Double-motor integrated flexible cable control massage actuator

Abstract

This invention relates to a massage actuator with dual-motor integrated flexible cable control for rotation and lifting, comprising a housing, a massage arm assembly, and a lifting drive assembly. The massage arm assembly includes a first massage arm, a second massage arm, and massage heads disposed at the first ends of the two massage arms. The lifting drive assembly drives the two massage arms to move up and down. The lifting drive assembly includes a lifting power source, a lifting linkage, and a first flexible cable and a second flexible cable. The lifting linkage slides horizontally on the housing under the action of the lifting power source, and the tension of the flexible cables can be adjusted to drive the first and second linkages to lift, thereby causing the first and second massage arms to rise and fall. Using the above technical solution, this invention provides a massage actuator with dual-motor integrated flexible cable control for rotation and lifting, achieving massage arm lifting through a combination of double-folding rods and flexible cable transmission, which can adapt to the human body curve and has flexible buffering and overload protection functions.

Description

Technical Field

[0001] This invention relates to the field of massage mechanism technology, and in particular to a massage actuator with dual motors integrated with flexible cable control for rotation and lifting. Background Technology

[0002] The massage arm lifting mechanism is a core functional component of the massage chair's core mechanism. Its main function is to drive the massage arm and massage head to complete reciprocating movements towards and away from the body, adapting to the S-shaped physiological curve of the back and achieving massages of varying intensity and depth. Its structural performance directly determines massage comfort, movement precision, and the lifespan of the equipment. As consumers' demands for personalized and intelligent massage experiences continue to increase, traditional massage arm lifting structures have gradually revealed many technical shortcomings, making it difficult to meet the development needs of high-end massage equipment.

[0003] Currently, the mainstream implementation method of existing massage arm lifting mechanisms is mainly rigid transmission, including screw and nut transmission, cam and rod transmission, gear and rack transmission, and electric push rod direct drive. Among them, the lead screw and nut drive is the most widely used solution. It uses a motor to drive the lead screw to rotate, which drives the nut slider to move linearly, thereby pushing the massage arm to lift. Although it has a certain positioning accuracy, it has problems such as complex structure, large space occupation, serious mechanical wear, and obvious transmission gap. After long-term high-frequency operation, it is prone to jamming, abnormal noise, and decreased lifting accuracy. Moreover, rigid transmission cannot adaptively buffer the reaction force of the human body, which can easily cause uneven massage intensity and excessive local pressure, affecting massage comfort. Cam linkage transmission has a simple structure and low cost, but it can only achieve reciprocating lifting along a fixed trajectory. It cannot steplessly adjust the lifting height and intensity, and has poor adaptability, making it difficult to meet the needs of users with different body types and different massage needs. Gear and rack transmission and electric push rod direct drive structure have the disadvantages of large output thrust, such as large size, low integration, and heavy weight. They are not conducive to the miniaturization and lightweight design of massage mechanism. At the same time, they mostly use rigid hard connection and lack flexible buffering capacity. Overload can easily cause motor burnout and structural damage, posing safety hazards.

[0004] As a novel flexible transmission method, cable drive boasts significant advantages such as simple structure, light weight, smooth transmission, low wear, flexible layout, long-distance transmission capability, and flexible buffering. It has been gradually applied in the field of automated actuators. Its flexible characteristics effectively buffer the impact during massage, improving massage comfort, and providing a solid technical foundation for overload protection. The double-folding rod structure, by increasing the number of connecting rod joints, significantly enhances the freedom of movement and range of motion of the massage arm, flexibly adapting to the physiological curves of different parts of the body for precise and close-fitting massage. However, the current technical solution for combining the double-folding rod structure with cable drive to achieve massage arm lifting is not yet mature: in existing technologies, cable drive is mostly used for driving single movements and has not been optimized for the coordinated movement requirements of the double-folding rod lifting mechanism, failing to guarantee the synchronization and stability of the double-folding rod lifting; simultaneously, existing double-folding rod lifting mechanisms still rely on rigid transmission, failing to fully utilize the advantages of flexible buffering and flexible layout of cable drive, making it difficult to balance lifting accuracy, massage comfort, structural compactness, and safety.

[0005] Therefore, in response to the technical pain points of existing massage arm lifting mechanisms, such as complex structure, low integration, rigid transmission without buffering, insufficient freedom of movement, poor adaptability, and lack of effective overload protection, it is urgent to develop a massage arm lifting mechanism that is compact in structure, smooth in transmission, flexible in control, and achieves massage arm lifting through a combination of double-folding rods and flexible cable transmission. This mechanism should be able to adapt to the human body curve, have flexible buffering and overload protection functions, and be suitable for the personalized massage needs of different users. This has become a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a massage actuator with dual motors and integrated flexible cable control for rotation and lifting. It has a compact structure, high integration, flexible control, and high motion precision. The massage arm is lifted by combining a double folding rod with a flexible cable drive. It can adapt to the human body curve and has flexible buffering and overload protection functions.

[0007] The technical solution of this invention: A massage actuator with dual-motor integrated flexible cable control for rotation and lifting, comprising a housing, a massage arm assembly, a tapping drive assembly, a kneading drive assembly, and a lifting drive assembly. The massage arm assembly includes a first massage arm, a second massage arm, and massage heads disposed on the first ends of the two massage arms. The lifting drive assembly drives the two massage arms to move up and down. The tapping drive assembly drives the two massage arms to reciprocate. The kneading drive assembly drives the massage heads to rotate circumferentially. The kneading drive assembly includes a kneading shaft, and the second ends of the first and second massage arms are movably sleeved on the kneading shaft. The tapping drive assembly includes a first tapping shaft and a second tapping shaft, with the two tapping shafts located on both sides of the kneading shaft. The first massage arm and the first tapping shaft are connected to the kneading shaft. The two massage arms are movably connected to the second massage shaft via a first connecting rod, and the second massage shaft is movably connected to the second massage shaft via a second connecting rod. The lifting drive assembly includes a lifting power source, a lifting connecting rod, a first flexible cable, and a second flexible cable. One end of the first flexible cable is fixed to the lifting connecting rod, and the other end of the first flexible cable is wound around the upper hinge point of the first connecting rod and the lower hinge point of the second connecting rod before being fixed to the housing. One end of the second flexible cable is fixed to the housing, and the other end is wound around the upper hinge point of the second connecting rod and the lower hinge point of the first connecting rod before being fixed to the lifting connecting rod. Under the action of the lifting power source, the lifting connecting rod slides horizontally on the housing, and the tension of the flexible cable can be adjusted to drive the first connecting rod and the second connecting rod to lift, thereby driving the first massage arm and the second massage arm to rise and fall.

[0008] The above technical solution employs two flexible cables that are cross-wound around the upper and lower ends of the first and second connecting rods. The tensioning / relaxing of the flexible cables is driven by the sliding of the lifting connecting rod, which synchronously drives the two massage arms to lift. Compared with traditional rigid transmission structures such as screw direct drive and gear rack, the flexible cable transmission does not require axial installation space, significantly reducing the overall size of the mechanism and achieving a miniaturized and lightweight design of the massage mechanism. At the same time, the flexibility of the flexible cables can buffer the reaction force of the human body during the massage process, avoiding the local pressure caused by rigid connections and improving massage comfort. The first and second connecting rods connect the tapping shaft and the massage arms respectively, realizing both the reciprocating tapping drive of the tapping shaft to the massage arms and the driven component of the flexible cable driving the lifting. This achieves an integrated linkage transmission of tapping and lifting actions, eliminating the need for additional lifting drive arms. The structure has a high degree of integration and high transmission efficiency, avoiding jamming and abnormal noise problems caused by redundancy of multiple mechanisms.

[0009] A further feature of the present invention is that each of the two striking shafts is provided with an eccentric shaft at its end. The lower hinge point of the first connecting rod is movably connected to one of the eccentric shafts. The upper hinge point of the first connecting rod is movably connected to the first massage arm through a third connecting rod. The lower hinge point of the second connecting rod is movably connected to the other eccentric shaft. The upper hinge point of the second connecting rod is movably connected to the second massage arm through a fourth connecting rod.

[0010] With the above-mentioned further configuration, the massage arm is driven to complete high-frequency, long-stroke tapping actions. The transmission structure is simple and the motion trajectory is stable. Through the intermediate transmission of the third and fourth links, the tapping stroke and force can be flexibly amplified / reduced. Without changing the eccentricity of the eccentric shaft, it can adapt to different massage intensity requirements, greatly improving the versatility of the mechanism. At the same time, the multi-stage linkage can buffer the impact of the tapping, avoid discomfort caused by rigid impact, and improve massage comfort.

[0011] A further provision of the present invention: the kneading drive assembly further includes a kneading motor, which is connected to the kneading shaft via a transmission component to drive the kneading shaft to rotate. The first end of the first massage arm and the second massage arm is provided with a rotating shaft, and the massage head is fixed on the rotating shaft. The axis of the rotating shaft is perpendicular to the axis of the kneading shaft. The kneading shaft and the rotating shaft are provided with multi-wedge wheels, and the two multi-wedge wheels are driven by a multi-wedge wheel belt. The multi-wedge wheel belts are arranged in a torsional cross configuration to drive the massage head to perform kneading motion.

[0012] With the above-mentioned further configuration, the kneading axis is perpendicular to the axis of rotation of the massage head. Power transmission between the two unequal perpendicular axes is achieved through a torsional cross-belt, eliminating the need for additional rigid reversing mechanisms such as reversing gears or bevel gears. This significantly simplifies the transmission structure, reduces mechanical wear and transmission clearance, and improves the accuracy and stability of the massage head rotation. The flexibility of the multi-ribbed belt itself can buffer the instantaneous impact force on the massage head, avoiding motor overload and structural jamming caused by rigid transmission. At the same time, the friction transmission characteristics of the multi-ribbed belt can automatically slip under overload, achieving preliminary overload protection and improving equipment safety. The torsional multi-ribbed belt can adapt to the unequal perpendicular layout of the two axes without occupying additional axial space, perfectly fitting the compact installation environment of the massage arm. It solves the problems of large size and limited layout of traditional bevel gear reversing mechanisms, further improving the integration of the mechanism. The multi-ribbed belt transmission ratio is stable, which can accurately control the rotation speed and torque of the massage head to achieve deep kneading and muscle relaxation effects. At the same time, the transmission is smooth and shock-free, avoiding the abnormal noise of gear transmission and improving the user experience.

[0013] A further feature of the present invention is that the housing is further provided with a collapsible assembly, which includes a collapsible buckle, a collapsible rod, and a driving component. One end of the two flexible cables is fixed to the lifting connecting rod, and the other end is fixed to the collapsible rod. The collapsible buckle is hinged inside the housing and has a limiting groove. The collapsible rod is limited and engaged with the limiting groove. When the driving component drives the collapsible buckle to rotate relative to the housing, the limiting groove releases the limiting of the collapsible rod, and the inner sidewall of the limiting groove pushes the collapsible rod to slide, thereby realizing the retraction of the massage arm.

[0014] With the above-mentioned further design, the collapsible buckle is hinged to the housing and forms a locking limit with the collapsible rod through the limiting groove. When the mechanism is overloaded, the collapsible buckle rotates to release the limit, and at the same time, it actively pushes the collapsible rod to slide through the inner side wall of the limiting groove, causing the massage arm to retract quickly, completely cutting off the transmission of overload force and avoiding motor burnout, structural damage and human injury. Compared with traditional passive protection such as current overload protection and mechanical limit, the response speed is faster and the protection is more thorough.

[0015] A further embodiment of the present invention includes: the collapsible buckle includes a pressing part, a hinge part, and a pressing part; the hinge part is hinged to the housing via a hinge shaft; the lower end of the pressing part is provided with a downwardly extending extension arm; and the limiting groove is formed between the extension arm, the pressing part, and the hinge part.

[0016] By adopting the above-mentioned further design, with the hinge as the fulcrum, the pressure part can be driven to flip the pressing part by the force applied to the pressing part. The structure has reasonable stress distribution and high transmission efficiency. Only a small triggering force is required to achieve the collapse action, which improves the response sensitivity of the overload protection. The limiting groove formed between the extension arm, the pressing part and the hinge not only achieves stable locking and limiting of the collapse rod, but also actively pushes the collapse rod to slide when the collapse buckle flips by the inner side wall of the groove, realizing the integrated action of releasing the limit and actively pushing. There is no need to set up an additional pushing structure, which further simplifies the mechanism. The one-piece molded plate structure has no weak connection points, has excellent impact resistance and fatigue resistance, and can withstand high-frequency overload triggering, which greatly improves the service life and reliability of the mechanism.

[0017] A further feature of the present invention is that the driving component is an electromagnet, which corresponds to the pressing part of the collapsible buckle. The electromagnet works to push the pressing part so that the collapsible rod contacts and limits the movement of the limiting groove.

[0018] With the above-mentioned further configuration, the overload trigger threshold of the electromagnet corresponding to the collapsible buckle can be precisely set through the control module. The trigger pressure can be flexibly adjusted according to the force tolerance of different users and the needs of different massage areas. This solves the problem of fixed and unadjustable threshold in traditional purely mechanical collapsible structures, greatly improving adaptability. When the electromagnet is energized, it can instantly generate driving force to push the collapsible buckle to flip. The response time is much shorter than that of mechanical trigger structures, and the protective action can be completed instantly in case of overload, avoiding continuous pressure on the human body and greatly improving safety.

[0019] A further provision of the present invention includes: a bearing seat on the striking shaft, a collapsible pressure rod between the bearing seat and the collapsible buckle, the collapsible pressure rod being hinged to the housing, one side of the collapsible pressure rod being located at the lower end of the bearing seat, and the other side of the collapsible pressure rod being located at the lower end of the collapsible buckle; when the striking shaft is deformed by pressure, the bearing seat presses down against one side of the collapsible pressure rod, so that the other side of the collapsible pressure rod drives the collapsible buckle to rotate relative to the housing, thereby releasing the limiting groove from limiting the collapsible rod; a return spring is provided between the bearing seat and the housing.

[0020] With the above-mentioned further configuration, the pressure on the massage head causes the bearing seat of the striking shaft to deform, which in turn drives the collapse pressure rod to rotate, drives the collapse buckle to rotate rapidly, the collapse rod to move rapidly, and the massage arm drives the massage head to retract rapidly, realizing the collapse of the mechanism.

[0021] A further feature of the present invention is that the driving component is an electromagnet, the electromagnet corresponds to the pressing part of the collapsible buckle, the striking shaft is provided with a bearing seat, and a pressure sensor is provided below the bearing seat. The pressure sensor is connected to the electromagnet through a control module so that when the pressure on the kneading bearing exceeds a set value, the electromagnet is controlled to push the pressing part to cause the collapsible buckle to flip relative to the housing.

[0022] With the above-mentioned further configuration, the pressure sensor collects the pressure signal of the kneading shaft in real time. By comparing it with the set threshold through the control module, the overload state is accurately determined, which completely avoids the problems of false triggering and missed triggering of pure mechanical triggering. The protection accuracy is greatly improved. The electric control triggering of the pressure sensor and electromagnet can form a double protection with the pure mechanical triggering structure, further improving the safety of the equipment and avoiding the risk of single protection failure.

[0023] A further provision of the present invention includes: a reset rod connected to the lifting link, the reset rod extending toward the collapsible rod; after the collapsible rod is pushed and slid by the collapsible latch, the reset rod and the collapsible rod come into contact; under the drive of the lifting power source, the lifting link and the reset rod are driven to slide, and the collapsible rod is driven to reset and re-engage with the limiting groove.

[0024] With the above-mentioned further design, the sliding stroke of the lifting linkage can be precisely controlled. The reset rod precisely pushes against the collapsible rod, so that the collapsible rod re-engages stably with the limit groove. The reset is thorough and without jamming, which solves the problems of incomplete manual reset and spring reset in the past. The reset action can be linked with the lifting action of the massage arm. The reset is automatically completed when the massage ends and the massage arm is retracted, without the need for additional operation by the user, thus improving the convenience of use.

[0025] A further provision of the present invention is that the housing is provided with a traveling assembly, and there are two sets of the traveling assembly, which are respectively located at both ends of the housing. Each traveling assembly includes a traveling rod and a traveling gear. The traveling gear is located at the end of the traveling rod, and the traveling rod and the kneading shaft are driven by a multi-wedge wheel set to drive the traveling gear to rotate.

[0026] By further optimizing the design, the existing kneading shaft is used to drive the walking gears via a multi-wedge wheel assembly. This eliminates the need for an additional walking motor, significantly simplifying the mechanism structure, reducing manufacturing costs and energy consumption. It achieves an integrated design that combines kneading and walking power. The multi-wedge wheel assembly offers a stable transmission ratio and high efficiency, allowing for precise control of the walking gears' speed and stroke. This ensures the massage mechanism moves smoothly along the guide rail, accurately adapting to different parts of the back. It solves the problems of large transmission gaps and jerking issues in traditional gear-driven mechanisms. Walking components are located at both ends of the housing, synchronously driven by the kneading shaft to achieve synchronized rotation of the walking gears at both ends. This avoids tilting and jamming issues caused by single-end drive, improving the stability and reliability of the movement. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the massage arm retracting in a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the interior of the housing according to a specific embodiment of the present invention; Figure 3 This is a schematic diagram of the connection of the flexible cable in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the striking shaft and connecting rod according to a specific embodiment of the present invention; Figure 5 This is a schematic diagram of the kneading shaft and massage assembly according to a specific embodiment of the present invention; Figure 6 This is a schematic diagram showing the connection between the rotating shaft and the kneading shaft in a specific embodiment of the present invention; Figure 7 This is a schematic diagram of a collapse component according to a specific embodiment of the present invention; Figure 8 This is a schematic diagram of the pre-collapse stage in a specific embodiment of the present invention; Figure 9 This is a schematic diagram of the collapsible latch in a specific embodiment of the present invention; Figure 10 This is a partial schematic diagram of the lifting drive assembly according to a specific embodiment of the present invention; Figure 11 This is a schematic diagram of the collapsible buckle after rotation in a specific embodiment of the present invention; Figure 12 This is a schematic diagram of the interior of the housing when the massage arm is raised according to a specific embodiment of the present invention; Figure 13This is a schematic diagram of the massage arm being lifted relative to the housing in a specific embodiment of the present invention; Figure 14 This is the internal structure of the shell when it collapses, according to a specific embodiment of the present invention.

[0028] In the diagram, 1. Housing; 2. Massage arm assembly; 21. First massage arm; 22. Second massage arm; 23. Massage head; 24. Rotary shaft; 3. Tapping drive assembly; 31. First tapping shaft; 32. Second tapping shaft; 33. First connecting rod; 34. Second connecting rod; 35. Pulley; 36. Third connecting rod; 37. Fourth connecting rod; 38. Bearing seat; 4. Kneading drive assembly; 41. Kneading shaft; 5. Lifting drive assembly; 51. Lifting power source; 52. Lifting connecting rod; 52 1. Reset rod; 53. First flexible cable; 54. Second flexible cable; 55. Lead screw; 56. Nut seat; 6. Multi-wedge wheel; 7. Multi-wedge wheel belt; 8. Collapse assembly; 81. Collapse buckle; 811. Limiting groove; 812. Pressing part; 813. Hinge part; 814. Pressing part; 815. Extension arm; 82. Collapse rod; 83. Electromagnet; 84. Collapse pressure rod; 85. Pressure sensor; 9. Travel assembly; 91. Travel rod; 92. Travel gear; 93. Multi-wedge wheel assembly. Detailed Implementation

[0029] The technical solutions in this embodiment 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.

[0030] It should be noted that in the description of this invention, all directional indications (such as up, down, forward, backward, etc.) are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0031] Furthermore, in this invention, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this invention, "a number" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0033] like Figure 1-14 As shown, a massage actuator with dual-motor integrated flexible cable control for rotation and lifting includes a housing 1, a massage arm assembly 2, a tapping drive assembly 3, a kneading drive assembly 4, and a lifting drive assembly 5. The massage arm assembly 2 includes a first massage arm 21, a second massage arm 22, and massage heads 23 disposed on the first ends of the two massage arms. The lifting drive assembly 5 drives the two massage arms to move up and down, the tapping drive assembly 3 drives the two massage arms to reciprocate, and the kneading drive assembly 4 drives the massage heads 23 to rotate circumferentially. The kneading drive assembly 4 includes a kneading shaft 41, and the second ends of the first massage arm 21 and the second massage arm 22 are movably sleeved on the kneading shaft 41. The above-mentioned tapping drive assembly 3 includes a first tapping shaft 31 and a second tapping shaft 32, which are located on both sides of the kneading shaft 41. The first massage arm 21 is movably connected to the first tapping shaft 31 through a first connecting rod 33, and the second massage arm 22 is movably connected to the second tapping shaft 32 through a second connecting rod 34. The lifting drive assembly 5 includes a lifting power source 51, a lifting connecting rod 52, a first flexible cable 53, and a second flexible cable 54. One end of the first flexible cable 53 is fixed to the lifting connecting rod 52, and the other end of the first flexible cable 53 is wound around the upper hinge point of the first connecting rod 33 and the lower hinge point of the second connecting rod 34 and then fixed to the housing 1. One end of the second flexible cable 54 is fixed to the housing 1, and the other end is wound around the upper hinge point of the second connecting rod 34 and the lower hinge point of the first connecting rod 33, and then fixed to the lifting connecting rod 52. The lifting connecting rod 52 slides horizontally on the housing 1 under the action of the lifting power source 51, which can adjust the tension of the flexible cable and drive the first connecting rod 33 and the second connecting rod 34 to lift, thereby driving the first massage arm 21 and the second massage arm 22 to rise and fall. The two flexible cables are crossed and wound around the upper and lower ends of the first and second connecting rods 34. The sliding of the lifting connecting rod 52 drives the flexible cables to tighten / slacken, and synchronously drives the two massage arms to lift synchronously. Compared with the traditional lead screw 55 direct drive, gear and rack and other rigid transmissions, this method is more efficient. The flexible structure and cable drive eliminate the need for axial installation space, significantly reducing the overall size of the massage mechanism and achieving a miniaturized and lightweight design. Simultaneously, the flexibility of the cable buffers the body's reaction force during massage, avoiding localized pressure caused by rigid connections and improving massage comfort. The first and second connecting rods 34 connect the tapping shaft and the massage arm respectively, realizing both the reciprocating tapping drive of the tapping shaft to the massage arm and serving as the driven component for the cable's lifting mechanism. This integrated linkage transmission achieves two sets of actions: tapping and lifting, eliminating the need for an additional lifting drive arm. The structure boasts high integration and transmission efficiency, avoiding jamming and abnormal noise problems caused by redundant multiple mechanisms.

[0034] Both the upper and lower hinge points of the first connecting rod 33 and the second connecting rod 34 are equipped with pulleys 35. The first flexible cable 53 and the second flexible cable 54 are wound around the corresponding pulleys. The first connecting rod 33 and the second connecting rod 34 are symmetrically arranged, and the hinge axes of the two connecting rods are parallel to each other. The pulleys convert the sliding friction between the flexible cable and the connecting rod into rolling friction, which greatly reduces the friction during the transmission process, avoids wear and tension loss of the flexible cable, improves transmission efficiency, makes the lifting action more sensitive and precise, reduces fatigue damage and breakage risk of the flexible cable, and greatly extends the service life of the flexible cable. Extending its lifespan reduces equipment maintenance costs. The pulley guides the flexible cable smoothly, preventing jamming, skipping, and abnormal noises, resulting in smoother lifting operations. It also reduces equipment operating noise, improving the user experience. The pulley limits the cable's winding path, preventing interference or entanglement with other components during transmission, ensuring transmission stability and safety. A screw and nut transmission assembly is provided between the lifting linkage 52 and the lifting power source 51. The lifting power source 51 uses a motor. The screw and nut transmission assembly includes a screw 55 and a screw threaded through it. A nut seat 56 with a threaded fit is fixedly connected to the lifting connecting rod 52. The motor drives the lead screw 55 to rotate, causing the lifting connecting rod 52 to slide linearly along the housing 1. The lead screw 55 nut drive has the characteristics of stable transmission ratio and high positioning accuracy, which can accurately control the sliding amount of the adjusting rod, and thus accurately control the tension of the flexible cable and the lifting height of the massage arm, realizing micron-level posture adjustment. This solves the problem of insufficient accuracy of traditional pneumatic and hydraulic drives. The lead screw 55 has good self-locking performance and can remain locked at any lifting position to prevent the massage arm from self-locking under the action of gravity. The lifting mechanism ensures the safety and stability of the massage process by allowing the movement to return to its original position. No additional locking mechanism is required. The screw and nut transmission assembly is small in size and flexible in layout, perfectly fitting the compact space inside the housing 1. It does not conflict with the flexible cable and connecting rod structure, further improving the integration of the mechanism. The motor drives the screw 55 to rotate, and the forward and reverse rotation, speed and stroke of the motor can be precisely controlled by the electronic control system to realize the automated and intelligent control of the lifting action, which meets the development needs of high-end intelligent massage chairs. A limit slide groove can also be provided inside the housing 1, and the lifting connecting rod 52 slides in the limit slide groove.

[0035] Both striking shafts are equipped with eccentric shafts at their ends. The lower hinge point of the first connecting rod 33 is movably connected to one of the eccentric shafts, and the upper hinge point of the first connecting rod 33 is movably connected to the first massage arm 21 via the third connecting rod 36. The lower hinge point of the second connecting rod 34 is movably connected to the other eccentric shaft, and the upper hinge point of the second connecting rod 34 is movably connected to the second massage arm 22 via the fourth connecting rod 37. This drives the massage arm to complete high-frequency, long-stroke striking actions. The transmission structure is simple and the motion trajectory is stable. Through the intermediate transmission of the third and fourth connecting rods 37, the striking stroke and force can be flexibly amplified / reduced without changing the eccentricity of the eccentric shaft, thus adapting to different massage force requirements and greatly improving the versatility of the mechanism. At the same time, the multi-stage connecting rods can buffer the striking impact force, avoiding discomfort caused by rigid impact and improving massage comfort.

[0036] The kneading drive assembly 4 also includes a kneading motor, which is connected to the kneading shaft 41 via a transmission component to drive the kneading shaft 41 to rotate. The first end of the first massage arm 21 and the second massage arm 22 is provided with a rotating shaft 24. The massage head 23 is fixed to the rotating shaft 24, and the axis of the rotating shaft 24 is perpendicular to the axis of the kneading shaft 41. Multi-wedge wheels 6 are provided on the kneading shaft 41 and the rotating shaft 24, and the two multi-wedge wheels 6 are connected by a multi-wedge belt 7. The multi-wedge belt 7 is twisted and crossed to drive the massage head 23 to perform kneading motion. The kneading shaft 41 is perpendicular to the axis of the rotating shaft 24 of the massage head 23. Power transmission between two skewed perpendicular axes is achieved through the twisted and crossed multi-wedge belt, eliminating the need for additional rigid reversing mechanisms such as reversing gears or bevel gears. This significantly simplifies the transmission structure, reduces mechanical wear and transmission clearance, and improves the accuracy and stability of the massage head 23's rotation. The flexible characteristics can buffer the instantaneous impact force on the massage head 23, avoiding motor overload and structural jamming caused by rigid transmission. At the same time, the friction transmission characteristics of the multi-wedge belt can automatically slip under overload, achieving initial overload protection and improving equipment safety. The torsional multi-wedge belt can adapt to the non-planar vertical layout of the two shafts without occupying additional axial space, perfectly fitting the compact installation environment of the massage arm. It solves the problems of large size and limited layout of traditional bevel gear reversing mechanisms, further improving the integration of the mechanism. The multi-wedge belt transmission ratio is stable, which can accurately control the rotation speed and torque of the massage head 23 to achieve the effect of deep kneading and muscle relaxation. At the same time, the transmission is smooth and shock-free, avoiding the abnormal noise problem of gear transmission and improving the user experience. The tapping drive component 3 also includes a tapping motor, which is connected to the kneading shaft 41 through a multi-wedge wheel set. The kneading shaft 41 and the tapping shaft are connected through another multi-wedge wheel set.

[0037] The housing 1 is further provided with a collapse assembly 8, which includes a collapse buckle 81, a collapse rod 82, and a driving component. One end of two flexible cables is fixed to the lifting connecting rod 52, and the other end is fixed to the collapse rod 82. The collapse buckle 81 is hinged inside the housing 1 and has a limiting groove 811. The collapse rod 82 is limited and engaged with the limiting groove 811. When the driving component drives the collapse buckle 81 to rotate relative to the housing 1, the limiting groove 811 releases the limiting of the collapse rod 82 and the inner wall of the limiting groove 811... The collapsible lever 82 slides, allowing the massage arm to retract. The collapsible buckle 81 is hinged to the housing 1 and forms a locking limit with the collapsible lever 82 through the limiting groove 811. When the mechanism is overloaded, the collapsible buckle 81 rotates to release the limit, and at the same time, it actively pushes the collapsible lever 82 to slide through the inner wall of the limiting groove 811, causing the massage arm to retract quickly, completely cutting off the transmission of overload force and avoiding motor burnout, structural damage and human injury. Compared with traditional passive protection such as current overload protection and mechanical limit, it has a faster response speed and more thorough protection.

[0038] The specific structure of the collapsible latch 81 is as follows: the collapsible latch 81 includes a pressing part 812, a hinge part 813, and a pressing part 814. The hinge part 813 is hinged to the housing 1 via a hinge shaft. The lower end of the pressing part 814 is provided with a downwardly extending extension arm 815. The limiting groove 811 is formed between the extension arm 815, the pressing part 814, and the hinge part 813. With the hinge part 813 as the fulcrum, the pressing part 812 can be rotated by applying force to the pressing part 814. The structure has reasonable force distribution and high transmission efficiency, and only a small triggering force is required to achieve the collapsing action. The overload protection response sensitivity is improved. The limiting groove 811 formed between the extension arm 815, the pressing part 814 and the hinge part 813 not only achieves stable locking and limiting of the collapse rod 82, but also actively pushes the collapse rod 82 to slide when the collapse buckle 81 flips, realizing an integrated action of releasing the limit and actively pushing. No additional pushing structure is required, which further simplifies the mechanism. The one-piece plate structure has no weak connection points, has excellent impact resistance and fatigue resistance, and can withstand high-frequency overload triggering, which greatly improves the service life and reliability of the mechanism. Example 1

[0039] The driving component is an electromagnet 83, which corresponds to the pressing part 814 of the collapsible buckle 81. The electromagnet pushes against the pressing part 814 to make the collapsible rod 82 contact and limit the movement of the limiting groove 811. The overload trigger threshold can be precisely set by the control module. The trigger pressure can be flexibly adjusted according to the force tolerance of different users and the needs of different massage areas. This solves the problem of fixed and unadjustable threshold in traditional pure mechanical collapsible structures, greatly improving adaptability. When the electromagnet is energized, it can instantly generate driving force to push the collapsible buckle 81 to flip. The response time is much shorter than that of mechanical trigger structures. It can complete the protective action instantly in case of overload, avoiding continuous pressure on the human body and greatly improving safety. Example 2

[0040] The striking shaft is provided with a bearing seat 38, and a collapsible pressure rod 84 is provided between the bearing seat 38 and the collapsible buckle 81. The collapsible pressure rod 84 is hinged to the housing 1. One side of the collapsible pressure rod 84 is located at the lower end of the bearing seat 38, and the other side of the collapsible pressure rod 84 is located at the lower end of the collapsible buckle 81. When the striking shaft is deformed by pressure, the bearing seat 38 presses down against one side of the collapsible pressure rod 84, so that the other side of the collapsible pressure rod 84 drives the collapsible buckle 81 to rotate relative to the housing 1, thereby releasing the limiting groove 811 from limiting the collapsible rod 82. A return spring is provided between the bearing seat 38 and the housing 1. When the massage head 23 is pressed, the bearing seat 38 of the striking shaft deforms, thereby driving the collapsible pressure rod 84 to rotate, driving the collapsible buckle 81 to rotate rapidly, the collapsible rod 82 to move rapidly, and the massage arm drives the massage head 23 to retract rapidly, realizing the collapse of the mechanism. Example 3

[0041] The driving component is equipped with an electromagnet 83, which corresponds to the pressing part 814 of the collapsible buckle 81. The striking shaft is provided with a bearing seat 38, and a pressure sensor 85 is provided below the bearing seat 38. The pressure sensor 85 is connected to the electromagnet through a control module. When the pressure on the kneading shaft 41 exceeds a set value, the electromagnet is controlled to push the pressing part 814, causing the collapsible buckle 81 to flip relative to the housing 1. The pressure sensor 85 collects the pressure signal of the kneading shaft 41 in real time. By comparing it with the set threshold through the control module, the overload state is accurately determined, completely avoiding the problems of false triggering and missed triggering of pure mechanical triggering. The protection accuracy is greatly improved. The electric control triggering of the pressure sensor 85 and the electromagnet can form a double protection with the pure mechanical triggering structure, further improving the safety of the equipment and avoiding the risk of single protection failure.

[0042] The three collapse implementations described above can exist independently or be used in combination. Implementation 1 is active collapse, while implementations 2 and 3 are passive collapse. In this invention, the three implementations are set up simultaneously to form multiple protections and avoid the risk of single protection failure.

[0043] A reset rod 521 is connected to the lifting link 52. The reset rod 521 extends towards the collapsible rod 82. After the collapsible rod 82 is pushed and slid by the collapsible latch 81, the reset rod 521 abuts against the collapsible rod 82. Driven by the lifting power source 51, the lifting link 52 and the reset rod 521 slide, causing the collapsible rod 82 to reset and re-engage with the limiting groove 811. The sliding stroke of the lifting link 52 can be precisely controlled. By precisely pushing the collapsible rod 82 with the reset rod 521, the collapsible rod 82 is re-engaged stably with the limiting groove 811. The reset is thorough and without jamming, solving the problems of incomplete reset by traditional manual reset and spring reset. The reset action can be linked with the lifting action of the massage arm. The reset is automatically completed when the massage ends and the massage arm is retracted, without the need for additional operation by the user, thus improving the convenience of use.

[0044] The housing 1 is provided with a traveling assembly 9, which consists of two sets located at opposite ends of the housing 1. Each traveling assembly 9 includes a traveling rod 91 and a traveling gear 92. The traveling gear 92 is located at the end of the traveling rod 91. The traveling rod 91 and the kneading shaft 41 are connected by a multi-wedge wheel set 93 to drive the traveling gear 92 to rotate. By utilizing the power of the existing kneading shaft 41 and driving the traveling gear 92 to rotate through the multi-wedge wheel set 93, an additional traveling motor is not required, which greatly simplifies the mechanism structure, reduces manufacturing costs and energy consumption, and realizes the integration of kneading and traveling power. The integrated design features a multi-wedge wheel group 93 with a stable transmission ratio and high transmission efficiency. It can precisely control the speed and stroke of the walking gear 92, enabling the massage mechanism to move smoothly along the guide rail and accurately adapt to different parts of the human back. This solves the problems of large transmission gaps and walking jamming in traditional gear walking mechanisms. Walking components 9 are set at both ends of the housing 1, which are synchronously driven by the kneading shaft 41 to achieve synchronous rotation of the walking gears 92 at both ends. This avoids the tilting and jamming problems caused by single-end drive, and improves the stability and reliability of walking. The walking gears can also be directly set at both ends of the kneading shaft.

Claims

1. A massage actuator with dual-motor integrated flexible cable control for rotation and lifting, comprising a housing (1), a massage arm assembly (2), a tapping drive assembly (3), a kneading drive assembly (4), and a lifting drive assembly (5), wherein the massage arm assembly (2) comprises a first massage arm (21), a second massage arm (22), and a massage head (23) disposed on the first end of the two massage arms; the lifting drive assembly (5) drives the two massage arms to perform lifting motion; the tapping drive assembly (3) drives the two massage arms to reciprocate; and the kneading drive assembly (4) drives the massage head (23) to perform circumferential rotational motion, characterized in that, The kneading drive assembly (4) includes a kneading shaft (41), and the second ends of the first massage arm (21) and the second massage arm (22) are movably sleeved on the kneading shaft (41). The tapping drive assembly (3) includes a first tapping shaft (31) and a second tapping shaft (32), with the two tapping shafts located on both sides of the kneading shaft (41). The first massage arm (21) is movably connected to the first tapping shaft (31) through a first connecting rod (33), and the second massage arm (22) is movably connected to the second tapping shaft (32) through a second connecting rod (34). The lifting drive assembly (5) includes a lifting power source (51), a lifting connecting rod (52), a first flexible cable (53), and a second flexible cable (54). One end of the flexible cable (53) is fixed to the lifting link (52). The other end of the first flexible cable (53) is wrapped around the upper hinge point of the first link (33) and the lower hinge point of the second link (34) and then fixed to the housing (1). One end of the second flexible cable (54) is fixed to the housing (1), and the other end is wrapped around the upper hinge point of the second link (34) and the lower hinge point of the first link (33) and then fixed to the lifting link (52). The lifting link (52) slides horizontally on the housing (1) under the action of the lifting power source (51). The tension of the flexible cable can be adjusted to drive the first link (33) and the second link (34) to lift, thereby driving the first massage arm (21) and the second massage arm (22) to rise and fall.

2. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting as described in claim 1, characterized in that, Both striking shafts are provided with eccentric shafts at their ends. The lower hinge point of the first connecting rod (33) is movably connected to one of the eccentric shafts. The upper hinge point of the first connecting rod (33) is movably connected to the first massage arm (21) through the third connecting rod (36). The lower hinge point of the second connecting rod (34) is movably connected to the other eccentric shaft. The upper hinge point of the second connecting rod (34) is movably connected to the second massage arm (22) through the fourth connecting rod (37).

3. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting according to claim 1 or 2, characterized in that, The kneading drive assembly (4) also includes a kneading motor, which is connected to the kneading shaft (41) via a transmission component to drive the kneading shaft (41) to rotate. The first end of the first massage arm (21) and the second massage arm (22) is provided with a rotating shaft (24). The massage head (23) is fixed on the rotating shaft (24). The axis of the rotating shaft (24) is perpendicular to the axis of the kneading shaft (41). The kneading shaft (41) and the rotating shaft (24) are provided with multi-wedge wheels (6). The two multi-wedge wheels (6) are driven by a multi-wedge belt (7). The multi-wedge belt (7) is twisted and crossed to drive the massage head (23) to perform kneading motion.

4. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting as described in claim 1 or 2, characterized in that, The housing (1) is also provided with a collapse assembly (8), which includes a collapse buckle (81), a collapse rod (82) and a driving component. One end of the two flexible cables is fixed to the lifting connecting rod (52), and the other end is fixed to the collapse rod (82). The collapse buckle (81) is hinged in the housing (1). The collapse buckle (81) is provided with a limiting groove (811). The collapse rod (82) is limited and engaged with the limiting groove (811). When the driving component drives the collapse buckle (81) to rotate relative to the housing (1), the limiting groove (811) releases the limiting of the collapse rod (82) and the inner sidewall of the limiting groove (811) pushes the collapse rod (82) to slide, thereby realizing the retraction of the massage arm.

5. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting as described in claim 4, characterized in that, The collapsible buckle (81) includes a pressing part (812), a hinge part (813) and a pressing part (814). The hinge part (813) is hinged to the housing (1) via a hinge shaft. The lower end of the pressing part (814) is provided with a downwardly extending extension arm (815). The limiting groove (811) is formed between the extension arm (815), the pressing part (814) and the hinge part (813).

6. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting according to claim 4, characterized in that, The driving component is provided by an electromagnet (83), which corresponds to the pressing part (814) of the collapsible buckle (81). The electromagnet works to push the pressing part (814) so ​​that the collapsible rod (82) contacts and limits the movement of the limiting groove (811).

7. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting as described in claim 4, characterized in that, The striking shaft is provided with a bearing seat (38), and a collapsible pressure rod (84) is provided between the bearing seat (38) and the collapsible buckle (81). The collapsible pressure rod (84) is hinged to the housing (1). One side of the collapsible pressure rod (84) is located at the lower end of the bearing seat (38), and the other side of the collapsible pressure rod (84) is located at the lower end of the collapsible buckle (81). When the striking shaft is deformed by pressure, the bearing seat (38) presses down against one side of the collapsible pressure rod (84) so ​​that the other side of the collapsible pressure rod (84) drives the collapsible buckle (81) to rotate relative to the housing (1), thereby releasing the limiting groove (811) from limiting the collapsible rod (82). A return spring is provided between the bearing seat (38) and the housing (1).

8. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting as described in claim 4, characterized in that, The driving component is provided with an electromagnet (83), which corresponds to the pressing part (814) of the collapsible buckle (81). The striking shaft is provided with a bearing seat (38), and a pressure sensor (85) is provided below the bearing seat (38). The pressure sensor (85) is connected to the electromagnet through a control module so that when the pressure on the kneading shaft (41) exceeds the set value, the electromagnet is controlled to push the pressing part (814) to make the collapsible buckle (81) flip relative to the housing (1).

9. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting as described in claim 4, characterized in that, A reset rod (521) is connected to the lifting link (52). The reset rod (521) extends toward the collapsible rod (82). After the collapsible rod (82) is pushed and slid by the collapsible latch (81), the reset rod (521) and the collapsible rod (82) come into contact. Under the drive of the lifting power source (51), the lifting link (52) and the reset rod (521) are driven to slide, and the collapsible rod (82) is driven to reset and re-fit with the limiting groove (811).

10. The massage actuator with dual-motor integrated flexible cable control for rotation and lifting according to claim 1 or 2, characterized in that, The housing (1) is provided with a walking assembly (9). There are two sets of the walking assembly (9), which are respectively located at both ends of the housing (1). Both walking assemblies (9) include a walking rod (91) and a walking gear (92). The walking gear (92) is located at the end of the walking rod (91). The walking rod (91) and the kneading shaft (41) are driven by a multi-wedge wheel set (93) to drive the walking gear (92) to rotate.

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