Rehabilitation device

Abstract

The application discloses a rehabilitation device and relates to the technical field of massage equipment. The rehabilitation device comprises a support body, a shell, a driving part and a form control assembly. The shell is arranged on the support body, and at least one adsorption part is arranged on the outer side of the shell. The driving part is arranged on the support body. The form control assembly is connected with the output shaft of the driving part and the adsorption part. When the output shaft rotates along a first direction and when the output shaft rotates along a second direction, the form control assembly rotates synchronously with the output shaft to change the working volume of the adsorption part. Pure mechanical transmission decoupling is used to realize stable output of negative pressure adsorption and pulsating pressure waves, and the adsorption interface is automatically and actively reset when the device is stopped.

Description

Technical Field

[0001] This invention relates to the field of massage equipment technology, and in particular to a rehabilitation device. Background Technology

[0002] With in-depth research into modern biomechanics and rehabilitation medicine, it has been found that applying controllable, periodically fluctuating physical stress stimulation (such as pneumatic negative pressure adsorption stress or intermittent pulsating pressure waves) to superficial tissues can effectively regulate subcutaneous microcirculation and relieve deep muscle tension. Therefore, rehabilitation devices with negative pressure adsorption and pressure wave output functions have been widely used in the field of physiotherapy.

[0003] However, in existing technologies, the generation of negative pressure adsorption and pulsating pressure waves generally relies heavily on aerodynamic airflow systems. These systems typically consist of a miniature air pump, electromagnetic control valves, a gas-phase buffer chamber, and a complex network of flexible airflow pipes. Stress fluctuations are generated through the continuous suction of the air pump and the intermittent exhaust of the valve. This traditional fluid control architecture has revealed several deep-seated technical bottlenecks in long-term physical rehabilitation practice: I. The contradiction between the bulky power system and the limited space of a micro handheld device The introduction of miniature air pumps and solenoid valves necessitates the allocation of significant internal space within the rehabilitation device to house pneumatic components. This not only directly leads to a substantial increase in the overall size and weight of the equipment, severely limiting its ease of handheld operation, but also results in the low efficiency and high energy consumption of traditional fluid transmission methods. For battery-powered portable rehabilitation devices, the high power consumption of the air pump significantly reduces single-use time. Furthermore, the high-frequency airflow whistling and mechanical resonance noise generated during operation severely degrades the user experience during rehabilitation therapy.

[0004] II. Biological contamination and public health risks caused by closed fluid pipeline networks When a traditional pneumatic device comes into high-frequency, highly sealed negative pressure contact with human skin through its adsorption section, sweat secreted by the subcutaneous tissue due to heat, dead skin cells shed from the skin surface, sebum from sebaceous glands, and other media such as essential oils or lotions used by the user are easily drawn back into the closed pipes, valves, and pump chamber inside the device under the strong negative pressure airflow.

[0005] Because the fluid piping network of such miniature devices is a completely closed and irreversible dead space in its physical structure, it is impossible to disassemble, clean, and disinfect it on a daily basis. Over time, inhaled proteins and organic chemical media will undergo biological deterioration and oxidative putrefaction inside the closed, dark, and humid pipes, resulting in the growth of large amounts of bacteria and fungi and producing a strong odor. When the device is turned on again and air is expelled, these internal pollutants can easily be sprayed back onto the user's skin, posing a serious health risk of causing skin allergies, inflammation, and cross-infection.

[0006] III. Interface indentation and dust accumulation cleaning bottleneck caused by random deadlock of mechanical / pneumatic phases To conform to the contours of the human body and establish airtightness, the adsorption part of the rehabilitation head is generally made of flexible polymer elastomer material. However, when traditional equipment suddenly stops due to power depletion or when the user actively turns off the power, due to the lack of active mechanical reset constraints, its transmission mechanism or air valve often randomly locks in the last operating physical phase.

[0007] This directly results in the flexible adsorption section often remaining in a state of extreme negative deformation, deeply recessed inwards, after ceasing operation, and unable to recover its flatness on its own. This persistent residual depression brings significant negative effects: Creep failure of polymer materials: When materials are in a high-strain, deformation-locked state for a long period of time, severe stress relaxation will occur. This leads to an accelerated decay of the material's elastic modulus, resulting in irreversible permanent plastic deformation, which significantly reduces the volumetric conversion rate and negative pressure efficiency during subsequent operation.

[0008] The dust accumulation effect in physical geometric space: Normally concave cavities form natural funnel-shaped or cup-shaped grooves in space, where fine suspended particles, dust, and hair in the environment are rapidly deposited deep in the depressions.

[0009] Extremely high barriers to routine cleaning and maintenance: Due to the high surface friction coefficient of the flexible shell and the extremely cramped and narrow physical space in the recesses, cleaning tools cannot reach the deepest folds when using regular wet wipes or cloths. Forced wiping can even compact dirt inside the folds, forming a hardened layer of grime that is difficult to remove over time. This severely compromises the tactile comfort and visual appeal of the device, posing a continuous threat of contamination for subsequent maintenance.

[0010] Therefore, how to achieve stable output of negative pressure adsorption and pulsating pressure wave by decoupling through pure mechanical transmission without relying on any air pumps and closed air circuits, and how to achieve adaptive active flattening and reset of the adsorption interface when the machine stops, is a technical bottleneck involving the core architecture that urgently needs to be solved in this field. Summary of the Invention

[0011] The main objective of this invention is to propose a rehabilitation device that utilizes pure mechanical transmission decoupling to achieve stable output of negative pressure adsorption and pulsating pressure waves, and to achieve adaptive active flattening and reset of the adsorption interface when the device is stopped.

[0012] To achieve the above objectives, the present invention provides a rehabilitation device, the rehabilitation device comprising: Support structure; The outer shell is disposed on the support body, and the outer side of the outer shell is provided with at least one adsorption part; A driving member, the driving member being disposed on the support body; and A shape control component, which is connected to the output shaft of the drive and the adsorption part respectively; The output shaft has a first direction of rotation and a second direction of rotation; When the output shaft rotates along the first direction, the shape control component drives the adsorption part to deform in order to generate and increase the working volume of the adsorption part. When the working volume reaches the maximum, at least a part of the shape control component idles relative to the output shaft to lock the maximum working volume state of the adsorption part. When the output shaft rotates along the second direction, the shape control component rotates synchronously with the output shaft, driving the adsorption part to deform, thereby changing the working volume of the adsorption part.

[0013] In one embodiment, when the output shaft rotates along the second direction, the shape control component causes the housing to deform at the adsorption part to switch the external shape of the adsorption part.

[0014] In one embodiment, when the output shaft rotates along the second direction, the shape control component causes the housing to deform at the adsorption section, so as to output a pulsating pressure wave or generate a negative pressure adsorption effect at the adsorption section.

[0015] In one embodiment, the shape control component includes: A guide bracket is sleeved on the output shaft, and a guide groove is provided on the outer peripheral surface of the guide bracket, which extends spirally along the outer peripheral surface of the guide bracket. A movable bracket, movably mounted on the support body and located outside the guide bracket, is partially inserted into the guide groove and engaged with it for limiting movement. The movable bracket is connected to the inner side of the outer shell. The pressing component is connected to the guide bracket and abuts against the housing. The abutting part of the pressing component is offset from the axis of the output shaft. When the output shaft rotates along the second direction, the guide bracket rotates synchronously with the output shaft and drives the pressing member to rotate around the axis of the output shaft; the movable bracket cooperates with the guide groove to move along the axis of the output shaft and drives the adsorption part to move along the axis of the output shaft.

[0016] In one embodiment, the shape control component further includes a first ejector bracket, which is movably sleeved on the output shaft and can move along the axial direction of the output shaft. The first ejector bracket has a limiting surface at one end facing the guide bracket, and the limiting surface is inclined. The movable bracket is provided with a guide and a first elastic member. The two ends of the first elastic member abut against the guide and the movable bracket respectively. The guide is used to insert into the guide groove. When the output shaft rotates along the second direction, the first ejector bracket moves toward the guide bracket, the limiting surface abuts against the guide member, and pushes the guide member to compress the first elastic member to overcome the elastic resistance of the first elastic member and push the guide member into the guide groove.

[0017] In one embodiment, the shape control component further includes a second elastic element, the two ends of which abut against the first ejector bracket and the guide bracket, respectively.

[0018] In one embodiment, the rehabilitation device further includes a clamping assembly connected to the output shaft and the housing, the clamping assembly comprising: Multiple first eccentric wheels are sequentially sleeved on the output shaft, and the central axis of each first eccentric wheel is offset from the output shaft; Multiple first connectors, one end of each first connector engaging with a first eccentric wheel; and Multiple first clamping members are provided, with the middle of each first clamping member rotatably connected to the support body, one end of each first clamping member being connected to a first connecting member, and the other end abutting against the inner side of the outer shell, and the abutting points of the multiple first clamping members are spaced apart along the periphery of the adsorption part. When the output shaft rotates, the first connecting member and the first eccentric wheel cooperate to drive one end of the first clamping member to move, thereby causing the first clamping member to rotate around its middle part, so as to generate periodic opening and closing around the periphery of the adsorption part.

[0019] In one embodiment, the shape control component includes a conversion bracket sleeved on the output shaft and a second ejector bracket. The second ejector bracket is connected to the adsorption part through a movable bracket, and a third elastic element is provided between the second ejector bracket and the fixed bracket fixed to the support body. The opposite end faces of the conversion bracket and the second ejection bracket are respectively provided with a first abutting surface and a second abutting surface that abut against each other and are both arranged in a wavy shape; When the output shaft rotates along the second direction, the conversion bracket rotates synchronously with the output shaft and rotates relative to the second ejection bracket. Through the continuous relative rotation of the first abutment surface and the second abutment surface, the third elastic element is alternately compressed and released to drive the adsorption part to periodically move towards or away from the support.

[0020] In one embodiment, the rehabilitation device further includes a clamping assembly, which is connected to the output shaft and the housing respectively. The clamping assembly includes a second eccentric wheel sleeved on the output shaft and a limiting bracket movably sleeved on the outside of the main support. The main support is fixedly mounted on the support body, and the second eccentric wheel is in transmission cooperation with the limiting bracket through a second connecting member. The limiting bracket is rotatably connected to a plurality of second clamping members. One end of each of the second clamping members is spaced apart along the periphery of the adsorption part and abuts against the inner side of the outer shell. The other end of each of the second clamping members is simultaneously controlled by the radial guide hole of the limiting bracket and the mounting groove of the main bracket. When the output shaft rotates, the second eccentric wheel cooperates with the second connecting member to drive the limiting bracket to rotate relative to the main bracket. The second clamping member rotates with the limiting bracket and is oscillating due to the combined constraint of the radial guide hole and the mounting groove, thereby causing periodic opening and closing at the periphery of the adsorption part.

[0021] In one embodiment, the second connector is provided with a first guide hole, and the second eccentric wheel is movably disposed within the first guide hole; The main support is provided with guide ribs and transmission wheels. The bottom wall of the limiting support is provided with a first rack portion. The second connecting member is provided with a second rack portion. The second rack portion and the first rack portion mesh with each other through the transmission wheels. When the output shaft rotates, the second eccentric wheel slides in the first guide hole to drive the second connecting member to reciprocate along the guide rib, and through the meshing of the second rack, the transmission wheel and the first rack, the limiting bracket is driven to rotate.

[0022] The beneficial effects of the technical solution of the present invention are as follows: I. A pump-free, lightweight architecture is achieved through purely mechanical volume transformation and single-source bidirectional decoupling. This invention uses a shape control component to directly link the output shaft of the drive unit and the adsorption part of the housing, completely eliminating the need for a micro-pump, electromagnetic control valve, buffer chamber, and complex fluid piping network. It relies solely on the forward and reverse switching input torque of a single drive unit (motor), with the shape control component decoupling the spatial motion modes.

[0023] In the first rotation (forward) mode, energy is precisely directed to establish the maximum stable working volume; in the second rotation (reverse) mode, energy is directed to dynamically reciprocate the working volume. This purely mechanical volume conversion scheme significantly improves the space utilization rate inside the moving chamber, significantly reduces the overall physical mass of the machine, and completely eliminates the air whistling and shell resonance noise caused by the high-frequency vibration of the air pump. At the same time, since the reactive power consumption of the air pump and valves is completely eliminated, the power efficiency of the equipment is multiplied, extending the single-cycle operating time of the equipment.

[0024] II. A unique maximum working volume mechanical idling locking mechanism balances zero-power negative pressure maintenance with passive protection. When the output shaft rotates along the first direction, the shape control component drives the adsorption section to undergo inward elastic deformation, generating and continuously increasing the working volume of the adsorption section. This achieves highly efficient deep negative pressure adsorption without relying on an air pump. More innovatively, when the working volume reaches the set maximum value, this invention does not employ high-power motor stalling or complex electronic locking. Instead, at least a portion of the shape control component generates complete mechanical idling relative to the output shaft, achieving a mechanical hard lock at the maximum working volume state. At this time, the drive component continues to rotate in the first direction but no longer applies additional tensile displacement to the adsorption section, and the motor current drops to an extremely low no-load level. This fundamentally eliminates the risk of motor overheating and burning due to prolonged stalling, achieving excellent power consumption control.

[0025] Passive safety protection for human tissues: Even if the electronic control system malfunctions, causing the motor speed to run out of control or continue to rotate in the forward direction, the working volume of the adsorption chamber is strictly locked within the safety threshold due to the hard limit of the mechanical idling zone, and the absolute value of the negative pressure will never rise indefinitely. This provides a physical barrier for skin tissue and capillaries, completely eliminating the clinical medical risk of excessive skin strain and tearing caused by the failure of electronic valves in traditional air pumps.

[0026] Third, introduce adaptive active leveling and reset logic to eliminate dust accumulation and cleaning dead spots from the physical source. This is one of the most significant technological advancements of this invention. This invention completely eliminates the traditional fluid exchange network, achieving 100% zero contamination at the fluid interface and preventing sweat, dander, and grease from entering the machine's interior at the physical source. Building upon this, the invention, through the setting of a mechanical kinematic chain, controls the output shaft to rotate a preset number of times along the second direction before the equipment is ready to stop working. The shape control component rotates synchronously with the output shaft in the second direction, driving the adsorption part to undergo reverse deformation, forcibly causing its inwardly recessed working volume to adaptively and reversely zero out. In this action, the shape control component, in conjunction with its internal elastic restoring force, applies a reverse pushing force to the adsorption part, forcing the flexible shell to perfectly restore its initial flat, smooth, and crease-free state—a level 0 original planar state. This adaptive active flattening effect brings unparalleled maintenance advantages: Because the outer shell is a completely smooth curved surface when not in use, dust and airborne particles in the environment lose any spatial geometric grooves to deposit, completely eradicating the problem of dust accumulation. After the device is used, the user or caregiver is faced with a completely flat and exposed outer surface. There is no need to spend any effort to pry open creases and corners; simply use ordinary disinfectant wipes or cleaning cloths to perform a simple linear wiping motion on the flat outer shell surface, and residual skin oils and media can be thoroughly removed within seconds. The wiping tool can reach 100% full coverage, without dead angles, every physical element of the outer shell, meeting the stringent hygiene and safety standards of rehabilitation and physiotherapy equipment, making it highly commercially practical.

[0027] IV. The spatial architecture of this invention possesses extremely high load-bearing capacity. When the clamping component described in the dependent claims is selectively installed inside the active cavity, the clamping component can be perfectly coaxially coupled on the same output shaft, and the action points of the multiple first / second clamping members of the clamping component are precisely constrained at the periphery of the adsorption part. This allows the shape control component to perform "negative pressure locking" or "pulsating pressure wave" in the central region of the adsorption part, while the clamping component can synchronously output periodic radial opening and closing oscillations at the outer edge of the adsorption part. It can even output a spatial composite multi-axis kneading action of "circumferential rotation + radial opening and closing" through the combined constraint of gear rack and rack and spatial dual trajectory. The pressure intake and exhaust in the central area and the human-like kneading in the peripheral area achieve perfect dynamic spatial superposition under the drive of the same output shaft, without any motion interference. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the rehabilitation device provided by the present invention; Figure 2 A cross-sectional view of the rehabilitation device; Figure 3 A schematic diagram of an embodiment of a rehabilitation device with its outer casing removed; Figure 4 A cross-sectional view of the rehabilitation device without its outer casing; Figure 5 This is a structural diagram of the drive unit, support body, and clamping assembly in the rehabilitation device; Figure 6 A cross-sectional view of the drive unit, support body, and clamping assembly in the rehabilitation device; Figure 7 Exploded view of the drive unit, support body, and clamping assembly in the rehabilitation device; Figure 8 This is a structural diagram of the drive components, support body, and shape control components in the rehabilitation device; Figure 9 A cross-sectional view of the drive unit, support body, and shape control components in the rehabilitation device; Figure 10 for Figure 9 A magnified view of a section at point A in the middle; Figure 11 for Figure 9 A magnified view of part A in a different state; Figure 12 for Figure 9 A magnified view of area A in yet another state; Figure 13 This is a schematic diagram of the guide support structure in the rehabilitation device; Figure 14 This is a schematic diagram of the structure of the first eccentric support, the first ejector support, and the conversion mechanism in the rehabilitation device. Figure 15 Exploded view of the first eccentric support, the first ejector support, and the conversion mechanism in the rehabilitation device; Figure 16 An exploded view of the first eccentric support, the first ejector support, and the conversion mechanism in the rehabilitation device from another perspective; Figure 17 A schematic diagram of another embodiment of the rehabilitation device without its outer casing; Figure 18 Cross-sectional view of another embodiment of the rehabilitation device with the outer casing removed; Figure 19 A schematic diagram of the drive component and clamping assembly in another embodiment of the rehabilitation device; Figure 20 This is a structural schematic diagram of the drive unit and clamping assembly from another perspective in another embodiment of the rehabilitation device; Figure 21 An exploded view of the drive unit and clamping assembly in another embodiment of the rehabilitation device; Figure 22 This is a schematic diagram of the structure at the bottom of the clamping component in another embodiment of the rehabilitation device; Figure 23 This is a schematic diagram of the second clamping member and connecting rod in another embodiment of the rehabilitation device; Figure 24 This is a schematic diagram of the drive unit, support body, and shape control component in another embodiment of the rehabilitation device; Figure 25 A cross-sectional view of the drive unit, support body, and shape control assembly in another embodiment of the rehabilitation device; Figure 26 A schematic diagram of the second ejector support and conversion mechanism in another embodiment of the rehabilitation device; Figure 27 An exploded view of the second ejector support and conversion mechanism in another embodiment of the rehabilitation device.

[0030] Explanation of icon numbers: 100. Rehabilitation device; 1. Support body; 11. Guide rod; 2. Outer shell; 21. Movable cavity; 22. Adsorption part; 3. Clamping assembly; 31. First eccentric bracket; 311. First spindle; 312. First eccentric wheel; 314. Bearing wheel; 32. First connector; 321. Third guide hole; 33. First clamping part; 34. Second eccentric bracket; 341. Second spindle; 342. Second eccentric wheel; 351. Transmission wheel; 352. Connecting rod; 3521. Limiting post; 36. Second connector; 361. First guide hole; 362. First limiting groove; 363. Second rack part; 364. Second guide hole; 37. Second clamping part; 38. Main bracket; 381. Mounting groove; 382. Guide rib; 39. Limiting bracket; 391. First rack part; 392. Radial guide hole; 393 4. Second limiting groove; 5. Shape control component; 6. Conversion mechanism; 411. Conversion bracket; 4111. First abutment surface; 412. One-way bearing; 42. Movable mechanism; 421. First ejection bracket; 4211. Third abutment surface; 4212. Limiting surface; 422. Guide bracket; 4221. Guide groove; 4222. First limiting space; 423. Pressing element; 424. Movable bracket; 4241. Frame; 4242. Movable groove; 4243. First elastic element; 4244. Guide element; 425. Second elastic element; 426. Second ejection bracket; 4261. Second abutment surface; 4262. Fourth abutment surface; 427. Fixed bracket; 4271. Second limiting space; 4272. Movable opening; 428. Moving bracket; 429. Third elastic element; 5. Drive element; 51. Output shaft.

[0031] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are 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. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0035] To address the aforementioned issues, this invention proposes a rehabilitation device 100, which aims to achieve adsorption and massage while maintaining a smooth appearance when not in use, facilitating cleaning.

[0036] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the rehabilitation device 100 includes a support body 1, a shell 2, a drive component 5, and a shape control component 4. The shell 2 is disposed on the support body 1, and at least one adsorption portion 22 is provided on the outer side of the shell 2. The drive component 5 is disposed on the support body 1. The shape control component 4 is connected to the output shaft 51 of the drive component 5 and the adsorption portion 22 respectively. The output shaft 51 has a first direction of rotation and a second direction of rotation. When the output shaft 51 rotates along the first direction of rotation, the shape control component 4 drives the adsorption portion 22 to deform, thereby generating and increasing the working volume of the adsorption portion 22. When the working volume reaches its maximum, at least a portion of the shape control component 4 idles relative to the output shaft 51 to lock the maximum working volume state of the adsorption portion 22. When the output shaft 51 rotates along the second direction of rotation, the shape control component 4 rotates synchronously with the output shaft 51, driving the adsorption portion 22 to deform, thereby changing the working volume of the adsorption portion 22.

[0037] First, it should be noted that the adsorption part 22 is the area on the outer side of the outer shell 2 that can undergo elastic deformation, used to fit against the skin. The working volume is defined as the volume of the cavity formed between the adsorption part 22 and the skin when the adsorption part 22 deforms under the drive of the shape control component 4.

[0038] The output shaft 51 is controlled to have a first steering direction (defined as forward rotation mode in this embodiment) and a second steering direction (reverse rotation mode). The drive unit 5 inputs torque by switching the steering of a single power source, and the shape control component 4 decouples and outputs different spatial motion trajectories, thereby selectively stimulating a stable constant negative pressure locking state or a dynamic pulsating pressure wave massage state at the adsorption part 22 of the outer shell 2.

[0039] In this embodiment, the outer shell 2 is disposed on the support body 1, and together with the support body 1, forms a sealed movable cavity 21. The adsorption part 22 is formed on the side of the outer shell 2 away from the movable cavity 21, and the shape control component 4 is located inside the movable cavity 21, which serves as a accommodating element. Specifically, the support body 1 includes two seats connected to each other, which together form an installation cavity. The drive component 5, battery, circuit board, and other components are installed in the installation cavity through a fastening structure. The output shaft 51 of the drive component 5 passes through the side wall of the installation cavity and extends into the movable cavity 21. At the same time, a gripping part is formed on the outer peripheral surface of the support body 1. The shape of the gripping part can have a certain curvature to conform to the grip of the human hand and facilitate hand operation. The support body 1 is not limited to an independent seat structure; any structure that can provide support, fixation, load-bearing, and enclosure of the cavity can constitute the support body 1 in this invention. For example, the support 1 can be the outer shell of the rehabilitation device 100, or an internal rigid frame, bracket, mounting base, or load-bearing platform, or a rigid extension, connection, or integration part of other components.

[0040] By configuring a support 1, a housing 2, a drive component 5, and a shape control component 4, the shape control component 4 is connected to the output shaft 51 of the drive component 5 and the adsorption part 22 of the housing 2, respectively. The working volume of the adsorption part 22 is controlled by the first and second rotations of the output shaft 51. When the output shaft 51 rotates along the first rotation, the shape control component 4 drives the adsorption part 22 to deform, thereby generating and increasing its working volume. When the working volume reaches its maximum, at least a portion of the shape control component 4 idles relative to the output shaft 51 to lock the maximum working volume state of the adsorption part 22, thus generating a negative pressure adsorption effect. When the output shaft 51 rotates along the second rotation, the shape control component 4 rotates synchronously with the output shaft 51, driving the adsorption part 22 to deform, thereby changing its working volume and releasing the adsorption state. Through the alternating forward and reverse rotation of the output shaft 51, the working volume of the adsorption part 22 periodically changes between zero and its maximum value, forming an alternating generation and release of negative pressure. This intermittent pressure change acts on the skin, generating a pressure wave massage effect. With this configuration, before stopping work, the control output shaft 51 rotates along the second direction, so that the working volume of the adsorption part 22 can be restored to zero, thereby keeping the outer surface of the outer shell 2 flat. This not only improves the visual experience when not in use, but also avoids dust and dirt accumulation in the recesses, making daily cleaning and maintenance easier.

[0041] In one embodiment, the adsorption unit 22 is provided with an air hole communicating with the active cavity 21, so that the active cavity 21 is connected to the external environment through the air hole. During the operation of the rehabilitation device 100, when the shape control component 4 causes the working volume of the adsorption unit 22 to change, gas can flow between the active cavity 21 and the external environment through the air hole, thereby forming a controllable negative pressure environment in the active cavity 21, avoiding the formation of a completely sealed vacuum state between the adsorption unit 22 and the skin. This configuration can generate a comfortable pressure wave massage sensation and prevent the skin from being strained due to excessive adsorption.

[0042] In one embodiment, the outer shell 2 may be made of a flexible material such as silicone, thermoplastic elastomer or natural rubber to ensure that it can deform and conform to the skin surface when subjected to force.

[0043] In one embodiment, the drive unit 5 may be a DC motor, a stepper motor, or a servo motor, etc.

[0044] In one embodiment, when the output shaft 51 rotates along the second direction, the shape control component 4 causes the outer shell 2 to deform at the adsorption part 22, so as to switch the external shape of the adsorption part 22.

[0045] It should be noted that the deformation here refers to the change in the adsorption part 22 on the outside of the outer shell 2, which causes it to be recessed or raised, thereby changing the contact state between the adsorption part 22 and the skin.

[0046] The shape control component 4 can realize the deformation of the adsorption part through various transmission methods, such as cam pushing, linkage swinging, thread transmission, elastic element reset, etc., as long as it can drive the adsorption part 22 to produce a controllable shape change.

[0047] In one embodiment, when the output shaft 51 rotates along the second direction, the shape control component 4 causes the housing 2 to deform at the adsorption part 22, so as to output a pulsating pressure wave or generate a negative pressure adsorption effect at the adsorption part 22.

[0048] It should be noted that the pulsating pressure wave refers to the periodic deformation of the adsorption part 22 driven by the shape control component 4, causing the contact pressure between the adsorption part 22 and the skin to fluctuate in a wave-like manner, thereby forming intermittent pressure stimulation. The negative pressure adsorption effect refers to the deformation of the adsorption part 22 driven by the shape control component 4 to increase the working volume, so that a negative pressure cavity is formed between the adsorption part 22 and the skin, producing an adsorption effect.

[0049] By controlling the rotational speed or direction switching frequency of the output shaft 51, the frequency and amplitude of the pressure wave can be adjusted, or the intensity and duration of the negative pressure adsorption can be controlled to adapt to different massage needs.

[0050] In one implementation, please refer to Figure 3and Figure 4 The shape control component 4 includes a conversion mechanism 41 and a movable mechanism 42. The conversion mechanism 41 and the movable mechanism 42 are sequentially sleeved on the output shaft 51 along the axial direction of the output shaft 51, and their opposite end faces abut against each other. The movable mechanism 42 is connected to the housing 2. Specifically, when the output shaft 51 rotates in the first direction and the working volume reaches its maximum, the conversion mechanism 41 idles relative to the output shaft 51. When the output shaft 51 rotates in the second direction, the conversion mechanism 41 rotates synchronously with the output shaft 51 and can drive the movable mechanism 42 to move along the axial direction of the output shaft 51.

[0051] In this embodiment, the conversion mechanism 41 and the movable mechanism 42 are coaxially sleeved on the output shaft 51 along the axial direction of the output shaft 51, and their opposite end faces abut against each other. The end of the movable mechanism 42 away from the conversion mechanism 41 abuts against the outer shell 2, so that it can directly transmit its axial movement to the outer shell 2, thereby driving the adsorption part 22 to move, so as to change the working volume of the adsorption part 22.

[0052] The output shaft 51 of the drive unit 5 has two working modes: rotation along a first direction and rotation along a second direction. During the rotation of the output shaft 51 along the first direction, when the working volume reaches its maximum, the conversion mechanism 41 is in an idle state relative to the output shaft 51; that is, the conversion mechanism 41 does not rotate synchronously with the output shaft 51. At this time, the end face contact between the conversion mechanism 41 and the movable mechanism 42 does not generate axial driving force, and the movable mechanism 42 remains stationary in the axial direction, rotating only in the circumferential direction. During the rotation of the output shaft 51 along the second direction, the conversion mechanism 41 rotates synchronously with the output shaft 51, and the end face of the conversion mechanism 41 rotates relative to the end face of the movable mechanism 42. Through the undulation of the end face contour, the movable mechanism 42 is pushed to move along the axial direction of the output shaft 51, thereby pulling the adsorption part 22 to move.

[0053] The rotation of the output shaft 51 along the first direction and the rotation along the second direction can be switched by a circuit board.

[0054] In one implementation, please refer to Figure 3 and Figure 4 The conversion mechanism 41 includes a one-way bearing 412 and a conversion bracket 411. The one-way bearing 412 is sleeved on the output shaft 51. The conversion bracket 411 is sleeved on the one-way bearing 412, and the end of the conversion bracket 411 facing the movable mechanism 42 has a first abutting surface 4111, which abuts against the movable mechanism 42. When the output shaft 51 rotates along the second direction, the one-way bearing 412 rotates synchronously, driving the conversion bracket 411 to rotate, and through the first abutting surface 4111, driving the movable mechanism 42 to move.

[0055] In this embodiment, the one-way bearing 412 is directly mounted on the output shaft 51. The inner ring of the one-way bearing 412 is fixedly fitted to the output shaft 51, and the outer ring is fixedly fitted to the conversion bracket 411. The conversion bracket 411 is fitted onto the outer ring of the one-way bearing 412. A first abutting surface 4111 is formed at the end of the conversion bracket 411 facing the movable mechanism 42. The first abutting surface 4111 abuts against the corresponding end face of the movable mechanism 42.

[0056] When the output shaft 51 rotates in the second direction, the one-way bearing 412 is locked, and its inner and outer rings rotate synchronously, thereby driving the conversion bracket 411 to rotate synchronously with the output shaft 51. During the rotation, the conversion bracket 411 converts the rotational motion into linear motion of the movable mechanism 42 along the axis of the output shaft 51 through the contour change of the first abutment surface 4111 and the end face of the movable mechanism 42. When the output shaft 51 rotates in the first direction, the one-way bearing 412 is in an idle state, the outer ring does not rotate with the inner ring, the conversion bracket 411 remains stationary, and the movable mechanism 42 is not driven axially.

[0057] In one embodiment, the one-way bearing 412 and the output shaft 51, as well as the conversion bracket 411 and the outer ring of the one-way bearing 412, can be fixed by threaded connection, interference fit or key connection.

[0058] In one embodiment, the first abutting surface 4111 can be configured as a wavy cam surface, a sawtooth end surface, or an inclined plane end surface, etc. This configuration allows the movable mechanism 42 to move along the first abutting surface 4111 during rotation, thereby generating axial displacement.

[0059] It should be noted that, in order to generate a periodic opening and closing kneading effect around the periphery of the adsorption part, the clamping component (3) of the present invention provides two parallel and optional lower-level implementation methods in the design of the specific mechanical transmission chain and motion constraints (i.e., the first clamping component in Embodiment 1 and the second clamping component in Embodiment 2). Embodiment 1 mainly uses multiple sets of spatially misaligned eccentric wheels and the first connecting member to collaboratively drive the first clamping member to generate a pure swing-type opening and closing motion; Embodiment 2 uses a gear and rack transmission mechanism to drive the limiting bracket to rotate, and utilizes the combined constraint of the radial guide hole and the main bracket mounting groove to drive the second clamping member to generate a combined kneading motion of circumferential rotation and radial opening and closing. Those skilled in the art can selectively adopt any of the clamping component design schemes according to the actual cost, space limitations, and physiotherapy needs of the rehabilitation device, all of which fall within the protection scope of the present invention.

[0060] Combination Figures 8 to 16 This embodiment describes in detail the dynamic kinematic chains of the first morphology control component 4 and the first clamping component 3.

[0061] When the output shaft 51 is driven to rotate in the first direction (forward rotation), the one-way bearing 412 is in a circumferentially unlocked free-spinning state, at which time the conversion bracket 411 remains stationary in the circumferential direction. The torque of the output shaft 51 is directly transmitted to the guide bracket 422, driving the guide bracket 422 to rotate synchronously.

[0062] Because the movable bracket 424 is subject to circumferential rotational constraint on the support body 1 via the guide rod 11 (only axial movement is allowed), the guide member 4244 of the movable bracket 424 is limited and inserted into the spiral guide groove 4221 on the outer circumferential surface of the guide bracket 422. The rotational motion of the guide bracket 422 pushes against the guide member 4244 through the side wall of the spiral guide groove 4221, forcibly converting the circumferential rotational motion into axial linear displacement of the movable bracket 424 along the guide rod 11 (moving away from the outer shell 2).

[0063] Since the movable bracket 424 is rigidly or limitingly connected to the adsorption part 22 inside the outer shell 2, the axial movement of the movable bracket 424 pulls the adsorption part 22 to undergo inward elastic deformation, thereby generating and continuously increasing the sealing working volume between the adsorption part 22 and the skin surface, forming a negative pressure adsorption effect locally.

[0064] When the movable bracket 424 moves axially to its limit position and the working volume of the adsorption section 22 reaches its maximum set value, the guide member 4244 disengages from the end of the spiral guide groove 4221 and slides into the circumferential first limiting space 4222, which is connected to it and has no axial propulsion. At this time, even if the output shaft 51 continues to rotate along the first direction, the guide bracket 422 will only rotate circumferentially relative to the guide member 4244 within the first limiting space 4222. The movable bracket 424 no longer produces axial displacement, thereby locking the adsorption section 22 in the maximum working volume state by means of the mechanical locking structure without the need for the drive member 5 to continuously output a large locking torque, maintaining normal negative pressure.

[0065] When the output shaft 51 switches to rotating in the second direction (reverse direction), the one-way bearing 412 instantly enters a circumferential locking state, causing the conversion bracket 411 to rotate synchronously with the output shaft 51. The wavy first abutment surface 4111 at the end of the conversion bracket 411 and the third abutment surface 4211 at the end of the first ejector bracket 421 rotate circumferentially relative to each other. Through the alternating undulating contour of the cam surface structure, the first ejector bracket 421 is pushed to overcome the elastic resistance of the second elastic element 425 and reciprocate towards the guide bracket 422 along the axial direction of the output shaft 51. During this process, the inclined limiting surface 4212 at the end of the first ejector bracket 421 forcibly pushes against the guide element 4244 on the movable bracket 424. Since the slope of the limiting surface 4212 is outwardly guided, its axial thrust is converted into a radial component force, pushing the guide element 4244 to retract towards the bottom of the movable groove 4242 and compressing the first elastic element 4243. After the guide member 4244 is pushed away from the first limiting space 4222, under the elastic restoring force of the first elastic member 4243, the guide member 4244 accurately springs into the entrance end of the spiral guide groove 4221, thereby re-establishing the dynamic axial movement loop between the movable bracket 424 and the guide bracket 422. As the guide bracket 422 continues to rotate under the second direction, the spiral guide groove 4221 drives the movable bracket 424 to move back along the axial direction, causing the adsorption part 22 to perform periodic swallowing and spitting motion between zero volume and maximum volume, outputting pulsating pressure waves on the surface of the outer shell 2. At the same time, the pressing member 423, which is fixedly connected to the guide bracket 422, rotates eccentrically around the axis of the output shaft 51, and its eccentric abutment end performs periodic rolling pressing on the inner side of the outer shell 2. The two movements are superimposed to achieve a compound movement of pressure waves and eccentric kneading.

[0066] During the rotation of the output shaft 51 (regardless of forward or reverse rotation), a plurality of first eccentric wheels 312, sequentially sleeved on the output shaft 51, rotate with the shaft. Since the central axis of each first eccentric wheel 312 is spatially misaligned and eccentrically set relative to the output shaft 51, the circumferential motion of the eccentric wheel is converted in the inner cavity of the corresponding first connecting member 32, driving the first connecting member 32 to generate reciprocating linear displacement in a specific direction.

[0067] The reciprocating motion of the first connector 32 is further transmitted to the multiple first clamping members 33 rotatably connected to the support body 1 in the middle. This causes the first clamping members 33 to swing around their middle part as a lever, resulting in a periodic opening and closing motion at their abutting ends located on the inner periphery of the outer shell 2. This action is directly applied to the edge of the outer shell of the adsorption part 22, forming a circumferential grasping and rehabilitation effect that simulates the gripping of a real finger.

[0068] Combination Figures 17 to 27 This embodiment explains the dynamic motion of the second type of morphological control component 4 and the second type of clamping component 3. This scheme is also based on the decoupling of forward and reverse rotation from a single power source.

[0069] In this embodiment, when the output shaft 51 rotates along the second direction, the synchronously rotating conversion bracket 411, using its wave-shaped first abutment surface 4111, continuously rotates relative to the second abutment surface 4261 of the second ejection bracket 426, which is circumferentially limited by the fixed bracket 427. As the crests and troughs alternately overlap, the second ejection bracket 426 continuously pushes the moving bracket 428 upward at its fourth abutment surface 4262, thereby alternately compressing and releasing the third elastic member 429 located on the top wall of the second limiting space 4271. The moving bracket 428 transmits this high-frequency reciprocating axial displacement to the pressing member 423 and the suction part 22 through the movable port 4272. The suction part 22 is driven to generate a periodic reciprocating displacement approaching or moving away from the support body 1, thereby quickly generating a high-frequency pulsating negative pressure effect on the skin surface without relying on the spiral groove.

[0070] In this embodiment, the second clamping component 3 employs a spatial composite trajectory constraint mechanism to provide deep-level kneading mechanical feedback. When the output shaft 51 rotates, the second eccentric wheel 342 rotates eccentrically around the shaft and slides reciprocally within the first guide hole 361 of the second connector 36. Since the main support 38 is fixedly provided with a guide rib 382 extending in the first direction (linear direction), and this guide rib 382 is limited and embedded within the first limiting groove 362 of the second connector 36, the second connector 36 is spatially strictly constrained to only be able to reciprocate linearly along the guide rib 382 in the first direction. When the second connector 36 reciprocates linearly, its rigidly integrated second rack portion 363 moves synchronously. The second rack portion 363 meshes with the transmission wheel 351 rotatably mounted on the main support 38, driving the transmission wheel 351 to rotate in a different direction. The rotation of the transmission wheel 351 further engages with the first rack portion 391 extending circumferentially along the bottom wall of the limiting bracket 39, thereby precisely converting the linear reciprocating motion of the second connecting member 36 into the circumferential reciprocating swing motion of the limiting bracket 39 relative to the main bracket 38. At this time, multiple second clamping members 37 rotatably connected to the limiting bracket 39 oscillate circumferentially with the limiting bracket 39. During this rotation, the connecting rod 352 at the bottom of the second clamping member 37 is limited to passing through the radial guide hole 392 of the limiting bracket 39, and the limiting post 3521 at the end of the connecting rod 352 is deeply inserted into the stationary mounting groove 381 of the main bracket 38. Due to the movement of the limiting bracket 39 relative to the main bracket 38, the spatial intersection between the radial guide hole 392 and the static mounting groove 381 undergoes periodic displacement. The limiting post 3521 slides within the mounting groove 381, forcibly forcing the connecting rod 352 to move radially towards or away from the output shaft axis along the radial guide hole 392. Ultimately, under the combined effect of the radial constraint of the radial guide hole 392 and the trajectory constraint of the mounting groove 381, the second clamping member 37 rotates circumferentially with the upper limit bracket 39, while its top clamping end oscillates radially around its central axis. This composite motion trajectory provides a kneading sensation of circumferential rotation combined with radial gripping to the periphery of the outer shell 2, achieving a highly effective technical result.

[0071] Regardless of the architecture of the above embodiments, before the rehabilitation device 100 is about to stop working, the system control circuit will drive the drive component 5 to force it to rotate a preset number of turns in the second direction (reverse). In this state, the movable support 424 (or moving support 428) inside the shape control component 4 is forced to perform a reverse axial displacement under the reverse thrust of the spiral groove or the elastic rebound force of the second elastic component 425 (or the third elastic component 429) until the guide component 4244 returns to the initial end, so that the working volume of the space where the adsorption part 22 is recessed inward is completely cleared. At this time, the outer surface of the flexible shell 2 is completely restored to its initial flat and smooth state under the elastic recovery force of its own material and the support of the internal support component. This fundamentally eliminates the skin contact surface depression in the unused state, prevents the accumulation of dust and dirt, and ensures the convenience of cleaning and the visual aesthetics of the whole machine.

[0072] Specifically, please refer to Figure 8 , Figure 9 and Figure 10 The shape control component 4 includes a guide bracket 422, a movable bracket 424, and a pressing member 423. The guide bracket 422 is sleeved on the output shaft 51, and the outer peripheral surface of the guide bracket 422 is provided with a guide groove 4221, which extends spirally along the outer peripheral surface of the guide bracket 422. The movable bracket 424 is movably disposed on the support body 1 and located outside the guide bracket 422. The movable bracket 424 is partially inserted into the guide groove 4221 and is limitedly matched with the guide groove 4221. The movable bracket 424 is connected to the inner side of the outer shell 2. The pressing member 423 is connected to the guide bracket 422 and abuts against the outer shell 2. The abutting part of the pressing member 423 is offset from the axis of the output shaft 51.

[0073] The guide bracket 422 is sleeved on the output shaft 51 and has a gap between it and the conversion bracket 411 to form a first limiting space 4222. The outer peripheral surface of the guide bracket 422 is provided with a guide groove 4221. The guide groove 4221 extends spirally along the outer peripheral surface of the guide bracket 422, and one end of the guide groove 4221 is connected to the first limiting space 4222 so that the movable bracket 424 can slide from the first limiting space 4222 into the guide groove 4221. The other end of the guide groove 4221 does not penetrate the body of the guide bracket 422, so that when the movable bracket 424 moves to this end, it can abut against the inner wall of the guide groove 4221 and be limited, preventing the movable bracket 424 from continuing to move along the guide groove 4221. The pressing member 423 is fixedly connected to the guide bracket 422, or integrally formed. The extension direction of the pressing member 423 is at an angle to the axis of the output shaft 51, and the contact point between the pressing member 423 and the inner side of the outer casing 2 is offset from the axis of the output shaft 51, so that the pressing member 423 can produce an eccentric pressing effect when rotating with the guide bracket 422. The movable bracket 424 is movably mounted on the support body 1 and located outside the guide bracket 422. The movable bracket 424 is partially inserted into the guide groove 4221 and is limited and matched with the groove wall of the guide groove 4221, so that the movable bracket 424 can move along the spiral trajectory of the guide groove 4221.

[0074] The movable bracket 424 is movably mounted on the support body 1 and located in the outer circumferential region of the guide bracket 422. It can move along the axial direction of the output shaft 51 to have two working states: a first state and a second state. Please refer to [link / reference]. Figure 12 In the first state, a portion of the movable bracket 424 is partially inserted into the guide groove 4221. At this time, regardless of whether the output shaft 51 rotates in the first or second direction, it will drive the guide bracket 422 to rotate, thereby causing the movable bracket 424 to reciprocate along the axis of the output shaft 51. When the output shaft 51 continues to rotate in the first direction, the movable bracket 424 disengages from one end of the guide groove 4221 and enters the first limiting space 4222. The movable bracket 424 is then in the second state. Please refer to [link to relevant documentation]. Figure 10 After the movable bracket 424 is inserted into the first limiting space 4222, if the output shaft 51 continues to rotate in the first direction, the movable bracket 424 will abut against the bottom of the guide bracket 422 and will not move axially upwards, thus no longer changing the working volume of the adsorption part 22, and the adsorption part 22 reaches its maximum working volume state. Please refer to... Figure 11In the second state, if the output shaft 51 rotates along the second direction, it can drive the conversion bracket 411 to rotate. The conversion bracket 411 drives the movable bracket 424 to move through other transmission structures, so that the movable bracket 424 enters the guide groove 4221 from the end of the guide groove 4221 that is connected to the first limiting space 4222, thereby allowing the movable bracket 424 to change from the second state to the first state.

[0075] In the second state, a portion of the movable bracket 424 is partially inserted into the first limiting space 4222. No circumferential transmission connection is formed between the movable bracket 424 and the guide bracket 422. The output shaft 51 rotates along the first direction of rotation, and the guide bracket 422 can rotate freely relative to the movable bracket 424 without causing axial displacement of the movable bracket 424. In this state, the shape control component 4 mainly performs the rotation and pressing function. In the first state, a portion of the movable bracket 424 is partially inserted into the guide groove 4221 on the outer circumferential surface of the guide bracket 422. A circumferential transmission connection is established between the movable bracket 424 and the guide bracket 422. The rotation of the guide bracket 422 can drive the movable bracket 424 to move along the axial direction of the output shaft 51 through the guide groove 4221. The movable bracket 424 is also connected to the adsorption part 22, thereby changing the working volume of the adsorption part 22. In this state, the shape control component 4 adds an axial reciprocating movement function while performing rotation and pressing, thereby achieving a pulsating pressure wave effect.

[0076] Specifically, please refer to Figure 14 , Figure 15 and Figure 16 The first eccentric bracket 31 can serve as a drive shaft, transmitting the rotation of the output shaft 51. A one-way bearing 412 is fitted onto the first eccentric bracket 31. The end of the conversion bracket 411 has three protrusions arranged circumferentially, and each protrusion has a first abutment surface 4111 formed on its surface. The first abutment surface 4111 is inclined. In the second state, the conversion bracket 411 drives the movable bracket 424 to move via the first ejector bracket 421. At this time, the end of the first ejector bracket 421 has three grooves, and the bottom wall of each groove has a third abutment surface 4211 formed on its bottom wall. The third abutment surface 4211 is inclined and its inclination angle is consistent with that of the first abutment surface 4111.

[0077] In one implementation, please refer to Figure 10 , Figure 11 and Figure 12The shape control component 4 also includes a first ejector bracket 421, which is movably sleeved on the output shaft 51 and can move along the axial direction of the output shaft 51. One end of the first ejector bracket 421 facing the guide bracket 422 has a limiting surface 4212, which is inclined. The movable bracket 424 has a guide member 4244 and a first elastic member 4243. Both ends of the first elastic member 4243 abut against the guide member 4244 and the movable bracket 424, respectively. The guide member 4244 is used to insert into the guide groove 4221. When the output shaft 51 rotates along the second direction, the first ejector bracket 421 moves towards the guide bracket 422, the limiting surface 4212 abuts against the guide member 4244, and pushes the guide member 4244 to compress the first elastic member 4243, overcoming the elastic resistance of the first elastic member 4243 and pushing the guide member 4244 into the guide groove 4221.

[0078] In this embodiment, the first ejector bracket 421 is movably sleeved on the output shaft 51, located within the first limiting space 4222, and can move along the axial direction of the output shaft 51. The end of the first ejector bracket 421 facing the conversion bracket 411 has a third abutment surface 4211, which abuts against the first abutment surface 4111. The third abutment surface 4211 and the first abutment surface 4111 on the conversion bracket 411 can be configured as a wavy cam surface, a sawtooth end face, or an inclined plane end face, etc. The rotational movement of the conversion bracket 411 causes the first abutment surface 4111 to rotate relative to the third abutment surface 4211, thereby causing the first ejector bracket 421 to move axially. When the output shaft 51 rotates along the second direction, the conversion bracket 411 rotates and engages with the first abutment surface 4111 through the third abutment surface 4211, driving the first ejector bracket 421 to move toward the guide bracket 422, so as to push the movable bracket 424 from the second state to the first state.

[0079] Meanwhile, the first ejector bracket 421 has a limiting surface 4212 at one end facing the guide bracket 422. The limiting surface 4212 is inclined. The movable bracket 424 includes a frame 4241, a guide member 4244, and a first elastic member 4243. The frame 4241 is movably mounted on the support body 1 and located outside the guide bracket 422. The frame 4241 has a movable groove 4242, and the opening of the movable groove 4242 faces the guide bracket 422. The guide member 4244 is located in the movable groove 4242, and one end of the guide member 4244 protrudes from the opening of the movable groove 4242. The first elastic member 4243 is located in the movable groove 4242, and both ends of the first elastic member 4243 abut against the bottom of the guide member 4244 and the movable groove 4242, respectively.

[0080] It should be noted that the radial depth of the guide groove 4221 is less than the depth of the first limiting space 4222. In the second state, when the output shaft 51 rotates in the second direction and the first ejector bracket 421 moves toward the guide bracket 422, the limiting surface 4212 abuts against the part of the guide member 4244 protruding from the groove opening and compresses the first elastic member 4243, so that the guide member 4244 moves toward the bottom of the movable groove 4242 until the guide member 4244 is compressed into the movable groove 4242 for a sufficient length. Then the guide member 4244 can enter the guide groove 4221, thereby moving to the first state. At this time, the guide groove 4221 and the movable groove 4242 are connected. Under the action of the elastic restoring force of the first elastic member 4243, the guide member 4244 pops out from the movable groove 4242 and is limited and inserted into the guide groove 4221, thereby establishing a circumferential transmission connection between the frame 4241 and the guide bracket 422.

[0081] In one implementation, please refer to Figure 3 and Figure 8 The support body 1 is provided with a guide rod 11, the extension direction of the guide rod 11 is parallel to the axis direction of the output shaft 51, and the first ejector bracket 421 and the movable bracket 424 are spaced and sleeved on the guide rod 11.

[0082] In this embodiment, a guide rod 11 is fixedly installed on the support body 1. The extension direction of the guide rod 11 is parallel to the axial direction of the output shaft 51. The first ejector bracket 421 and the movable bracket 424 are both sleeved on the guide rod 11, and the two are spaced apart along the axial direction of the guide rod 11. The guide rod 11 provides a guiding reference for the axial movement of the first ejector bracket 421 and the movable bracket 424, so that the first ejector bracket 421 and the movable bracket 424 can maintain a stable motion trajectory when moving along the axial direction of the output shaft 51, avoiding radial offset or circumferential rotation.

[0083] In one embodiment, the number of guide rods 11 can be one, two, or more, and the multiple guide rods 11 can be evenly distributed along the circumference of the output shaft 51.

[0084] In one embodiment, the guide rod 11 can be integrally formed with the support body 1, or it can be fixed to the support body 1 by threaded connection, interference fit or welding.

[0085] In one implementation, please refer to Figure 10 The active mechanism 42 also includes a second elastic element 425, the two ends of which abut against the first ejector bracket 421 and the guide bracket 422 respectively.

[0086] When the first ejector bracket 421 moves toward the guide bracket 422 under the push of the conversion bracket 411, the second elastic element 425 is compressed and stores elastic potential energy. Simultaneously, the first ejector bracket 421 pushes the guide bracket 422 to move synchronously, aligning the guide groove 4221 on the outer circumference of the guide bracket 422 with the movable groove 4242 on the movable bracket 424. The guide element 4244 of the movable bracket 424 is then positioned and inserted into the guide groove 4221 under the elastic action of the first elastic element 4243. As the conversion bracket 411 continues to rotate, the high point of the first contact surface 4111 and the low point of the third contact surface 4211 separate. The second elastic element 425 releases its elastic potential energy, pushing the first ejector bracket 421 back to its original position, and the high point of the first contact surface 4111 re-engages with the high point of the third contact surface 4211.

[0087] Specifically, the guide bracket 422 has a insertion groove at one end facing the first ejector bracket 421 for installing the second elastic member 425, so as to avoid the second elastic member 425 from radial displacement and ensure the stability of the movement process.

[0088] In one implementation, please refer to Figure 1 and Figure 2 The rehabilitation device 100 also includes a clamping assembly 3, which is connected to the output shaft 51 and the housing 2. The clamping assembly 3 is driven by the output shaft 51 of the drive member 5 and is located in the movable cavity 21. The end of the clamping assembly 3 abuts against the housing 2, and the abutment point corresponds to the periphery of the adsorption part 22. The end of the shape control assembly 4 abuts against the housing 2 at the middle position of the adsorption part 22. The drive member 5 can drive the clamping assembly 3 to open and close.

[0089] In this embodiment, both the clamping component 3 and the shape control component 4 are connected to the same output shaft 51 and act on different positions of the adsorption part 22. The contact point of the clamping component 3 is located at the periphery of the adsorption part 22, while the contact point of the shape control component 4 is located at the center of the adsorption part 22. This arrangement ensures that the opening and closing motion generated by the clamping component 3 mainly acts on the peripheral area of ​​the adsorption part 22, creating a kneading effect. The axial movement generated by the shape control component 4 mainly acts on the central area of ​​the adsorption part 22, creating a pressing or pressure wave massage effect. The two movements are superimposed on the same adsorption part 22, but the areas of action are different, thereby avoiding motion interference and realizing a composite massage function.

[0090] The three massage modes of kneading, pressing and pressure wave can be integrated by a single drive unit 5, without the need for multiple motors and air pumps. This simplifies the internal structure of the device, reduces the overall space occupied, and makes it easier for users to hold and operate.

[0091] In one implementation, please refer to Figure 5 , Figure 6 and Figure 7 The clamping assembly 3 includes multiple first eccentric wheels 312, multiple first connecting members 32, and multiple first clamping members 33. The multiple first eccentric wheels 312 are sequentially sleeved on the output shaft 51, and the central axis of each first eccentric wheel 312 is offset from the output shaft 51. One end of each first connecting member 32 is driven to engage with a first eccentric wheel 312. The middle part of each first clamping member 33 is rotatably connected to the support body 1. One end of each first clamping member 33 is connected to a first connecting member 32, and the other end abuts against the inner side of the outer shell 2. The abutting points of the multiple first clamping members 33 are spaced apart along the periphery of the adsorption part 22. When the output shaft 51 rotates, the first connecting member 32 and the first eccentric wheel 312 drive to move one end of the first clamping member 33, thereby causing the first clamping member 33 to rotate around its middle part, so as to generate periodic opening and closing at the periphery of the adsorption part 22.

[0092] In this embodiment, the clamping assembly 3 includes a first eccentric bracket 31, two first connecting members 32, and two first clamping members 33. The first eccentric bracket 31 is sleeved on the output shaft 51 and extends along the axial direction of the output shaft 51. The first eccentric bracket 31 has two first eccentric wheels 312 arranged sequentially along its axial direction. The axes of the two first eccentric wheels 312 are parallel to the axis of the output shaft 51 and are located on opposite sides of the output shaft 51, that is, the eccentric directions of the two first eccentric wheels 312 relative to the output shaft 51 are opposite. The two first connecting members 32 are respectively connected to the two first eccentric wheels 312 and are located on opposite sides of the first eccentric bracket 31. One end of each of the two first clamping members 33 is connected to the two first connecting members 32. The middle part of each first clamping member 33 is rotatably connected to the support body 1, and the other end of each of the two first clamping members 33 abuts against the outer shell 2. The output shaft 51 drives the first eccentric bracket 31 to rotate, causing the two first connecting members 32 to move closer or further apart, so that the two first clamping members 33 open or close.

[0093] When the output shaft 51 drives the first eccentric bracket 31 to rotate, the two first eccentric wheels 312 respectively perform eccentric circular motion around the axis of the output shaft 51. Since the two first eccentric wheels 312 are located on opposite sides of the output shaft 51, the two first eccentric wheels 312 respectively drive the corresponding first connecting members 32 to produce displacement in opposite directions. That is, while one first connecting member 32 moves to the left, the other first connecting member 32 moves to the right, so that the two first clamping members 33 swing in opposite directions around the rotation fulcrum in the middle, so that the other ends of the two first clamping members 33 move closer or further away from each other, thereby periodically clamping and releasing the peripheral area of ​​the outer shell 2 to achieve a kneading massage effect.

[0094] Specifically, please refer to Figure 7 , Figure 15 and Figure 16 The first eccentric support 31 includes a first main shaft 311, a bearing wheel 314, and two first eccentric wheels 312. The first main shaft 311 is coaxially arranged with the output shaft 51 and is used to transmit the rotation of the output shaft 51. The bearing wheel 314 and the two first eccentric wheels 312 are sequentially arranged at the end of the first main shaft 311 facing the output shaft 51. The bearing wheel 314 is used to support the conversion mechanism 41. The first eccentric wheel 312 of the bearing wheel 314 has a first slot on the side facing the output shaft 51, and the output shaft 51 is inserted into the first slot.

[0095] The first main shaft 311 is coaxially arranged with the output shaft 51 and is used to receive and transmit the rotational motion of the output shaft 51. A support wheel 314 and two first eccentric wheels 312 are sequentially installed on the end of the first main shaft 311 facing the output shaft 51, and the three are arranged along the axial direction of the output shaft 51. The support wheel 314 supports the conversion mechanism 41 and provides support for it. The end of the output shaft 51 is directly inserted into the first slot of the first eccentric wheel 312, thereby establishing a torque transmission path between the output shaft 51 and the first eccentric support 31, and simultaneously achieving coaxial positioning of the two.

[0096] In other embodiments, the first eccentric bracket 31 is provided with three first eccentric wheels 312 along its axial direction. The three first eccentric wheels 312 are arranged sequentially along the axial direction of the first main shaft 311, and the eccentric directions of two adjacent first eccentric wheels 312 are set at an angle of 120 degrees, that is, the three first eccentric wheels 312 are evenly arranged circumferentially around the axis of the output shaft 51. Each first eccentric wheel 312 is drivenly connected to a first connecting member 32, and the three first connecting members 32 are respectively located at three circumferential positions of the first eccentric bracket 31. The middle parts of the three first clamping members 33 are rotatably connected to the support body 1, one end of the three first clamping members 33 is connected to the three first connecting members 32, and the other end abuts against the inner side of the outer shell 2, and the abutting points of the three first clamping members 33 are evenly spaced along the periphery of the adsorption part 22. When the output shaft 51 drives the first eccentric bracket 31 to rotate, the three first eccentric wheels 312 respectively drive the corresponding first connecting parts 32 to generate periodic displacement with a phase difference of 120 degrees, thereby causing the three first clamping parts 33 to swing alternately around the central rotation fulcrum, realizing the periodic approach or departure of the other end of the three first clamping parts 33, and thus generating three-point alternating clamping and release on the peripheral area of ​​the outer shell 2, so as to achieve a more delicate and uniform kneading massage effect.

[0097] In other embodiments, the first eccentric support 31 is provided with four or more first eccentric wheels 312 along its axial direction. The plurality of first eccentric wheels 312 are evenly arranged circumferentially around the axis of the output shaft 51. This structure is similar to the structure of two and three, and will not be described in detail here.

[0098] In one embodiment, the first slot can be configured as a circular blind hole, a square blind hole, or a spline hole, and the output shaft 51 and the first slot can transmit torque through an interference fit, a key connection, or a spline connection.

[0099] In one implementation, please refer to Figure 5 , Figure 6 and Figure 7 Each first connector 32 is provided with a third guide hole 321, and two first eccentric wheels 312 are respectively inserted into the two third guide holes 321. When the first eccentric bracket 31 is in place, the two first eccentric wheels 312 rotate around the axis of the output shaft 51, causing the two first connectors 32 to move closer or further apart.

[0100] In this embodiment, each first connector 32 is provided with a third guide hole 321. A first eccentric wheel 312 is inserted into the third guide hole 321 of one of the first connectors 32, and the other first eccentric wheel 312 is inserted into the third guide hole 321 of the other first connector 32. The third guide hole 321 provides movement space for the two first eccentric wheels 312. When the first eccentric bracket 31 rotates, the two first eccentric wheels 312 respectively perform eccentric circular motion around the axis of the output shaft 51. Since the two first eccentric wheels 312 are located on opposite sides of the output shaft 51, they push the corresponding first connectors 32 to produce displacements in opposite directions during rotation, thereby causing the two first connectors 32 to move closer or further apart.

[0101] Please see Figure 17 and Figure 18 The present invention also proposes a rehabilitation device 100 with another structure. The rehabilitation device 100 is consistent with the previous embodiment in overall function. It can also achieve the effects of pressing, kneading and pressure wave massage through a single driving component 5. The main difference lies in the different moving mechanism 42 and clamping component 3.

[0102] In one implementation, please refer to Figure 24 and Figure 25The shape control component 4 includes a conversion bracket 411 and a second ejection bracket 426 sleeved on the output shaft 51. The second ejection bracket 426 is connected to the adsorption part 22 through a movable bracket 428, and a third elastic element 429 is provided between the second ejection bracket 426 and the fixed bracket 427 fixed on the support body 1. The opposite end faces of the conversion bracket 411 and the second ejection bracket 426 are respectively provided with a first abutting surface 4111 and a second abutting surface 4261 that abut against each other and are both arranged in a wave shape. When the output shaft 51 rotates along the second direction, the conversion bracket 411 rotates synchronously with the output shaft 51 and rotates relative to the second ejection bracket 426. Through the continuous relative rotation of the first abutting surface 4111 and the second abutting surface 4261, the third elastic element 429 is alternately compressed and released to drive the adsorption part 22 to periodically move towards or away from the support body 1.

[0103] In this embodiment, the movable mechanism 42 of the shape control component 4 includes a fixed bracket 427, a second ejector bracket 426, a movable bracket 428, a pressing member 423, and a third elastic member 429. The fixed bracket 427 is disposed on the support body 1 and forms a second limiting space 4271 facing the support body 1. The conversion bracket 411 is located in the second limiting space 4271. The top of the fixed bracket 427 has a movable opening 4272 communicating with the second limiting space 4271. The movable opening 4272 is coaxially arranged with the output shaft 51. The second ejector bracket 426 is movably disposed in the second limiting space 4271 and abuts against the inner wall of the fixed bracket 427 for limitation. The second ejector bracket 426 can move along the axial direction of the output shaft 51, and the end of the second ejector bracket 426 facing the conversion bracket 411 has a second abutting surface 4261. The second abutting surface 4261 abuts against the first abutting surface 4111. The second abutting surface 4261 and the first elastic member 429 are connected. All abutment surfaces 4111 are wavy; the first abutment surface 4111 and the second abutment surface 4261 have a first mating state and a second mating state. In the first mating state, the high point of the first abutment surface 4111 abuts against the high point of the second abutment surface 4261; in the second mating state, the high point of the first abutment surface 4111 abuts against the low point of the second abutment surface 4261; the movable bracket 428 is disposed in the second limiting space 4271, one end of the movable bracket 428 is sleeved on the output shaft 51 and abuts against the second ejector bracket 426, and the other end extends out through the movable opening 4272; one end of the pressing member 423 is connected to the movable bracket 428, and the other end is connected to the outer shell 2. The extension direction of the pressing member 423 is set at an angle to the axial direction of the output shaft 51; the third elastic member 429 is disposed in the second limiting space 4271, and both ends of the third elastic member 429 abut against the top wall of the movable bracket 428 and the second limiting space 4271, respectively. When the output shaft 51 rotates along the second direction, the conversion bracket 411 rotates, and the first abutment surface 4111 and the second abutment surface 4261 change from the first engagement state to the second engagement state. The second ejector bracket 426 moves along the axial direction of the output shaft 51 and pushes the moving bracket 428 to compress the third elastic element 429. The conversion bracket 411 continues to rotate, and the high point of the first abutment surface 4111 passes the high point of the second abutment surface 4261. The moving bracket 428 resets under the elastic action of the third elastic element 429, and the first abutment surface 4111 and the second abutment surface 4261 return to the first engagement state.

[0104] Specifically, the fixed bracket 427 is installed on the support body 1 and forms a second limiting space 4271 facing the support body 1. The conversion bracket 411 is located inside the second limiting space 4271. The top of the fixed bracket 427 has a movable opening 4272, which communicates with the second limiting space 4271 and is coaxially arranged with the output shaft 51, providing an extension channel for the movable bracket 428. The second ejection bracket 426 is movably installed in the second limiting space 4271, and the outer peripheral surface of the second ejection bracket 426 abuts against the inner wall of the fixed bracket 427, limiting its movement so that the second ejection bracket 426 can only move along the axial direction of the output shaft 51 and cannot undergo radial offset or circumferential rotation.

[0105] The second ejector bracket 426 has a second abutment surface 4261 at one end facing the conversion bracket 411. The second abutment surface 4261 abuts against the first abutment surface 4111 on the conversion bracket 411, and both the second abutment surface 4261 and the first abutment surface 4111 are wavy. The first abutment surface 4111 and the second abutment surface 4261 have two engagement states: in the first engagement state, the high point of the first abutment surface 4111 abuts against the high point of the second abutment surface 4261, and the second ejector bracket 426 is at its lowest axial position; in the second engagement state, the high point of the first abutment surface 4111 abuts against the low point of the second abutment surface 4261, and the second ejector bracket 426 is lifted to its highest axial position. The movable bracket 428 is installed in the second limiting space 4271. One end of the movable bracket 428 is sleeved on the output shaft 51 and abuts against the second ejector bracket 426, and the other end extends outward through the movable opening 4272. One end of the pressing member 423 is connected to the movable bracket 428, and the other end is connected to the outer casing 2. The extension direction of the pressing member 423 is set at an angle to the axial direction of the output shaft 51. The third elastic member 429 is installed in the second limiting space 4271, and both ends of the third elastic member 429 elastically abut against the top wall of the movable bracket 428 and the second limiting space 4271, respectively.

[0106] When the output shaft 51 rotates along the second direction, the conversion bracket 411 rotates accordingly. The first abutment surface 4111 and the second abutment surface 4261 change from the first engagement state to the second engagement state. The second ejector bracket 426 moves upward along the axial direction of the output shaft 51, pushing the movable bracket 428 upward as well, while simultaneously compressing the third elastic element 429. As the conversion bracket 411 continues to rotate, the high point of the first abutment surface 4111 passes the high point of the second abutment surface 4261. Under the elastic restoring force of the third elastic element 429, the movable bracket 428 resets downward, and the first abutment surface 4111 and the second abutment surface 4261 return to the first engagement state, thus completing one axial movement cycle.

[0107] In one embodiment, please refer to Figure 26 and Figure 27 The end of the conversion bracket 411 facing the second ejector bracket 426 has a wavy first abutment surface 4111, which is arranged along the periphery of the conversion bracket 411. The end of the second ejector bracket 426 facing the conversion bracket 411 has a wavy third abutment surface 4211, the curvature of which is the same as that of the first abutment surface 4111.

[0108] In one implementation, please refer to Figure 25 The second ejector bracket 426 has a fourth abutment surface 4262 inside, which abuts against the movable bracket 428. When the second ejector bracket 426 moves along the axis of the output shaft 51, the movable bracket 428 is moved by the fourth abutment surface 4262.

[0109] In this embodiment, a fourth abutment surface 4262 is formed inside the second ejector bracket 426. The fourth abutment surface 4262 is disposed facing the movable bracket 428 and abuts against the corresponding end face of the movable bracket 428. When the second ejector bracket 426 moves along the axial direction of the output shaft 51 under the push of the conversion bracket 411, the fourth abutment surface 4262 abuts against the movable bracket 428, thereby directly transmitting the axial displacement of the second ejector bracket 426 to the movable bracket 428, causing the movable bracket 428 to move synchronously along the axial direction of the output shaft 51.

[0110] In one embodiment, a buffer pad may be provided between the movable support 428 and the fourth abutment surface 4262 to reduce friction.

[0111] In one implementation, please refer to Figure 19 , Figure 20 and Figure 21 The clamping assembly 3 includes a second eccentric wheel 342 sleeved on the output shaft 51 and a limiting bracket 39 movably sleeved on the outside of the main bracket 38. The main bracket 38 is fixedly mounted on the support body 1. The second eccentric wheel 342 is driven to cooperate with the limiting bracket 39 through the second connecting member 36. A plurality of second clamping members 37 are rotatably connected to the limiting bracket 39. One end of the plurality of second clamping members 37 is spaced along the periphery of the adsorption part 22 and abuts against the inner side of the outer shell 2. The other end of each second clamping member 37 is simultaneously controlled by the radial guide hole 392 of the limiting bracket 39 and the mounting groove 381 of the main bracket 38. When the output shaft 51 rotates, the second eccentric wheel 342 cooperates with the second connecting member 36 to drive the limiting bracket 39 to rotate relative to the main bracket 38. The second clamping members 37 rotate with the limiting bracket 39 and are oscillating due to the combined constraint of the radial guide hole 392 and the mounting groove 381, thereby generating periodic opening and closing at the periphery of the adsorption part 22.

[0112] In this embodiment, the clamping assembly 3 includes a second eccentric bracket 34, a main bracket 38, a limiting bracket 39, a second connecting member 36, and a plurality of second clamping members 37. The second eccentric bracket 34 is sleeved on the output shaft 51 and extends along the axial direction of the output shaft 51. The second eccentric bracket 34 is provided with a second eccentric wheel 342, the axis of which is parallel to the axis of the output shaft 51 and offset from the output shaft 51. The main bracket 38 is disposed on the support body 1 and located outside the second eccentric bracket 34. The main bracket 38 is provided with a plurality of mounting slots 381. The limiting bracket 39 is movably sleeved on the main bracket 38 and can rotate relative to the main bracket 38. The limiting bracket 39 is provided with multiple radial guide holes 392, which are spaced apart along the periphery of the limiting bracket 39. Each radial guide hole 392 extends radially along the limiting bracket 39 and communicates with a mounting groove 381. The second connecting member 36 is connected to the limiting bracket 39 and the second eccentric wheel 342 respectively. Multiple second clamping members 37 are spaced apart along the periphery of the limiting bracket 39, and the middle part of each second clamping member 37 is rotatably connected to the limiting bracket 39. One end of the second clamping member 37 passes through the radial guide hole 392 and is inserted into the mounting groove 381. The other end of the second clamping member 37 is connected to the outer shell 2. The output shaft 51 drives the second eccentric bracket 34 to rotate, and drives the limiting bracket 39 to rotate through the second connector 36, so as to synchronously drive multiple second clamping members 37 to rotate around the axis of the output shaft 51. During the rotation of the limiting bracket 39, one end of the second clamping member 37 moves along the extension direction of the mounting groove 381 and moves closer to or away from the axis of the output shaft 51, so that the multiple second clamping members 37 open or close.

[0113] Specifically, the second eccentric bracket 34 is sleeved on the output shaft 51 and extends along the axial direction of the output shaft 51. The second eccentric bracket 34 has a second eccentric wheel 342, the axis of which is parallel to the axis of the output shaft 51, and the second eccentric wheel 342 is offset relative to the output shaft 51. The main bracket 38 is mounted on the support body 1 and arranged in the outer circumferential area of ​​the second eccentric bracket 34. The main bracket 38 has multiple mounting slots 381. The limiting bracket 39 is movably sleeved on the main bracket 38 and can rotate relative to the main bracket 38 around the axis of the output shaft 51. The limiting bracket 39 has multiple radial guide holes 392, which are spaced apart along the circumferential edge of the limiting bracket 39. Each radial guide hole 392 extends radially along the limiting bracket 39 and communicates with a mounting slot 381 on the main bracket 38. The second connecting member 36 forms a transmission connection with the limiting bracket 39 and the second eccentric wheel 342 respectively. Multiple second clamping members 37 are arranged at intervals along the circumferential edge of the limiting bracket 39, and the middle part of each second clamping member 37 is rotatably connected to the limiting bracket 39. One end of the second clamping member 37 passes through the radial guide hole 392 and is inserted into the corresponding mounting groove 381, and the other end of the second clamping member 37 is connected to the outer shell 2.

[0114] When the output shaft 51 drives the second eccentric bracket 34 to rotate, the second connecting member 36 transmits the rotational motion of the second eccentric bracket 34 to the limiting bracket 39, causing the limiting bracket 39 to rotate synchronously, thereby synchronously driving multiple second clamping members 37 to rotate around the axis of the output shaft 51. During the rotation of the limiting bracket 39, since one end of the second clamping member 37 is simultaneously guided by the radial guide hole 392 and guided along the extension direction of the mounting groove 381, one end of the second clamping member 37 moves along the extension direction of the mounting groove 381 to move closer to or away from the axis of the output shaft 51. The rotating shaft on the second clamping member 37 serves as the rotation fulcrum, causing the other ends of multiple second clamping members 37 to move away from or closer to each other simultaneously, thereby realizing the opening and closing action of the second clamping members 37.

[0115] In one embodiment, the mounting groove 381 on the main bracket 38 is configured as an arc-shaped groove, and the extending direction of the mounting groove 381 can be along the radial, tangential or inclined direction of the main bracket 38.

[0116] In one embodiment, the number of second clamping members 37 may be three or four or more, and they may be evenly or non-uniformly distributed along the circumference of the limiting bracket 39.

[0117] In one implementation, please refer to Figure 21 and Figure 23The second clamping member 37 has a rotating shaft in the middle, which is rotatably connected to the limiting bracket 39. The end of the second clamping member 37 near the limiting bracket 39 has a connecting rod 352, which is rotatably connected to the second clamping member 37. The connecting rod 352 is limited and inserted into the radial guide hole 392 and can move along the extension direction of the radial guide hole 392. The end of the connecting rod 352 away from the second clamping member 37 has a limiting post 3521, which is limited and inserted into the mounting groove 381 and can move along the extension direction of the mounting groove 381.

[0118] In this embodiment, the second clamping member 37 has a pivot in its middle, and the second clamping member 37 is rotatably connected to the limiting bracket 39 through the pivot. A connecting rod 352 is provided at one end of the second clamping member 37 near the limiting bracket 39. The connecting rod 352 is rotatably connected to the second clamping member 37 and can rotate relative to the second clamping member 37. The connecting rod 352 is inserted into the radial guide hole 392 on the limiting bracket 39 and can move along the extending direction of the radial guide hole 392. A limiting post 3521 is provided at the end of the connecting rod 352 away from the second clamping member 37. The limiting post 3521 is inserted into the mounting groove 381 of the main bracket 38 and can move along the extending direction of the mounting groove 381.

[0119] When the limiting bracket 39 rotates relative to the main bracket 38, the radial guide hole 392 rotates with the limiting bracket 39, while the mounting groove 381 remains stationary due to the fixed main bracket 38. Through the combined constraint of the two, the limiting post 3521 moves along the mounting groove 381, which drives the connecting rod 352 to move along the radial guide hole 392, thereby driving the bottom of the second clamping member 37 to move, so that the second clamping member 37 swings around the central axis to achieve the opening and closing action.

[0120] This configuration allows the second clamping member 37 to open and close while simultaneously rotating circumferentially around the output shaft 51, resulting in a kneading massage effect that occurs in both radial opening and closing and circumferential rotation. This provides richer stimulation to the skin and enhances the comfort of the massage.

[0121] In one implementation, please refer to Figure 20 , Figure 21 and Figure 22 The bottom of the limiting bracket 39 is provided with a second limiting groove 393, and the main bracket 38 is embedded in the second limiting groove 393.

[0122] In this embodiment, a second limiting groove 393 is provided at the bottom of the limiting bracket 39, and the main bracket 38 is integrally embedded in the second limiting groove 393. The second limiting groove 393 provides radial positioning and axial limiting for the relative rotation between the limiting bracket 39 and the main bracket 38. The outer peripheral wall of the main bracket 38 and the groove wall of the second limiting groove 393 fit together, so that the limiting bracket 39 can be sleeved on the main bracket 38 and rotate around the axis of the main bracket 38. At the same time, the second limiting groove 393 restricts the radial offset of the limiting bracket 39, ensuring that the rotation axis of the limiting bracket 39 is consistent with the axis of the output shaft 51, thereby ensuring that the multiple second clamping members 37 move synchronously.

[0123] In one implementation, please refer to Figure 19 , Figure 20 and Figure 21 The second eccentric bracket 34 includes a second main shaft 341 and a second eccentric wheel 342. The second main shaft 341 is used to transmit the rotation of the output shaft 51. The second eccentric wheel 342 is located at the end of the second main shaft 341 facing the output shaft 51, and a second slot is provided on the side of the second eccentric wheel 342 facing the output shaft 51, into which the output shaft 51 is inserted.

[0124] In this embodiment, the second main shaft 341 is coaxially arranged with the output shaft 51 and is used to receive and transmit the rotational torque of the output shaft 51. The second eccentric wheel 342 is located on the side of the second eccentric bracket 34 near the drive member 5. The side of the second eccentric wheel 342 facing the output shaft 51 has a second slot, and the end of the output shaft 51 is directly inserted into the second slot. The second main shaft 341 transmits the rotational motion of the output shaft 51 to the second eccentric wheel 342. The second eccentric wheel 342 performs eccentric circular motion around the axis of the output shaft 51, providing a reciprocating drive power source for the second connecting member 36.

[0125] In one embodiment, the second slot can be configured as a circular blind hole, a square blind hole, or a spline hole, and the output shaft 51 and the second slot can transmit torque through an interference fit, a key connection, or a spline connection.

[0126] In one implementation, please refer to Figure 21 and Figure 22The second connecting member 36 is provided with a first guide hole 361, and the second eccentric wheel 342 is movably disposed within the first guide hole 361. The main support 38 is provided with a guide rib 382 and a transmission wheel 351. The bottom wall of the limiting support 39 is provided with a first rack portion 391, and the second connecting member 36 is provided with a second rack portion 363. The second rack portion 363 meshes with the first rack portion 391 through the transmission wheel 351. When the output shaft 51 rotates, the second eccentric wheel 342 slides within the first guide hole 361 to drive the second connecting member 36 to reciprocate along the guide rib 382, ​​and through the meshing of the second rack portion 363, the transmission wheel 351, and the first rack portion 391, drives the limiting support 39 to rotate.

[0127] In this embodiment, the bottom wall of the main support 38 is provided with guide ribs 382 and a transmission wheel 351. The guide ribs 382 extend along a first direction. The bottom wall of the limiting support 39 is provided with a first rack portion 391, which extends circumferentially along the limiting support 39. The transmission wheel 351 is rotatably disposed between the guide ribs 382 and the first rack portion 391 and meshes with the first rack portion 391. One side of the second connecting member 36 is provided with a first guide hole 361 extending along a second direction. The second eccentric wheel 342 is movably disposed in the first guide hole 361 and can extend along the second direction. The second connector 36 moves in two directions, with the second direction forming an angle with the first direction. On the other side of the second connector 36, there are a first limiting groove 362, a second guide hole 364, and a second rack portion 363 arranged at intervals along the second direction. The first limiting groove 362 extends along the first direction, and a guide rib 382 is inserted into the first limiting groove 362 for limiting. The second guide hole 364 communicates with the first guide hole 361, and the end of the second eccentric bracket 34 away from the driving member 5 passes through the second guide hole 364. The second rack portion 363 extends along the first direction and meshes with the transmission wheel 351. The output shaft 51 drives the second eccentric bracket 34 to rotate, which in turn drives the second eccentric wheel 342 to rotate, thereby moving the second connector 36 along the first direction. During this movement, the second rack portion 363 meshes with the first rack portion 391 to drive the limiting bracket 39 to rotate.

[0128] For easier understanding, please refer to Figure 22 , Figure 22 The direction from b1 to b1 is the first direction, and the direction from a1 to a1 is the second direction.

[0129] Specifically, the bottom wall of the main support 38 is provided with guide ribs 382 and a transmission wheel 351. The guide ribs 382 extend along a first direction, providing a guide reference for the linear movement of the second connecting member 36. The bottom wall of the limiting support 39 is provided with a first rack portion 391, which extends circumferentially along the limiting support 39 to form an arc-shaped rack structure. The transmission wheel 351 is rotatably mounted on the bottom wall of the main support 38 and arranged between the guide ribs 382 and the first rack portion 391. The transmission wheel 351 simultaneously meshes with the first rack portion 391 for transmission.

[0130] The second connector 36 has a first guide hole 361 on one side, which extends along the second direction. The second eccentric wheel 342 is movably disposed in the first guide hole 361 and can move relative to the first guide hole 361 in the extending direction. The second direction is set at an angle to the first direction so that when the second eccentric wheel 342 makes eccentric circular motion around the output shaft 51, it can decompose the rotational motion into a component force along the first direction, thereby pushing the second connector 36 to make linear reciprocating motion along the guide rib 382.

[0131] On the other side of the second connecting member 36, there is a first limiting groove 362, a second guide hole 364, and a second rack portion 363, which are arranged at intervals along the second direction. The first limiting groove 362 extends along the first direction, and the guide rib 382 is inserted into the first limiting groove 362 to limit the movement of the second connecting member 366, thereby restricting the movement of the second connecting member 366 to the first guide hole 361. The second eccentric bracket 34, with its end away from the driving member 5, passes through the second guide hole 364. This arrangement provides axial positioning for the second connecting member 36 and allows the second eccentric bracket 34 to rotate freely within the second guide hole 364. The second rack portion 363 extends along the first direction and meshes with the transmission wheel 351.

[0132] When the output shaft 51 drives the second eccentric bracket 34 to rotate, the second eccentric wheel 342 performs eccentric motion within the first guide hole 361, driving the second connecting member 36 to move along the first direction. During the movement of the second connecting member 36, its second rack portion 363 meshes with the transmission wheel 351, driving the transmission wheel 351 to rotate. The transmission wheel 351 then meshes with the first rack portion 391 on the bottom wall of the limiting bracket 39, converting the linear motion of the second connecting member 36 into the rotational motion of the limiting bracket 39 around the axis of the output shaft 51, thereby driving the second clamping member 37 to rotate synchronously.

[0133] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A rehabilitation device, characterized in that, The rehabilitation device includes: Support structure; The outer shell is disposed on the support body, and the outer side of the outer shell is provided with at least one adsorption part; A driving member, the driving member being disposed on the support body; and A shape control component, which is connected to the output shaft of the drive and the adsorption part respectively; The output shaft has a first direction of rotation and a second direction of rotation; When the output shaft rotates along the first direction, the shape control component drives the adsorption part to deform in order to generate and increase the working volume of the adsorption part. When the working volume reaches the maximum, at least a part of the shape control component idles relative to the output shaft to lock the maximum working volume state of the adsorption part. When the output shaft rotates along the second direction, the shape control component rotates synchronously with the output shaft, driving the adsorption part to deform, thereby changing the working volume of the adsorption part.

2. The rehabilitation device of claim 1, wherein, When the output shaft rotates along the second direction, the shape control component causes the outer shell to deform at the adsorption part, thereby changing the external shape of the adsorption part.

3. The rehabilitation device of claim 1, wherein, When the output shaft rotates along the second direction, the shape control component causes the outer shell to deform at the adsorption part, so as to output a pulsating pressure wave or generate a negative pressure adsorption effect at the adsorption part.

4. The rehabilitation device of claim 1, wherein, The shape control component includes: A guide bracket is sleeved on the output shaft, and a guide groove is provided on the outer peripheral surface of the guide bracket, which extends spirally along the outer peripheral surface of the guide bracket. A movable bracket, movably mounted on the support body and located outside the guide bracket, is partially inserted into the guide groove and engaged with it for limiting movement. The movable bracket is connected to the inner side of the outer shell. The pressing component is connected to the guide bracket and abuts against the housing. The abutting part of the pressing component is offset from the axis of the output shaft. When the output shaft rotates along the second direction, the guide bracket rotates synchronously with the output shaft and drives the pressing member to rotate around the axis of the output shaft; the movable bracket cooperates with the guide groove to move along the axis of the output shaft and drives the adsorption part to move along the axis of the output shaft.

5. The rehabilitation device of claim 4, wherein, The shape control component further includes a first ejector bracket, which is movably sleeved on the output shaft and can move along the axial direction of the output shaft. The first ejector bracket has a limiting surface at one end facing the guide bracket, and the limiting surface is inclined. The movable bracket is provided with a guide and a first elastic member. The two ends of the first elastic member abut against the guide and the movable bracket respectively. The guide is used to insert into the guide groove. When the output shaft rotates along the second direction, the first ejector bracket moves toward the guide bracket, the limiting surface abuts against the guide member, and pushes the guide member to compress the first elastic member to overcome the elastic resistance of the first elastic member and push the guide member into the guide groove.

6. The rehabilitation device of claim 5, wherein, The shape control component further includes a second elastic element, the two ends of which abut against the first ejector bracket and the guide bracket, respectively.

7. The rehabilitation device of claim 1, wherein, The rehabilitation device further includes a clamping assembly, which is connected to the output shaft and the housing respectively. The clamping assembly includes: Multiple first eccentric wheels are sequentially sleeved on the output shaft, and the central axis of each first eccentric wheel is offset from the output shaft; Multiple first connectors, one end of each first connector engaging with a first eccentric wheel; and Multiple first clamping members are provided, with the middle of each first clamping member rotatably connected to the support body, one end of each first clamping member being connected to a first connecting member, and the other end abutting against the inner side of the outer shell, and the abutting points of the multiple first clamping members are spaced apart along the periphery of the adsorption part. When the output shaft rotates, the first connecting member and the first eccentric wheel cooperate to drive one end of the first clamping member to move, thereby causing the first clamping member to rotate around its middle part, so as to generate periodic opening and closing around the periphery of the adsorption part.

8. The rehabilitation device as described in claim 1, characterized in that, The shape control component includes a conversion bracket and a second ejector bracket sleeved on the output shaft. The second ejector bracket is connected to the adsorption part through a movable bracket, and a third elastic element is provided between the second ejector bracket and the fixed bracket fixed to the support body. The opposite end faces of the conversion bracket and the second ejection bracket are respectively provided with a first abutting surface and a second abutting surface that abut against each other and are both arranged in a wavy shape; When the output shaft rotates along the second direction, the conversion bracket rotates synchronously with the output shaft and rotates relative to the second ejection bracket. Through the continuous relative rotation of the first abutment surface and the second abutment surface, the third elastic element is alternately compressed and released to drive the adsorption part to periodically move towards or away from the support.

9. The rehabilitation device as described in claim 1, characterized in that, The rehabilitation device further includes a clamping assembly, which is connected to the output shaft and the housing respectively. The clamping assembly includes a second eccentric wheel sleeved on the output shaft and a limiting bracket movably sleeved on the outside of the main support. The main support is fixedly mounted on the support body. The second eccentric wheel is in transmission cooperation with the limiting bracket through a second connecting member. The limiting bracket is rotatably connected to a plurality of second clamping members. One end of each of the second clamping members is spaced apart along the periphery of the adsorption part and abuts against the inner side of the outer shell. The other end of each of the second clamping members is simultaneously controlled by the radial guide hole of the limiting bracket and the mounting groove of the main bracket. When the output shaft rotates, the second eccentric wheel cooperates with the second connecting member to drive the limiting bracket to rotate relative to the main bracket. The second clamping member rotates with the limiting bracket and is oscillating due to the combined constraint of the radial guide hole and the mounting groove, thereby causing periodic opening and closing at the periphery of the adsorption part.

10. The rehabilitation device as described in claim 9, characterized in that, The second connector is provided with a first guide hole, and the second eccentric wheel is movably disposed within the first guide hole; The main support is provided with guide ribs and transmission wheels. The bottom wall of the limiting support is provided with a first rack portion. The second connecting member is provided with a second rack portion. The second rack portion and the first rack portion mesh with each other through the transmission wheels. When the output shaft rotates, the second eccentric wheel slides in the first guide hole to drive the second connecting member to reciprocate along the guide rib, and through the meshing of the second rack, the transmission wheel and the first rack, the limiting bracket is driven to rotate.

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