in that: The seat cushion (12) is movably connected to the backrest (11), and the angle between the seat cushion (12) and the backrest (11) is adjustable.

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