A bionic self-adaptive massage contact head device and a massage chair core comprising the same

Abstract

The application provides a bionic adaptive massage contact device and a massage chair core containing the device, and belongs to the field of massage chairs. The device solves the problems of single movement form, poor fitting degree, single massage mode and the like of the existing massage contact. The device comprises a massage contact mechanism and a plurality of massage contact assemblies. In the massage contact mechanism, a driving motor drives four driven gears two and an inclined wheel two to rotate synchronously through a driving gear, and a linkage plate converts the rotary motion into a limited swing and rotation of a rotary hemisphere in a hemisphere limiting hole, so as to drive the massage contact claw to produce a multi-dimensional compound bionic motion. In the massage contact assembly, a contact motor drives a vibrating eccentric block to rotate at a high speed to produce high-frequency vibration. The massage chair core comprises a walking frame, a walking mechanism, a swing angle mechanism and a position adjusting mechanism on the walking frame, and multi-dimensional cooperation realizes longitudinal walking, angle following and transverse adjustment. The application can realize adaptive fitting and multi-dimensional bionic massage, and improves the massage comfort, bionic effect and safety.

Description

Technical Field

[0001] This invention belongs to the field of massage chair technology, and relates to a biomimetic adaptive massage head device, particularly a massage chair mechanism that includes a biomimetic adaptive massage head device. Background Technology

[0002] With increasing health awareness and improved living standards, massage chairs, as convenient and effective health and massage devices, have become widely used in homes, offices, and public places. Massage chairs use a massage mechanism to massage the body, and this mechanism is the core component that determines the massage effect. Currently, the types of massage chair mechanisms on the market are increasingly diverse, evolving from early 2D mechanisms to 3D, 4D, and even 5D mechanisms. Massage techniques have also expanded from simple kneading to include tapping, vibration, acupressure, and combined techniques. At the same time, the design of massage chair mechanisms in terms of walking mechanisms, tilting mechanisms, and adjustment mechanisms is constantly being optimized to adapt to the changing curves of the human back.

[0003] A search revealed several publicly available solutions for massage heads and related mechanism structures in the prior art. For example, Chinese patent literature discloses a massage mechanism and a massage chair incorporating it (application number: CN202320387378.6, publication number: CN219423273U). This massage mechanism includes a mounting frame and a massage unit mounted on the mounting frame. The massage unit consists of an elastic element and an ultrasonic massage head. The first end of the elastic element is fixedly connected to the mounting frame, and the second end is spaced apart from the mounting frame. The ultrasonic massage head is located at the second end of the elastic element. Another example is a Chinese patent literature disclosure of an adaptive massage head, massage mechanism, and massage chair (application number: CN202322723698.7, publication number: CN221451128U). This adaptive massage head includes a main shaft, a base, and a massage assembly. The massage assembly includes a massage shaft, an elastic element, and a movable massage wheel. The movable massage wheel is rotatably sleeved outside the massage shaft and can slide axially. The elastic element provides axial force to the movable massage wheel.

[0004] While the aforementioned existing technologies have achieved massage functions to some extent, they still have significant shortcomings. Current massage heads generally employ rollers or simple rotating massage head structures, resulting in limited movement patterns and an inability to simulate complex hand techniques such as kneading and pressing, thus lacking sufficient biomimetic effect. Furthermore, the walking, tilting, and adjustment mechanisms of traditional massage chair mechanisms are often independent and lack coordination, causing the massage heads to fail to fully conform to the curves of the human back, resulting in fixed massage trajectories and poor adaptability. In addition, most massage heads lack vibration functionality or have low vibration transmission efficiency, leading to relatively limited massage modes.

[0005] Based on this, the present invention proposes a biomimetic adaptive massage head device and a massage chair mechanism including the device. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a biomimetic adaptive massage head device and a massage chair mechanism including the device. The technical problem to be solved by this invention is: how to achieve adaptive fitting of the massage head device along the curve of the human back and multi-dimensional composite biomimetic massage.

[0007] The objective of this invention can be achieved through the following technical solutions: A biomimetic adaptive massage contact device includes a massage contact mechanism and several massage contact assemblies. The massage contact mechanism includes a lower massage contact housing and an upper massage contact housing disposed above the lower massage contact housing. A mounting plate is provided between the lower massage contact housing and the upper massage contact housing. A drive motor is fixed to the lower center of the mounting plate, and the output shaft of the drive motor passes upward through the mounting plate. A drive gear is fixed on the output shaft of the drive motor. Four driven gears are rotatably mounted on the upper end of the mounting plate, evenly distributed around the circumference of the drive gear. Each driven gear meshes with the drive gear. An inclined wheel is fixed to the upper end of each driven gear. The upper end of the tilting wheel two is connected to a linkage plate, the upper end of the linkage plate is provided with a rotating hemisphere, the upper end of the rotating hemisphere is provided with a massage contact claw, the massage contact claw consists of a contact claw body located in the middle and several contact claw bodies evenly distributed around the circumference, the upper end of the contact claw body is provided with a hollow mounting hole, several massage contact components are respectively connected to the mounting holes at the upper end of the contact claw body at the corresponding position, the upper end of the massage contact upper box body is provided with four hemispherical limiting holes evenly distributed around the circumference, the hemispherical limiting holes are located at the upper end of the driven gear two at the corresponding position, and the rotating hemisphere abuts against and rotates inside the hemispherical limiting hole at the corresponding position.

[0008] The working principle of this invention is as follows: After the drive motor starts, its output shaft drives the driving gear to rotate. The driving gear simultaneously meshes with four circumferentially distributed driven gears, thereby driving each driven gear and its upper fixed inclined wheel to rotate synchronously.

[0009] When each tilting wheel rotates, the rotational motion is converted into restricted oscillation and rotation of the connected rotating hemisphere within the hemispherical limiting hole of the massage contact head housing via the linkage plate at the upper end. Because the rotating hemisphere is positioned inside the hemispherical limiting hole, this structure allows the rotating hemisphere to oscillate in multiple directions and rotate around its own axis only under the constraint of the hemispherical limiting hole.

[0010] The combined motion of the rotating hemisphere is ultimately transmitted to the massage claws at the top, causing the massage claws and the multiple massage claw components mounted on them to simultaneously produce multi-dimensional, composite biomimetic massage movements similar to human hand kneading, involving rotation and oscillation. Through the coordinated movement of the four evenly distributed massage claws, a complex and adaptive massage effect is achieved on areas such as the user's back.

[0011] The massage contact assembly includes two symmetrically arranged lower joining columns and two symmetrically arranged upper joining contacts. The two upper joining contacts are connected by several bolts to form a massage contact component. Each upper joining contact has a relief cavity and mounting slots located on the upper and lower sides of the relief cavity. The mounting slots communicate with the relief cavity. The relief cavities of the two upper joining contacts are joined to form a total relief cavity. Two mounting slots of equal height are joined to form a total mounting slot. The massage contact component contains two vertically distributed bearings, each located within one of the two total mounting slots. The two lower joining columns are connected by several bolts to form... The motor column is located inside the mounting hole at the upper end of the contact claw body at the corresponding position. The contact motor and the spring disc seat are locked inside the motor column. A shock-absorbing spring is provided between the upper end of the spring disc seat and the lower part of the massage contact piece. A drive shaft is fixed on the output shaft of the contact motor. The drive shaft passes through the spring disc seat and the shock-absorbing spring and extends into the massage contact piece. The drive shaft is fixedly installed inside the inner ring of two bearings. Several equally spaced vibration eccentric blocks are fixed on the drive shaft. The vibration eccentric blocks are located between the two bearings and are all located inside the clearance cavity.

[0012] With the above structure, the contact motor is fixed inside the motor column formed by the joining of two lower composite columns, and the motor column is snapped into the mounting hole of the corresponding contact claw body. After the contact motor is started, its output shaft drives the drive shaft to rotate.

[0013] The drive shaft passes through the spring disc seat and the damping spring, and is rotatably supported inside the massage head by two bearings distributed vertically. When the drive shaft rotates, multiple vibrating eccentric blocks fixed on it rotate at high speed within the clearance cavity.

[0014] The eccentric mass of the vibrating eccentric block generates a periodic centrifugal force during rotation. This centrifugal force is transmitted to the entire massage contact head through the drive shaft, causing the massage contact head to vibrate at high frequency. At the same time, the spring disc seat and the damping spring provide elastic support and buffering between the contact head motor and the massage contact head, ensuring that the vibration is effectively transmitted to the surface of the massage contact head while reducing the transmission of vibration to the lower contact claw body, thus realizing the directional vibration massage function.

[0015] The drive shaft is a tough carbon steel shaft, and the upper splicing contact is made of stainless steel.

[0016] With the above structure, the drive shaft is made of tough carbon steel, which allows it to absorb some of the impact vibration when it rotates at high speed under the drive of the contact motor and is subjected to the periodic centrifugal force and alternating torsional load generated by the vibrating eccentric block. This prevents failure due to brittle fracture, while maintaining sufficient torsional strength and fatigue resistance to ensure long-term stable transmission of rotational power and vibration energy to the massage contact parts.

[0017] The upper contact head is made of stainless steel, which, thanks to its excellent corrosion resistance, smooth surface, and mechanical strength, ensures hygiene and safety and reduces the risk of allergies when directly contacting human skin for high-frequency vibration massage. It also maintains its shape and is not easily worn or deformed under repeated pressure and friction, thus guaranteeing the durability, comfort, and reliability of the massage contact head. This material, combined with the shock-absorbing springs and bearings, achieves the dual functions of directional vibration transmission and long-term use of the contact parts.

[0018] A massage chair mechanism includes two massage head devices as described above and a walking frame. The upper end of the walking frame is provided with a walking mechanism that is driven to it. The upper end of the walking mechanism is provided with a swing mechanism that is driven to it. The swing mechanism is provided with an adjustment mechanism. The two massage head devices are symmetrically arranged on the adjustment mechanism.

[0019] Using the above structure, the walking mechanism, as the moving carrier of the entire mechanism, is connected to the walking frame and can move up and down along the frame to adjust the position of the massage heads from the back to the legs. The tilting mechanism is located at the upper end of the walking mechanism and is connected to it. Its movement causes the entire structure above to tilt and swing forward and backward, thus following the curve of the human back. The adjustment mechanism is located on the tilting mechanism. Through its internal transmission components, it drives two symmetrically arranged output ends to move, causing the two massage heads to adjust their lateral position and tilt or swing at different angles to adapt to the curvature of different parts of the human back. The two massage heads are symmetrically mounted on the adjustment mechanism. Its internal drive structure converts rotational motion into multi-dimensional composite swinging and rotating of the massage head claws, while also generating vibrations to apply biomimetic massage actions such as kneading, pressing, and vibration to the user's back. The longitudinal movement of the walking mechanism, the angular swing of the swing mechanism, the adjustment of the positioning mechanism, and the combined movement of the massage head device work together to enable the two massage head devices to adaptively adjust their position and posture along the curve of the human back, achieving accurate and diversified massage for different areas of the back, thus achieving a biomimetic adaptive effect.

[0020] The traveling frame includes a traveling frame body, which is inclined in an L-shape. A power junction box is provided on the front side of the horizontal section of the traveling frame body. A horizontal support frame is provided below the horizontal section of the traveling frame body. A vertical support frame is provided on the rear side of the inclined section of the traveling frame body. Guide wheel grooves and guide racks are provided on the left and right inner sides of the traveling frame body. The guide racks are located inside the guide wheel grooves on the same side.

[0021] With the above structure, the main body of the walking frame serves as the basic support skeleton of the entire massage chair mechanism. It has an inclined L-shaped structure design, with the horizontal section corresponding to the human buttocks and upper thigh area, and the inclined section corresponding to the human back area. The whole structure matches the curve of the back and legs of the human body in a sitting position, providing a walking path for the walking mechanism along the longitudinal contour of the human body.

[0022] The horizontal support frame installed below the horizontal section and the vertical support frame installed at the rear of the inclined section are both U-shaped structures, which provide stable auxiliary support to the main body of the walking frame from the bottom and the rear, respectively, to ensure that the entire frame remains structurally stable and not easily deformed when subjected to the motion load of the walking mechanism and the massage pressure.

[0023] The guide wheel grooves on the inner left and right side walls of the walking frame provide sliding guide tracks for the guide wheels, ensuring smooth movement of the walking mechanism along a predetermined trajectory. The guide rack and guide gear on the same side mesh to form a rack and pinion transmission pair, converting the rotational motion of the walking motor into linear movement of the walking mechanism along the longitudinal direction of the frame. The placement of the guide rack inside the guide wheel grooves ensures that the guide wheels and guide gear are positioned on the same side during movement, achieving a compact integration of guiding and driving functions and guaranteeing the synchronization and stability of the walking motion.

[0024] The junction box is located at the front of the horizontal section and is used to connect to an external power source to provide power to the electrical components of the entire movement.

[0025] The walking mechanism includes a guide walking main frame with an clearance opening in the middle. An electrical control box and a walking motor are fixed to the rear side of the guide walking main frame. A walking drive shaft is rotatably mounted on the lower rear side of the guide walking main frame. The output shaft of the walking motor is connected to the walking drive shaft. Guide walking gears are provided at both ends of the walking drive shaft, and the guide walking gears mesh with guide walking racks on the same side. Two walking mounting shafts are fixed on the upper front side of the guide walking main frame, arranged symmetrically. Guide walking wheels are fixed at both ends of the walking drive shaft and the end of the walking mounting shaft. The guide walking wheels are slidably engaged in the guide walking wheel grooves on the same side. Two limit sensors are provided on the side of the guide walking main frame, arranged symmetrically. The electrical control box is electrically connected to the limit sensors, the walking motor, the junction box, the drive motor, and the contact motor.

[0026] With the above structure, the electrical control box obtains external power through the junction box and controls the start of the walking motor according to the preset program. The output shaft of the walking motor drives the walking drive shaft to rotate, and the guide walking gears at both ends of the walking drive shaft rotate synchronously, meshing with the guide walking rack fixed on the walking frame, generating a driving force along the rack direction, so that the entire guide walking main frame moves along the longitudinal direction of the walking frame (i.e., from the back of the human body to the legs).

[0027] During movement, the guide wheels at both ends of the walking drive shaft and the guide wheels at the end of the front upper walking mounting shaft are respectively engaged in the guide wheel grooves on the left and right inner sides of the walking frame, and slide along the wheel grooves to provide stable guidance and support for the walking main frame, ensuring smooth and non-deviation walking action.

[0028] The clearance opening is located in the middle of the guide frame, providing space for the swing mechanism to pass through, avoiding motion interference, and enabling the swing mechanism to swing independently of the main frame.

[0029] Two limit sensors, symmetrically arranged on the upper and lower sides of the main guide frame, are used to detect the position of the main guide frame on the travel path. When the main guide frame moves to the upper or lower limit position, the limit sensor sends a signal to the electrical control box, which then controls the travel motor to stop or reverse, preventing the travel mechanism from exceeding its travel range and achieving safety limiting.

[0030] The electrical control box is also electrically connected to the drive motor and the contact motor, respectively. After the walking mechanism moves to the target position, it controls the start of the drive motor of the massage contact mechanism and the contact motor of the massage contact assembly, realizing combined massage actions such as kneading, oscillation, and vibration. Thus, the walking mechanism not only achieves the longitudinal positioning and movement of the massage contact device along the human body, but also centrally controls each actuator through the electrical control box, coordinating the completion of the entire massage program.

[0031] The tilting mechanism includes a tilting motor, a tilting hinge seat, and two drive bearing seats. The tilting hinge seat is fixed to the lower middle of the rear side of the guide frame. A tilting hinge plate is hinged to the tilting hinge seat. A quarter-circle driven gear is fixed to the upper end of the tilting hinge plate. A tilting drive shaft is provided between the two drive bearing seats. The end of the tilting drive shaft is connected to the output shaft of the tilting motor. A tilting drive gear is fixed on the tilting drive shaft. The tilting drive gear meshes with the tilting driven gear. Tilting connecting rods are fixed to the middle of both sides of the tilting hinge plate. The two tilting connecting rods extend through the clearance opening. The ends of the two tilting connecting rods are fixed to the same tilting base plate. The electrical control box is electrically connected to the tilting motor.

[0032] With the above structure, the electrical control box controls the start of the swing motor according to the preset program. The output shaft of the swing motor drives the swing drive shaft to rotate under the support of two drive bearing seats. The swing drive gear on the swing drive shaft rotates synchronously with the shaft. Through meshing with the swing driven gear which is in the shape of a quarter circle, the rotational motion is converted into the swing motion of the swing driven gear.

[0033] Since the driven gear of the swing angle is fixed to the upper end of the swing angle hinge plate, and the swing angle hinge plate is hinged to the swing angle hinge seat fixed to the lower middle part of the rear side of the guide travel main frame, the swing of the driven gear of the swing angle causes the swing angle hinge plate to produce a swing angle change in the front and rear directions around its hinge point.

[0034] The swing angle connecting rods, fixed in the middle of both sides of the swing angle hinge plate, extend outward through the clearance opening in the middle of the guide frame, and the ends of the two swing angle connecting rods are jointly fixed to the swing angle base plate. Therefore, the swing of the swing angle hinge plate is transmitted to the swing angle base plate through the swing angle connecting rods, causing the swing angle base plate, together with the adjustment mechanism and massage contact device mounted on it, to swing at an angle.

[0035] Therefore, the oscillating mechanism, through gear meshing and hinged linkage, converts the rotational motion of the oscillating motor into the back-and-forth oscillation of the massage head relative to the walking mechanism, enabling the massage head to follow the curve of the human back at an angle, thus improving the massage fit and comfort. The control box controls the oscillating motor in coordination with the walking mechanism and the adjustment mechanism to jointly form an adaptive massage trajectory.

[0036] The adjustment mechanism includes a lower adjustment box and a detachable upper adjustment box. The lower adjustment box is fixed to the upper end of the swing angle base plate. An adjustment motor is fixed between the lower and upper adjustment boxes. A worm gear is fixed to the output shaft of the adjustment motor. Two symmetrically arranged worm gear accelerators are rotatably arranged inside the upper adjustment box. Each worm gear accelerator consists of a worm wheel on the upper side and a transmission gear fixed to the lower side of the worm wheel. Both worm wheels mesh with the worm gear. Two symmetrically arranged adjustment shafts are rotatably arranged on the upper adjustment box, with the upper ends of the adjustment shafts extending out of the upper adjustment box. A driven gear is fixed in the middle of the adjustment shaft, located inside the upper adjustment box. The driven gear meshes with the transmission gear of the worm gear accelerator on the same side. An eccentric wheel is fixed to the lower end of each adjustment shaft, located inside the lower adjustment box. Each part has a universal joint mounted on its eccentric wheel, and the ends of the universal joints are connected to universal connecting rods via ball joints. The upper end of the adjustment shaft is fixed with a tilting wheel, which is located on the upper outer side of the adjustment upper housing. An adjustment mounting sleeve is mounted on the tilting wheel. The lower housings of the two massage head devices are fixed to the upper ends of the corresponding adjustment mounting sleeves. The inner ends of the adjustment mounting sleeves are fixed with limit rods. The upper middle part of the adjustment upper housing is fixed with a Z-shaped limit frame, and the limit rods are slidably set inside the limit frame. Two symmetrically arranged auxiliary massage connecting rods are hinged to the adjustment upper housing. The lower ends of the auxiliary massage connecting rods are hinged to the ends of the universal connecting rods on the same side. The upper ends of the auxiliary massage connecting rods are fixed with auxiliary massage blocks, and auxiliary massage heads are detachably mounted on the auxiliary massage blocks. The electrical control box is electrically connected to the adjustment motor.

[0037] With the above structure, the electrical control box starts the positioning motor according to a preset program, and the output shaft of the positioning motor drives the worm to rotate. The worm simultaneously meshes with two symmetrically arranged worm gear accelerators, driving the two worm gear accelerators to rotate synchronously in opposite directions. Each worm gear accelerator then meshes with the driven gear on the same side, driving the corresponding positioning shaft to rotate around its axis.

[0038] When the adjustment shaft rotates, the tilting wheel at its upper end rotates accordingly. The tilting wheel, through the rotating adjustment mounting sleeve, drives the massage head mechanism to tilt or swing. The limiting rod at the inner end of the adjustment mounting sleeve slides in the Z-shaped groove of the limiting frame, constraining the swing amplitude and direction of the adjustment mounting sleeve, ensuring that the massage head mechanism adjusts its lateral position or changes its angle according to a predetermined trajectory to adapt to the curvature of the human back.

[0039] At the same time, the eccentric wheel at the lower end of the adjustment shaft rotates with the shaft, and the universal joint sleeve on the eccentric wheel oscillates periodically. The motion is transmitted to the auxiliary massage joint through the universal joint connected by the ball joint, driving the auxiliary massage joint to oscillate around its hinge point. This causes the auxiliary massage block and auxiliary massage head at the upper end of the auxiliary massage joint to oscillate or tap, thus providing auxiliary massage to the user's shoulders, neck, or both sides of the back.

[0040] The electrical control box is also electrically connected to the limit sensor and the walking motor. It can work in conjunction with the longitudinal movement and limit signal of the walking mechanism to coordinate the timing and amplitude of the adjustment motor's action, so that the lateral adjustment, angle swing and auxiliary massage action of the adjustment mechanism can work together to achieve an adaptive, multi-mode composite massage function.

[0041] Compared with existing technologies, this biomimetic adaptive massage head device and the massage chair mechanism incorporating the device have the following advantages: This invention achieves adaptive fit by using a multi-dimensional synergy of a walking mechanism, an angle-following mechanism, and an adjustment mechanism to allow the massage head device to move longitudinally, follow angles, and adjust laterally along the curve of the human back. This solves the problems of fixed trajectory and poor fit in traditional massage chairs. The rotational motion is converted into restricted oscillation and rotation of a rotating hemisphere within a hemispherical limiting hole by a drive motor-driven gear transmission chain, driving the massage head claws to produce multi-dimensional composite biomimetic motion combining kneading and pressing. High-frequency vibration is generated by the high-speed rotation of the vibrating eccentric block driven by the touch head motor. Combined with material optimization of the carbon steel drive shaft and the stainless steel spliced ​​touch head, directional vibration massage is achieved while ensuring durability and hygiene. Simultaneously, the single-axis dual-output structure of the adjustment mechanism enables coordinated action of the main and auxiliary massage heads. With centralized closed-loop control from the electrical control box, the entire process of automated adaptive massage is completed, improving massage comfort, biomimetic effect, and safety. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the massage chair mechanism in this invention.

[0043] Figure 2 This is a schematic diagram of the walking frame structure of the massage chair mechanism in this invention.

[0044] Figure 3 This is a front three-dimensional structural diagram of the walking mechanism and the swing mechanism of the massage chair core in this invention.

[0045] Figure 4 This is a schematic diagram of the rear and front three-dimensional structure of the walking mechanism and the swing mechanism of the massage chair core in this invention.

[0046] Figure 5 This is a schematic diagram of the adjustment mechanism, massage head mechanism, and massage head assembly of the massage chair mechanism in this invention.

[0047] Figure 6 This is a partially cutaway structural diagram of the adjustment mechanism of the massage chair core in this invention.

[0048] Figure 7 This is a partial cross-sectional structural diagram of the massage contact device in this invention.

[0049] Figure 8 This is a partial cross-sectional structural diagram of the massage contact head assembly in this invention.

[0050] In the diagram: 1. Walking frame; 2. Walking mechanism; 3. Swing mechanism; 4. Adjustment mechanism; 5. Massage contact head mechanism; 6. Massage contact head assembly; 7. Horizontal support frame; 8. Vertical support frame; 9. Walking frame main body; 10. Guide walking rack; 11. Guide walking wheel groove; 12. Power junction box; 13. Guide walking wheel; 14. Guide walking main frame; 15. Guide walking gear; 16. Clearance opening; 17. Swing base plate; 18. Electrical control box; 19. Swing driven gear; 20. Swing connecting rod; 21. Walking motor; 22. Swing drive shaft; 23. Drive bearing seat; 24. Swing motor; 25. Swing hinge plate; 26. Swing hinge seat; 27. Limit sensor; 28. Adjustment lower box; 29. ​​Adjustment upper box; 30. Adjustment mounting sleeve; 31. Tilt wheel one; 32. Secondary massage connecting rod. 33. Massage head; 34. Adjustment motor; 35. Massage linkage; 36. Universal linkage; 37. Universal connector; 38. Adjustment shaft; 39. Driven gear one; 40. Eccentric wheel; 41. Worm gear acceleration wheel; 42. Worm; 43. Limit bracket; 44. Lower housing of massage contact; 45. Hemispherical limit hole; 46. Upper housing of massage contact; 47. Rotating hemisphere; 48. Massage contact claw; 49. Linkage plate; 50. Inclined wheel II; 51. Driven gear II; 52. Drive gear; 53. Drive motor; 54. Mounting plate; 55. Lower assembly column; 56. Contact motor; 57. Spring disc seat; 58. Shock-absorbing spring; 59. Drive shaft; 60. Vibration eccentric block; 61. Clearance cavity; 62. Upper assembly contact; 63. Bearing; 64. Travel drive shaft; 65. Travel mounting shaft. Detailed Implementation

[0051] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0052] like Figures 7-8As shown, this biomimetic adaptive massage head device includes a massage head mechanism 5 and several massage head assemblies 6. The massage head mechanism 5 includes a lower massage head housing 44 and an upper massage head housing 46 disposed above the lower massage head housing 44. A mounting plate 54 is provided between the lower massage head housing 44 and the upper massage head housing 46. A drive motor 53 is fixed to the lower center of the mounting plate 54, and the output shaft of the drive motor 53 passes through the mounting plate 54 upward. A drive gear 52 is fixed on the output shaft of the drive motor 53. Four driven gears 51 are rotatably arranged around the circumference of the drive gear 52 at the upper end of the mounting plate 54. All driven gears 51 mesh with the drive gear 52, and the upper ends of the driven gears 51 are fixed. There is a tilting wheel 50, and the upper end of the tilting wheel 50 is connected to a linkage plate 49. The upper end of the linkage plate 49 is provided with a rotating hemisphere 47, and the upper end of the rotating hemisphere 47 is provided with a massage contact claw 48. The massage contact claw 48 consists of a contact claw body located in the middle and several contact claw bodies evenly distributed around the perimeter. The upper end of the contact claw body is provided with a hollow mounting hole. Several massage contact components 6 are respectively connected to the mounting holes at the upper end of the contact claw bodies at corresponding positions. The upper end of the massage contact upper housing 46 is provided with four circumferentially distributed hemispherical limiting holes 45. The hemispherical limiting holes 45 are located directly above the driven gear 51 at the corresponding position, and the rotating hemisphere 47 abuts against and rotates inside the hemispherical limiting holes 45 at the corresponding position.

[0053] After the drive motor 53 starts, its output shaft drives the drive gear 52 to rotate. The drive gear 52 simultaneously meshes with four circumferentially distributed driven gears 51, thereby driving each driven gear 51 and its upper fixed inclined wheel 50 to rotate synchronously.

[0054] When each tilting wheel 50 rotates, the rotational motion is converted into restricted oscillation and rotation of the connected rotating hemisphere 47 within the hemispherical limiting hole 45 of the massage contact head housing 46 via the linkage plate 49 at the upper end. Because the rotating hemisphere 47 is positioned inside the hemispherical limiting hole 45, this structure allows the rotating hemisphere 47 to oscillate in multiple directions and rotate around its own axis only under the constraint of the hemispherical limiting hole 45.

[0055] The combined motion of the rotating hemisphere 47 is ultimately transmitted to the upper massage claw 48, causing the massage claw 48 and the multiple massage claw components 6 mounted on it to simultaneously produce multi-dimensional composite bionic massage movements similar to human hand kneading, including rotation and oscillation. Through the coordinated movement of the four circumferentially distributed massage claws 48, a complex and adaptive massage effect is achieved for areas such as the user's back.

[0056] The massage contact assembly 6 includes two symmetrically arranged lower joining columns 55 and two symmetrically arranged upper joining contacts 62. The two upper joining contacts 62 are connected by several bolts to form a massage contact component. Each upper joining contact 62 has a relief cavity 61 and mounting slots located on the upper and lower sides of the relief cavity 61. The mounting slots communicate with the relief cavity 61. The relief cavities 61 of the two upper joining contacts 62 are joined to form a total relief cavity. Two mounting slots of equal height are joined to form a total mounting slot. The massage contact component has two vertically distributed bearings 63 located inside the two total mounting slots. The two lower joining columns 55 are connected by several bolts to form a motor column. The motor column is installed inside the mounting hole at the upper end of the contact claw body at the corresponding position. The contact motor 56 and the spring disc seat 57 are locked and fixed inside the motor column. A shock-absorbing spring 58 is provided between the upper end of the spring disc seat 57 and the lower part of the massage contact piece. A drive shaft 59 is fixed on the output shaft of the contact motor 56. The drive shaft 59 passes through the spring disc seat 57 and the shock-absorbing spring 58 and extends into the massage contact piece. The drive shaft 59 is fixedly installed inside the inner ring of two bearings 63. Several equally spaced vibration eccentric blocks 60 are fixed on the drive shaft 59. The vibration eccentric blocks 60 are located between the two bearings 63 and are all located inside the clearance cavity.

[0057] The contact motor 56 is fixed inside a motor column formed by the joining of two lower composite columns 55, and the motor column is snapped into the mounting hole of the corresponding contact claw body. After the contact motor 56 is started, its output shaft drives the drive shaft 59 to rotate.

[0058] The drive shaft 59 passes through the spring disc seat 57 and the damping spring 58, and is rotatably supported inside the massage contact head (formed by the upper assembled contact head 62) by two vertically distributed bearings 63. When the drive shaft 59 rotates, multiple vibrating eccentric blocks 60 fixed on it rotate at high speed in the clearance cavity (formed by the clearance cavities 61 of the two upper assembled contacts 62).

[0059] The eccentric mass of the vibrating eccentric block 60 generates a periodic centrifugal force when rotating. This centrifugal force is transmitted to the entire massage contact piece through the drive shaft 59, causing the massage contact piece to vibrate at high frequency. At the same time, the spring disc seat 57 and the damping spring 58 provide elastic support and buffer between the contact motor 56 and the massage contact piece, which not only ensures that the vibration is effectively transmitted to the surface of the massage contact piece (upper spliced ​​contact 62), but also reduces the transmission of vibration to the lower contact claw body, thus realizing the directional vibration massage function.

[0060] The drive shaft 59 is a tough carbon steel shaft, and the upper splicing contact 62 is made of stainless steel.

[0061] The drive shaft 59 is made of tough carbon steel, which allows it to absorb some of the impact vibration when it rotates at high speed under the drive of the contact motor 56 and is subjected to the periodic centrifugal force and alternating torsional load generated by the vibration eccentric block 60. This prevents failure due to brittle fracture, while maintaining sufficient torsional strength and fatigue resistance to ensure long-term stable transmission of rotational power and vibration energy to the massage contact.

[0062] The upper contact head 62 is made of stainless steel. Utilizing its excellent corrosion resistance, surface smoothness, and mechanical strength, it ensures hygiene and safety, reduces the risk of allergies, and maintains its shape under repeated pressure and friction, resisting wear and deformation. This guarantees the durability, comfort, and reliability of the massage contact head. This material, combined with the shock-absorbing spring 58 and bearing 63, achieves the dual functions of directional vibration transmission and long-term use of the contact parts.

[0063] like Figures 1-6 As shown, a massage chair mechanism includes two biomimetic adaptive massage head devices as described above and a walking frame 1. The upper end of the walking frame 1 is provided with a walking mechanism 2 that is connected to it, and the upper end of the walking mechanism 2 is provided with a swing angle mechanism 3 that is connected to it. The swing angle mechanism 3 is provided with an adjustment mechanism 4, and the two massage head devices are symmetrically arranged on the adjustment mechanism 4.

[0064] The walking mechanism 2, serving as the moving carrier of the entire mechanism, is connected to the walking frame 1 and can move up and down along the frame 1, adjusting the position of the massage head devices from the back to the legs. The tilting mechanism 3 is located at the upper end of the walking mechanism 2 and is connected to it. Its movement causes the entire structure above to tilt and swing forward and backward, thus following the curve of the human back. The adjustment mechanism 4 is located on the tilting mechanism 3 and drives two symmetrically arranged output ends through its internal transmission components, adjusting the lateral position and tilting or swinging angle of the two massage head devices to adapt to the curvature of different parts of the human back. The two massage head devices are symmetrically mounted on the adjustment mechanism 4. Its internal drive structure converts rotational motion into multi-dimensional composite swinging and rotating of the massage head claws, while also generating vibrations to apply biomimetic massage actions such as kneading, pressing, and vibration to the user's back. The longitudinal movement of the walking mechanism 2, the angular swing of the swing mechanism 3, the adjustment of the positioning mechanism 4, and the combined movement of the massage head device work together to enable the two massage head devices to adaptively adjust their position and posture along the curve of the human back, thereby achieving accurate and diversified massage of different areas of the back and achieving a biomimetic adaptive effect.

[0065] The traveling frame 1 includes a traveling frame body 9, which is inclined in an L-shape. A power junction box 12 is provided on the front side of the horizontal section of the traveling frame body 9. A horizontal support frame 7 is provided below the horizontal section of the traveling frame body 9. A vertical support frame 8 is provided on the rear side of the inclined section of the traveling frame body 9. Guide wheel grooves 11 and guide racks 10 are provided on the left and right inner sides of the traveling frame body 9. The guide racks 10 are located inside the guide wheel grooves 11 on the same side.

[0066] The walking frame 9 serves as the basic support skeleton for the entire massage chair mechanism. It features an inclined L-shaped structure design, with the horizontal section corresponding to the human hip and thigh root area and the inclined section corresponding to the human back area. The overall design matches the curves of the back and legs of the human body in a sitting position, providing the walking mechanism 2 with a walking path along the longitudinal contour of the human body.

[0067] The horizontal support frame 7 installed below the horizontal section and the vertical support frame 8 installed at the rear of the inclined section are both U-shaped structures, which provide stable auxiliary support to the main body of the walking frame 9 from the bottom and the rear, respectively, to ensure that the entire frame remains structurally stable and not easily deformed when bearing the motion load and massage pressure of the walking mechanism 2.

[0068] The guide wheel grooves 11 on the inner sidewalls of the main body 9 of the walking frame provide sliding guide tracks for the guide wheels 13, ensuring that the walking mechanism 2 moves smoothly along a predetermined trajectory. The guide rack 10 on the same side meshes with the guide gear 15, forming a rack and pinion transmission pair, which converts the rotational motion of the walking motor 21 into linear motion of the walking mechanism 2 along the longitudinal direction of the frame. The layout of the guide rack 10 located inside the guide wheel grooves 11 ensures that when the walking mechanism 2 moves, the guide wheels 13 and the guide gear 15 are located in the inner and outer positions on the same side, achieving a compact integration of guiding and driving functions, and ensuring the synchronization and stability of the walking action.

[0069] The junction box 12 is located on the front side of the horizontal section and is used to connect to an external power source to provide power access for the electrical components of the entire movement.

[0070] The walking mechanism 2 includes a guide walking main frame 14, with an avoidance opening 16 in the middle. An electrical control box 18 and a walking motor 21 are fixed to the rear side of the guide walking main frame 14. A walking drive shaft 64 is rotatably mounted on the lower rear side of the guide walking main frame 14. The output shaft of the walking motor 21 is connected to the walking drive shaft 64. Guide walking gears 15 are provided at both ends of the walking drive shaft 64. The guide walking gears 15 mesh with the guide walking racks 10 on the same side. Two walking mounting shafts 65 are fixed on the upper front side of the guide walking main frame 14. Guide walking wheels 13 are fixed at both ends of the walking drive shaft 64 and the end of the walking mounting shaft 65. The guide walking wheels 13 are slidably engaged in the guide walking wheel grooves 11 on the same side. Two limit sensors 27 are provided on the side of the guide walking main frame 14. The electrical control box 18 is electrically connected to the limit sensors 27, the walking motor 21, the junction box 12, the drive motor 53, and the contact motor 56.

[0071] The electrical control box 18 obtains external power through the junction box 12 and controls the walking motor 21 to start according to the preset program. The output shaft of the walking motor 21 drives the walking drive shaft 64 to rotate. The guide walking gears 15 at both ends of the walking drive shaft 64 rotate synchronously and mesh with the guide walking rack 10 fixed on the walking frame 1, generating a driving force along the rack direction, so that the entire guide walking main frame 14 moves along the longitudinal direction of the walking frame 1 (i.e., from the back of the human body to the legs).

[0072] During movement, the guide wheels 13 at both ends of the walking drive shaft 64 and the guide wheels 13 at the end of the walking mounting shaft 65 on the upper front side are respectively engaged in the guide wheel grooves 11 on the left and right inner sides of the walking frame 1, and slide along the wheel grooves to provide stable guidance and support for the walking main frame, ensuring smooth walking without deviation.

[0073] The clearance opening 16 is located in the middle of the guide frame 14, providing space for the swing mechanism 3 to pass through, avoiding motion interference, and enabling the swing mechanism 3 to swing independently of the main frame.

[0074] Two limit sensors 27 are symmetrically arranged on the upper and lower sides of the main guide frame 14 to detect the position of the main guide frame on the travel path. When the main guide frame moves to the upper or lower limit position, the limit sensor 27 sends a signal to the electrical control box 18, which controls the travel motor 21 to stop or reverse, preventing the travel mechanism from exceeding the travel range and achieving safety limit.

[0075] The electrical control box 18 is also electrically connected to the drive motor 53 and the contact motor 56, respectively. Thus, after the walking mechanism 2 moves to the target position, it controls the start of the drive motor 53 of the massage contact mechanism 5 and the contact motor 56 of the massage contact assembly 6, realizing compound massage actions such as kneading, oscillation, and vibration. Therefore, the walking mechanism 2 not only achieves the positioning and movement of the massage contact device along the longitudinal direction of the human body, but also centrally controls each actuator through the electrical control box, coordinating the completion of the entire massage program.

[0076] The tilting mechanism 3 includes a tilting motor 24, a tilting hinge seat 26, and two drive bearing seats 23. The tilting hinge seat 26 is fixed to the lower middle part of the rear side of the guide walking main frame 14. A tilting hinge plate 25 is hinged on the tilting hinge seat 26. A quarter-circle driven gear 19 is fixed at the upper end of the tilting hinge plate 25. A tilting drive shaft 22 is provided between the two drive bearing seats 23. The end of the tilting drive shaft 22 is connected to the output shaft of the tilting motor 24. A tilting drive gear is fixed on the tilting drive shaft 22. The tilting drive gear meshes with the tilting driven gear 19. A tilting connecting rod 20 is fixed at the middle of both sides of the tilting hinge plate 25. The two tilting connecting rods 20 extend through the clearance opening 16. The ends of the two tilting connecting rods 20 are fixed with the same tilting base plate 17. The electrical control box 18 is electrically connected to the tilting motor 24.

[0077] The electrical control box 18 controls the start of the swing motor 24 according to the preset program. The output shaft of the swing motor 24 drives the swing drive shaft 22 to rotate under the support of two drive bearing seats 23. The swing drive gear on the swing drive shaft 22 rotates synchronously with the shaft. Through meshing with the swing driven gear 19 which is in the shape of a quarter circle, the rotational motion is converted into the swing motion of the swing driven gear 19.

[0078] Since the swing angle driven gear 19 is fixed to the upper end of the swing angle hinge plate 25, and the swing angle hinge plate 25 is hinged to the swing angle hinge seat 26 fixed to the lower middle of the rear side of the guide travel main frame 14, the swing angle driven gear 19 drives the swing angle hinge plate 25 to produce a swing angle change in the front and rear directions around its hinge point (swing angle hinge seat 26).

[0079] The swing angle connecting rods 20, fixed at the middle of both sides of the swing angle hinge plate 25, extend outward through the clearance opening 16 in the middle of the guide frame 14, and the ends of the two swing angle connecting rods 20 are jointly fixed to the swing angle base plate 17. Therefore, the swing of the swing angle hinge plate 25 is transmitted to the swing angle base plate 17 through the swing angle connecting rods 20, so that the swing angle base plate 17, together with the adjustment mechanism 4 and the massage contact head device mounted on it, will swing at an angle.

[0080] Therefore, the sway mechanism 3, through gear meshing and hinged linkage transmission, converts the rotational motion of the sway motor 24 into the back-and-forth swaying of the massage head device relative to the walking mechanism 2, enabling the massage head device to follow the curve of the human back at an angle, thus improving the massage fit and comfort. The control box 18 controls the sway motor 24 in coordination with the walking mechanism 2 and the adjustment mechanism 4 to jointly form an adaptive massage trajectory.

[0081] The adjustment mechanism 4 includes a lower adjustment box 28 and a detachable upper adjustment box 29 mounted above it. The lower adjustment box 28 is fixed to the upper end of the swing angle base plate 17. An adjustment motor 34 is fixed between the lower adjustment box 28 and the upper adjustment box 29. A worm gear 42 is fixed to the output shaft of the adjustment motor 34. Two worm gear acceleration wheels 41 are symmetrically arranged inside the upper adjustment box 29. Each worm gear acceleration wheel 41 consists of a worm gear located on the upper side and a transmission gear fixed on the lower side of the worm gear. The worm gears of the accelerator wheel 41 mesh with the worm 42. Two symmetrically arranged adjusting shafts 38 are rotatably mounted on the adjusting upper housing 29, with the upper ends of the adjusting shafts 38 extending out of the adjusting upper housing 29. A driven gear 39 is fixed in the middle of the adjusting shaft 38, located inside the adjusting upper housing 29, and meshes with the transmission gear of the worm gear accelerator wheel 41 on the same side. An eccentric wheel 40 is fixed to the lower end of each adjusting shaft 38, located in the adjusting lower housing 28. Inside, universal joints 37 are rotatably mounted on the eccentric wheels 40. The ends of the universal joints 37 are connected to universal connecting rods 36 via ball joints. An inclined wheel 31 is fixed to the upper end of the adjusting shaft 38. The inclined wheel 31 is located on the upper outer side of the adjusting upper housing 29. An adjusting mounting sleeve 30 is rotatably mounted on the inclined wheel 31. The lower housings 44 of the two massage contact devices are respectively fixed to the upper ends of the corresponding adjusting mounting sleeves 30. The inner ends of the adjusting mounting sleeves 30 are all fixed... There are limit rods, and a Z-shaped limit frame 43 is fixed at the middle of the upper end of the adjustment box 29. The limit rods are all slidably arranged inside the limit frame 43. Two auxiliary massage connecting rods 35 are hinged to the adjustment box 29. The lower ends of the auxiliary massage connecting rods 35 are respectively hinged to the ends of the universal connecting rods 36 on the same side. The upper ends of the auxiliary massage connecting rods 35 are all fixed with auxiliary massage blocks 32. Auxiliary massage heads 33 are detachably provided on the auxiliary massage blocks 32. The electrical control box 18 is electrically connected to the adjustment motor 34.

[0082] The electrical control box 18 starts the positioning motor 34 according to a preset program, and the output shaft of the positioning motor 34 drives the worm 42 to rotate. The worm 42 simultaneously meshes with two symmetrically arranged worm gear accelerators 41, driving the two worm gear accelerators 41 to rotate synchronously in opposite directions (due to the symmetrical arrangement, the directions are opposite). Each worm gear accelerator 41 then meshes with the driven gear 39 on the same side, driving the corresponding positioning shaft 38 to rotate around its axis.

[0083] When the adjustment shaft 38 rotates, the tilting wheel 31 at its upper end rotates accordingly. The tilting wheel 31 drives the massage head mechanism (the lower housing 44 of the massage head is fixed to the upper end of the adjustment mounting sleeve 30) to tilt or swing through the rotating adjustment mounting sleeve 30. The limiting rod at the inner end of the adjustment mounting sleeve 30 slides in the Z-shaped groove of the limiting frame 43, constraining the swing amplitude and direction of the adjustment mounting sleeve 30, ensuring that the massage head mechanism adjusts its lateral position or changes its angle according to a predetermined trajectory to adapt to the curvature of the human back.

[0084] Meanwhile, the eccentric wheel 40 at the lower end of the adjusting shaft 38 rotates with the shaft, and the universal joint 37 mounted on the eccentric wheel 40 oscillates periodically. The motion is transmitted to the auxiliary massage joint 35 through the universal joint 36 connected by the ball joint, driving the auxiliary massage joint 35 to oscillate around its hinge point. This causes the auxiliary massage block 32 and auxiliary massage head 33 at the upper end of the auxiliary massage joint 35 to oscillate or tap, thus providing auxiliary massage to the user's shoulders, neck, or both sides of the back.

[0085] The electrical control box 18 is also electrically connected to the limit sensor 27 and the walking motor 21. It can work in conjunction with the longitudinal movement and limit signal of the walking mechanism 2 to coordinate the timing and amplitude of the movement of the adjustment motor 34, so that the lateral adjustment, angle swing and auxiliary massage action of the adjustment mechanism 4 can work together to achieve an adaptive, multi-mode composite massage function.

[0086] Working principle of the invention: I. Initial State and Power Preparation Before use, the junction box 12 is connected to an external power source to provide power to the whole machine. The electrical control box 18 serves as the control core and is electrically connected to the walking motor 21, the swing motor 24, the position adjustment motor 34, the drive motor 53, the contact motor 56, and the limit sensor 27. It receives sensor signals and controls the start, stop, steering, and speed of each actuator according to a preset program.

[0087] II. Longitudinal Walking Positioning After the user sits on the massage chair, the control box 18 controls the start of the walking motor 21. The walking motor 21 drives the guide walking gears 15 at both ends to rotate synchronously through the walking drive shaft 64. The guide walking gears 15 mesh with the guide walking rack 10 fixed inside the walking frame body 9, generating a driving force along the rack direction, so that the entire guide walking main frame 14 moves along the longitudinal direction of the walking frame 1 (i.e., from the back of the human body to the legs).

[0088] During movement, the guide wheels 13 at both ends of the walking drive shaft 64 and the guide wheels 13 at the end of the front upper walking mounting shaft 65 respectively engage with the guide wheel grooves 11 on the left and right inner sides of the walking frame 1 and slide along the grooves, providing stable guidance and support for the walking main frame. Two limit sensors 27 symmetrically arranged on the upper and lower sides of the guide walking main frame 14 detect the position of the walking main frame on the walking path in real time. When it moves to the upper or lower limit position, the limit sensor 27 sends a signal to the electrical control box 18, and the electrical control box 18 controls the walking motor 21 to stop or reverse, realizing safe limit. Thus, the massage head device is positioned at the longitudinal position of the area to be massaged on the back of the human body.

[0089] III. Angle follows the swing After the walking mechanism 2 is positioned, the electrical control box 18 controls the start of the swing motor 24. The swing motor 24 drives the swing drive shaft 22 to rotate, and the swing drive gear on the swing drive shaft 22 drives the swing driven gear 19, which is in the shape of a quarter circle, to rotate, converting the rotational motion into swing motion. Since the swing driven gear 19 is fixed to the upper end of the swing hinge plate 25, and the swing hinge plate 25 is hinged to the swing hinge seat 26, the swing of the swing driven gear 19 causes the swing hinge plate 25 to produce a swing angle change in the front and back direction around the hinge point.

[0090] The swing angle connecting rods 20 on both sides of the swing angle hinge plate 25 extend outward through the avoidance opening 16 in the middle of the guide walking main frame 14, and transmit the swing to the swing angle base plate 17 at the end, so that the swing angle base plate 17 together with the adjustment mechanism 4 and the massage contact head device installed on it will swing at an angle, so that the massage contact head device can follow the angle of the curve of the human back.

[0091] IV. Lateral Positioning and Secondary Massage Movements After the angle adjustment is completed, the electrical control box 18 controls the adjustment motor 34 to start. The adjustment motor 34 drives the worm gear 42 to rotate, and the worm gear 42 simultaneously drives two symmetrically arranged worm gear acceleration wheels 41 to rotate synchronously in opposite directions. Each worm gear acceleration wheel 41 then drives the corresponding adjustment shaft 38 to rotate around its axis through the driven gear 39 on the same side.

[0092] The adjustment shaft 38 generates two motion outputs when it rotates: The first path—the upper tilting wheel 31—rotates accordingly, causing the massage head mechanism to tilt or swing through the rotating adjusting mounting sleeve 30. The limiting rod at the inner end of the adjusting mounting sleeve 30 slides in the Z-shaped groove of the limiting frame 43, constraining the swing amplitude and direction, so that the two massage head mechanisms can achieve lateral position adjustment or angle change to adapt to the curvature of different parts of the human back.

[0093] The second path—the lower eccentric wheel 40 rotates with the shaft, and the universal joint 37 mounted on the eccentric wheel 40 oscillates periodically. The motion is transmitted to the auxiliary massage joint 35 through the universal joint 36 connected by the ball joint, driving the auxiliary massage joint 35 to oscillate around its hinge point, so that the auxiliary massage block 32 and the auxiliary massage head 33 produce reciprocating oscillation or tapping action, thereby realizing auxiliary massage of the user's shoulders, neck or both sides of the back.

[0094] V. Bionic kneading and compound massage movements After the adjustment is completed, the electrical control box 18 controls the start of the drive motor 53 of the massage contact head mechanism 5. The drive motor 53 drives the active gear 52 to rotate, and the active gear 52 simultaneously meshes with four circumferentially distributed driven gears 51, driving each driven gear 51 and its upper fixed inclined wheel 50 to rotate synchronously.

[0095] When each tilting wheel 50 rotates, the rotational motion is converted into restricted oscillation and rotation of the connected rotating hemisphere 47 within the hemispherical limiting hole 45 of the massage contact head housing 46 via the upper linkage plate 49. The rotating hemisphere 47 can only oscillate in multiple directions and rotate around its own axis under the constraint of the hemispherical limiting hole 45. This composite motion is ultimately transmitted to the upper massage contact head claw 48, causing the massage contact head claw 48 and the multiple massage contact head assemblies 6 mounted on it to simultaneously produce a multi-dimensional composite bionic massage action similar to human hand kneading, including rotation and oscillation. The four circumferentially distributed massage contact head claws 48 work together to apply a complex and adaptive kneading and pressing effect to the user's back.

[0096] VI. Vibration Massage Function While the kneading action is in progress or under separate control, the contact motor 56 inside the massage contact assembly 6 is activated, and its output shaft drives the drive shaft 59 to rotate. Multiple vibrating eccentric blocks 60 on the drive shaft 59 rotate at high speed in the clearance cavity, and the eccentric mass generates periodic centrifugal force, which is transmitted through the drive shaft 59 to the entire massage contact piece (assembled from the upper assembled contact 62), causing the massage contact piece to generate high-frequency vibration.

[0097] The spring disc seat 57 and the shock-absorbing spring 58 provide elastic support and buffer between the contact motor 56 and the massage contact piece, ensuring that the vibration is effectively transmitted to the surface of the massage contact piece (upper spliced ​​contact 62) and reducing the transmission of vibration to the lower contact claw body, thereby realizing the directional vibration massage function and further enriching the massage experience.

[0098] The drive shaft 59 is made of tough carbon steel, which can absorb some of the impact vibration and avoid brittle fracture; the upper splicing contact 62 is made of stainless steel to ensure hygiene, safety and durability when in direct contact with human skin.

[0099] VII. Overall Collaborative Work Cycle The longitudinal movement of the walking mechanism 2, the angle following of the swing mechanism 3, the lateral and angle adjustment of the positioning mechanism 4, the kneading and oscillating of the massage head mechanism 5, and the high-frequency vibration of the massage head assembly 6 work together to enable the two massage head devices to adaptively adjust their position and posture along the curve of the human back. Each movement can be performed individually or simultaneously. By accurately combining various biomimetic massage techniques such as kneading, pressing, oscillating, tapping, and vibration applied to different areas of the human back (such as the neck, shoulders, and waist), a comprehensive and deep adaptive biomimetic massage effect is achieved.

[0100] In summary, this invention achieves flexible movement of the massage head device in three dimensions—longitudinal movement, angle following, and lateral adjustment—through the coordinated operation of the walking mechanism 2, the swing angle mechanism 3, and the adjustment mechanism 4. The walking mechanism 2 moves smoothly along the guide walking rack 10 and the guide walking wheel groove 11. The swing angle mechanism 3 achieves angle swinging through the swing angle driven gear 19 and the swing angle connecting rod 20. The adjustment mechanism 4 completes lateral adjustment through the accurate transmission of the worm gear 42 and the worm wheel acceleration wheel 41. The linkage of these three mechanisms enables the massage head device to adaptively conform to the curve of the human back, solving the problems of fixed trajectory and poor fit in traditional massage chairs, and improving massage comfort and accuracy.

[0101] This invention utilizes a gear transmission chain consisting of a drive motor 53, a driving gear 52, a driven gear 51, and an inclined wheel 50 within the massage contact mechanism 5. This chain transforms rotational motion into restricted oscillation and rotation of the rotating hemisphere 47 within the hemispherical limiting hole 45, driving the massage contact claws 48 to generate multi-dimensional composite biomimetic motion encompassing rotation and oscillation. The coordinated action of the four circumferentially distributed massage contact claws 48 simulates the complex kneading techniques of a human hand, solving the problems of existing massage contact motions being monotonous and lacking sufficient biomimetic effect, and achieving a kneading and pressing effect similar to a real massage.

[0102] This invention utilizes the contact motor 56 in the massage contact assembly 6 to drive the vibration eccentric block 60 on the drive shaft 59 to rotate at high speed, generating periodic centrifugal force that causes the massage contact components to vibrate at high frequency. The spring disc seat 57 and the shock-absorbing spring 58 provide elastic support and buffering, ensuring that the vibration is effectively transmitted to the surface of the massage contact and reducing downward transmission, thus achieving directional vibration massage. The kneading and vibration functions can be executed individually or in combination, solving the problem of a single massage mode. Simultaneously, the drive shaft 59 is made of tough carbon steel to absorb impact, and the upper assembly contact 62 is made of stainless steel to ensure hygiene and durability, solving the problems of component fatigue failure and hygiene safety.

[0103] This invention utilizes the simultaneous motion output from both ends of the adjusting shaft 38 in the adjusting mechanism 4. The upper end drives the massage contact head mechanism to achieve lateral adjustment and angular oscillation, while the lower end drives the auxiliary massage connecting rod 35 and auxiliary massage head 33 to generate reciprocating tapping motions via the eccentric wheel 40 and universal linkage 36. This single-axis dual-output structure is compact and efficient. The electrical control box 18 centrally controls each motor and forms a closed loop with the limit sensor 27, achieving fully automated coordination of longitudinal movement, angle following, lateral adjustment, bionic kneading, and vibration. This solves the problem of complex coordination control of multiple actuators and ensures accurate execution of the massage program.

[0104] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A biomimetic adaptive massage contact device, comprising a massage contact mechanism (5) and a plurality of massage contact assemblies (6), characterized in that, The massage contact mechanism (5) includes a lower massage contact housing (44) and an upper massage contact housing (46) disposed above the lower massage contact housing (44). A mounting plate (54) is provided between the lower massage contact housing (44) and the upper massage contact housing (46). A drive motor (53) is fixed at the lower center of the mounting plate (54), and the output shaft of the drive motor (53) passes through the mounting plate (54) upward. A drive gear (52) is fixed on the output shaft of the drive motor (53). Four driven gears (51) are rotatably disposed on the upper end of the mounting plate (54) and are evenly distributed around the circumference of the drive gear (52). The driven gears (51) mesh with the drive gear (52). An inclined wheel (50) is fixed on the upper end of each driven gear (51). The upper end of the second (50) is connected to a linkage plate (49). The upper end of the linkage plate (49) is provided with a rotating hemisphere (47). The upper end of the rotating hemisphere (47) is provided with a massage contact claw (48). The massage contact claw (48) consists of a contact claw body located in the middle and several contact claw bodies evenly distributed around the circumference. The upper end of the contact claw body is provided with a hollow mounting hole. Several massage contact components (6) are respectively connected to the mounting hole at the upper end of the contact claw body at the corresponding position. The upper end of the massage contact upper box body (46) is provided with four hemispherical limiting holes (45) evenly distributed around the circumference. The hemispherical limiting holes (45) are located at the upper end of the driven gear second (51) at the corresponding position, and the rotating hemisphere (47) abuts against and rotates inside the hemispherical limiting hole (45) at the corresponding position. The massage contact assembly (6) includes two symmetrically arranged lower splicing columns (55) and two symmetrically arranged upper splicing contacts (62). The two upper splicing contacts (62) are connected by several bolts to form a massage contact component. The upper splicing contacts (62) have a relief cavity (61) and mounting slots located on the upper and lower sides of the relief cavity (61). The mounting slots are connected to the relief cavity (61). The relief cavities (61) of the two upper splicing contacts (62) are spliced ​​to form a relief cavity. The two mounting slots of equal height are spliced ​​to form a mounting slot. The massage contact component has two vertically distributed bearings (63). The two bearings (63) are located in the two mounting slots respectively. The two lower splicing columns (55) are connected by several bolts to form a motor column. The motor column is installed inside the mounting hole at the upper end of the contact claw body at the corresponding position. The contact motor (56) and the spring disc seat (57) are fixedly engaged inside the motor column. A shock-absorbing spring (58) is provided between the upper end of the spring disc seat (57) and the lower part of the massage contact piece. A drive shaft (59) is fixed on the output shaft of the contact motor (56). The drive shaft (59) passes through the spring disc seat (57) and the shock-absorbing spring (58) and extends into the massage contact piece. The drive shaft (59) is fixedly installed inside the inner ring of two bearings (63). Several equally spaced vibration eccentric blocks (60) are fixed on the drive shaft (59). The vibration eccentric blocks (60) are located between the two bearings (63) and are all located inside the clearance cavity.

2. The biomimetic adaptive massage head device according to claim 1, characterized in that, The drive shaft (59) is a tough carbon steel shaft, and the upper splicing contact (62) is made of stainless steel.

3. A massage chair mechanism, characterized in that, It includes two biomimetic adaptive massage head devices as described in claim 2 and a walking frame (1). The upper end of the walking frame (1) is provided with a walking mechanism (2) that is connected to it in transmission. The upper end of the walking mechanism (2) is provided with a swing angle mechanism (3) that is connected to it in transmission. An adjustment mechanism (4) is provided on the swing angle mechanism (3). The two massage head devices are symmetrically arranged on the adjustment mechanism (4).

4. A massage chair mechanism according to claim 3, characterized in that, The walking frame (1) includes a walking frame body (9), which is in an inclined L-shape. A power box (12) is provided on the front side of the horizontal section of the walking frame body (9). A horizontal support frame (7) is provided below the horizontal section of the walking frame body (9). A vertical support frame (8) is provided on the rear side of the inclined section of the walking frame body (9). Guide walking wheel grooves (11) and guide walking racks (10) are provided on the left and right inner sides of the walking frame body (9). The guide walking racks (10) are located inside the guide walking wheel grooves (11) on the same side.

5. A massage chair mechanism according to claim 4, characterized in that, The walking mechanism (2) includes a guide walking main frame (14), with an avoidance opening (16) in the middle of the guide walking main frame (14). An electrical control box (18) and a walking motor (21) are fixed to the rear side of the guide walking main frame (14). A walking drive shaft (64) is rotatably provided below the rear side of the guide walking main frame (14). The output shaft of the walking motor (21) is connected to the walking drive shaft (64) for transmission. Guide walking gears (15) are provided at both ends of the walking drive shaft (64). The guide walking gears (15) mesh with the guide walking rack (10) on the same side. The guide walking main frame ( Two symmetrically arranged walking mounting shafts (65) are fixed on the upper front side of the 14). Guide walking wheels (13) are fixed at both ends of the walking drive shaft (64) and the end of the walking mounting shaft (65). The guide walking wheels (13) are slidably engaged in the guide walking wheel groove (11) on the same side. Two symmetrically arranged limit sensors (27) are provided on the side of the guide walking main frame (14). The electrical control box (18) is electrically connected to the limit sensor (27), the walking motor (21), the power junction box (12), the drive motor (53), and the contact motor (56).

6. A massage chair mechanism according to claim 5, characterized in that, The swing mechanism (3) includes a swing motor (24), a swing hinge seat (26), and two drive bearing seats (23). The swing hinge seat (26) is fixed to the lower middle part of the rear side of the guide walking main frame (14). A swing hinge plate (25) is hinged on the swing hinge seat (26). A quarter-circle driven gear (19) is fixed at the upper end of the swing hinge plate (25). A swing drive shaft (22) is provided between the two drive bearing seats (23). The end of the swing angle motor (24) is connected to the output shaft of the swing angle motor (24). The swing angle drive shaft (22) is fixed with a swing angle drive gear. The swing angle drive gear meshes with the swing angle driven gear (19). The middle of both sides of the swing angle hinge plate (25) is fixed with a swing angle connecting rod (20). The two swing angle connecting rods (20) extend through the clearance opening (16). The ends of the two swing angle connecting rods (20) are fixed with the same swing angle base plate (17). The electrical control box (18) is electrically connected to the swing angle motor (24).

7. A massage chair mechanism according to claim 6, characterized in that, The adjustment mechanism (4) includes a lower adjustment box (28) and an upper adjustment box (29) detachably mounted above it. The lower adjustment box (28) is fixed to the upper end of the swing angle base plate (17). An adjustment motor (34) is fixed between the lower adjustment box (28) and the upper adjustment box (29). A worm gear (42) is fixed to the output shaft of the adjustment motor (34). The upper adjustment box (29) has two worm gear acceleration wheels (41) symmetrically arranged inside. The worm gear acceleration wheel (41) consists of a worm gear on the upper side and a transmission gear fixed to the lower side of the worm gear. The worm gears of the accelerator wheel (41) mesh with the worm (42). Two symmetrically arranged adjustment shafts (38) are mounted on the upper adjustment box (29), with the upper end of the adjustment shaft (38) extending out of the upper adjustment box (29). A driven gear (39) is fixed in the middle of the adjustment shaft (38), which is located inside the upper adjustment box (29). The driven gear (39) meshes with the transmission gear of the worm gear accelerator wheel (41) on the same side. An eccentric wheel (40) is fixed at the lower end of the adjustment shaft (38), which is located in the lower adjustment box. Inside (28), a universal joint (37) is rotatably mounted on the eccentric wheel (40). The ends of the universal joint (37) are connected to the universal connecting rod (36) by ball hinges. The upper end of the adjustment shaft (38) is fixed with a tilting wheel (31). The tilting wheel (31) is located on the upper outer side of the adjustment upper box (29). An adjustment mounting sleeve (30) is rotatably mounted on the tilting wheel (31). The massage contact lower box (44) of the two massage contact devices is fixed on the upper end of the corresponding adjustment mounting sleeve (30). The inner end of the adjustment mounting sleeve (30) is... A limit rod is fixed, and a Z-shaped limit frame (43) is fixed in the middle of the upper part of the adjustment box (29). The limit rods are all slidably set inside the limit frame (43). Two auxiliary massage connecting rods (35) are hinged on the adjustment box (29) and arranged symmetrically on the left and right. The lower end of the auxiliary massage connecting rod (35) is respectively hinged to the end of the universal connecting rod (36) on the same side. The upper end of the auxiliary massage connecting rod (35) is fixed with an auxiliary massage block (32). The auxiliary massage block (32) is detachably provided with an auxiliary massage head (33). The electrical control box (18) is electrically connected to the adjustment motor (34).

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