Grabbing and kneading mechanism and massage equipment

Abstract

The utility model provides a grabbing and kneading mechanism and massage equipment. The grabbing and kneading mechanism is used for grabbing and kneading a to-be-massaged part and comprises a driving body; the transmission rod is connected to the driving body; the two grabbing and kneading sets are arranged at intervals in the extending direction of the driving body, each grabbing and kneading set comprises a plurality of grabbing and kneading heads, the grabbing and kneading heads are connected to the driving body through transmission rods, so that the driving body can drive the grabbing and kneading heads to deflect through the transmission rods, all the grabbing and kneading heads in each grabbing and kneading set jointly form a first grabbing and kneading area, and the first grabbing and kneading area is located in the first grabbing and kneading area. The adjacent grabbing and kneading heads in the two grabbing and kneading sets jointly form a second grabbing and kneading area, and the second grabbing and kneading area is located between the two first grabbing and kneading areas. When all the grabbing and kneading heads in each grabbing and kneading group get close to each other, all the grabbing and kneading heads forming the first grabbing and kneading area conduct grabbing and kneading massage on the to-be-massaged part; when the adjacent grabbing and kneading heads in the two grabbing and kneading groups get close to each other, all the grabbing and kneading heads forming the second grabbing and kneading area conduct grabbing and kneading massage on the to-be-massaged part.

Description

Technical Field

[0001] The present application relates to the technical field of massage equipment, and in particular to a grasping and kneading mechanism and massage equipment. Background Art

[0002] In daily life and work, people often experience discomfort in the muscles or bones of the body due to maintaining the same posture for a long time. In order to relieve the discomfort in the muscles or bones, various types of massagers have appeared on the market, such as waist massagers. In the related art, the waist massager is provided with a belt and a grabbing and kneading head. The belt is used to be worn on the waist, and the grabbing and kneading head is used to massage the waist. However, the grabbing and kneading head can only massage the two sides of the waist, and the massage area is relatively limited. Utility Model Content

[0003] The present application provides a grasping and kneading mechanism and a massage device that can massage a larger area.

[0004] In a first aspect, the present application provides a grasping and kneading mechanism for grasping and kneading a massaged part, the grasping and kneading mechanism comprising:

[0005] Driving body;

[0006] a transmission rod connected to the driving body; and

[0007] Two grasping and kneading groups, the two grasping and kneading groups are arranged at intervals along the extension direction of the driving body, each of the grasping and kneading groups includes a plurality of grasping and kneading heads, the grasping and kneading heads are connected to the driving body through a transmission rod, so that the driving body can drive the grasping and kneading heads to perform oscillating motion through the transmission rod, all the grasping and kneading heads in each of the grasping and kneading groups jointly form a first grasping and kneading area, the grasping and kneading heads adjacent to each other in the two grasping and kneading groups jointly form a second grasping and kneading area, and the second grasping and kneading area is located between the two first grasping and kneading areas; when all the grasping and kneading heads in each of the grasping and kneading groups are close to each other, all the grasping and kneading heads constituting the first grasping and kneading area grasp and knead the part to be massaged; when the grasping and kneading heads adjacent to each other in the two grasping and kneading groups are close to each other, all the grasping and kneading heads constituting the second grasping and kneading area grasp and knead the part to be massaged.

[0008] Wherein, when the driving body drives the grasping and kneading group to perform grasping and kneading massage, the first grasping and kneading area and the second grasping and kneading area are alternately reduced.

[0009] Wherein, each of the grabbing and kneading groups comprises a first grabbing and kneading head and a second grabbing and kneading head, the first grabbing and kneading heads in the two grabbing and kneading groups are arranged adjacent to each other, and the second grabbing and kneading head in any one of the grabbing and kneading groups is arranged on the side of the first grabbing and kneading head away from the other grabbing and kneading group;

[0010] The first grasping and kneading head and the second grasping and kneading head in each of the grasping and kneading groups jointly form the first grasping and kneading area, and the deflection directions of the first grasping and kneading head and the second grasping and kneading head in each of the grasping and kneading groups are opposite; the first grasping and kneading heads adjacent to each other in the two grasping and kneading groups jointly form the second grasping and kneading area, and the deflection directions of the first grasping and kneading heads adjacent to each other in the two grasping and kneading groups are opposite.

[0011] Wherein, the driving body comprises:

[0012] A power input gear set, the power input gear set comprising two input gears, the two input gears being arranged opposite to each other at intervals along the extending direction of the driving body;

[0013] Two power output gear sets, the two power output gear sets are respectively connected to different input gears, each power output gear set includes a plurality of output gears, each output gear is connected to the grasping and kneading head through the transmission rod, and the plurality of output gears in the same set are all connected to the same input gear;

[0014] a power introduction member, the power introduction member being disposed between the two input gears and being transmission-connected to the two input gears; and

[0015] A driver is connected to the power introduction member and is used to drive the power introduction member to rotate.

[0016] Among them, the input gear is a turbine, the power introduction part is a worm, the turbine includes an upper end face and a lower end face, the worm has a first axis, the first axis is the central axis of rotation of the worm, and the first axis is located in the area between the planes where the upper end face and the lower end face are located.

[0017] Among them, the input gear is a turbine, the power introduction part is a worm, the turbine includes an upper end face and a lower end face, and there is a first plane between the upper end face and the lower end face, the first plane is parallel to the upper end face and the lower end face, and the distances from the first plane to the upper end face and the lower end face are equal, respectively, and the center of the worm is located on the first plane.

[0018] Wherein, the driving body comprises an output gear, the output gear has a second axis, and the output gear can rotate around the second axis;

[0019] The transmission rod has a first end and a second end that are opposite to each other, the output gear is fixedly connected to the first end, the grabbing and kneading head is rotatably mounted on the outer periphery of the second end, and the transmission rod has a third axis, which is a line connecting the first end and the second end. The third axis is inclined relative to the second axis so that the transmission rod can perform a conical pendulum motion around the second axis driven by the output wheel.

[0020] Wherein, the driving body has an extension direction and a width direction, part of the grabbing and kneading heads in each of the grabbing and kneading groups are arranged at intervals along the extension direction, and part of the grabbing and kneading heads in each of the grabbing and kneading groups are arranged at intervals along the width direction.

[0021] Wherein, the driving body comprises two power output gear sets, a second plane is provided between the two power output gear sets, the two power output gear sets are symmetrically arranged about the second plane, and the two power output gear sets are respectively connected to different grasping and kneading groups;

[0022] Each of the power output gear sets includes a plurality of output gears, each of the output gears is connected to the grasping and kneading head via the transmission rod, each of the output gears has a second axis, each of the output gears can rotate around its own second axis, and the second axis is inclined relative to the second plane and intersects so that the two grasping and kneading groups are close to each other.

[0023] In a second aspect, the present application further provides a massage device, comprising: a waist belt and the above-mentioned grasping and kneading mechanism, wherein the grasping and kneading mechanism is connected to the waist belt.

[0024] The waistband has a belt length direction and a belt width direction, the waistband includes an upper edge and a lower edge, the upper edge and the lower edge both extend along the belt length direction of the waistband, and the relative direction of the upper edge and the lower edge is the belt width direction of the waistband;

[0025] The driving body also includes a driver, which is used to provide power to the grabbing and kneading head of the grabbing and kneading mechanism, and the driver is arranged adjacent to the lower edge of the waist belt.

[0026] Wherein, the waistband comprises an inner layer and an outer layer, the inner layer is provided with a through hole, and the through hole penetrates the inner layer;

[0027] The driving body of the grabbing and kneading mechanism is arranged between the inner layer and the outer layer, and the multiple grabbing and kneading heads in each grabbing and kneading group of the grabbing and kneading mechanism are arranged on a side of the inner layer away from the outer layer;

[0028] The massage device also includes a support plate, which is provided with an avoidance hole, and the avoidance hole is arranged opposite to the through hole. The through hole and the avoidance hole are used for the transmission rod to pass through, so that the opposite ends of the transmission rod are respectively connected to the driving body and the grasping and kneading head. The support plate is attached to the inner layer, and at least a part of the support plate is arranged facing the first grasping and kneading area of ​​the grasping and kneading mechanism, so that the part of the inner layer facing the first grasping and kneading area is tightened.

[0029] Wherein, the driving body comprises a shell, the shell is arranged between the inner layer and the outer layer, and the support plate is arranged on a side of the inner layer away from the shell;

[0030] The massage device further comprises a connecting piece, and the supporting plate and the shell are connected together through the connecting piece, so that the inner layer is sandwiched between the supporting plate and the shell.

[0031] Wherein, the driving body comprises a shell, the shell is arranged between the inner layer and the outer layer, and the support plate is arranged on a side of the inner layer away from the shell;

[0032] Either one of the support plate and the shell is provided with a convex portion, and the other is provided with an embedded portion, and the convex portion is cooperatively connected with the embedded portion so that the inner layer is embedded between the convex portion and the embedded portion.

[0033] The grasping and kneading mechanism provided in the present application is provided with a driving body, a transmission rod, and two grasping and kneading groups. Among them, the driving body can drive the grasping and kneading head to perform a pendulum motion through the transmission rod, and all the grasping and kneading heads in each grasping and kneading group jointly form a first grasping and kneading area, and the grasping and kneading heads adjacent to each other in the two grasping and kneading groups jointly form a second grasping and kneading area. Through the pendulum motion, the grasping and kneading heads in each grasping and kneading group can be close to each other. When all the grasping and kneading heads in each grasping and kneading group are close to each other, all the grasping and kneading heads constituting the first grasping and kneading area perform grasping and kneading massage on the massaged part; through the pendulum motion, the grasping and kneading heads adjacent to each other in the two grasping and kneading groups can also be close to each other. When the grasping and kneading heads adjacent to each other in the two grasping and kneading groups are close to each other, all the grasping and kneading heads constituting the second grasping and kneading area perform grasping and kneading massage on the massaged part. If the grasping and kneading mechanism is used to massage the waist, the grasping and kneading heads constituting the first grasping and kneading area can massage the left and right sides of the waist, and the grasping and kneading heads constituting the second grasping and kneading area can massage the middle position of the waist. Therefore, the grasping and kneading mechanism provided in the present application can massage a larger area. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the grasping and kneading mechanism provided in an embodiment of the present application.

[0036] Figure 2 for Figure 1 An exploded view of the grasping and kneading mechanism is shown.

[0037] Figure 3 for Figure 1 A top view of the grasping and kneading mechanism is shown.

[0038] Figure 4 for Figure 3 A schematic diagram of the grabbing and kneading mechanism shown when the grabbing and kneading head moves to another position.

[0039] Figure 5 This is a schematic diagram of the grasping and kneading mechanism provided in an embodiment of the present application acting on the human waist.

[0040] Figure 6 for Figure 1 Schematic diagram of the power structure in the grasping and kneading mechanism shown.

[0041] Figure 7 for Figure 6 A schematic diagram showing the structure shown with power introduction components and a driver added.

[0042] Figure 8 for Figure 7 Schematic diagram of the matching between the input gear and the power introduction part in the structure shown.

[0043] Fig. 9 for Figure 6 Schematic diagram of the output gear and transmission rod in the structure shown.

[0044] Fig.10 for Figure 3 Schematic diagram of the grabbing and kneading head in the grabbing and kneading mechanism shown.

[0045] Fig.11 for Figure 4 Schematic diagram of the grabbing and kneading head in the grabbing and kneading mechanism shown.

[0046] Fig.12 This is a schematic diagram of the massage device provided in an embodiment of the present application when it is not in use.

[0047] Fig.13This is a schematic diagram of the massage device provided in an embodiment of the present application when in use.

[0048] Fig.14 for Fig.12 Exploded view of the massage device shown.

[0049] Fig.15 for Fig.12 A partial schematic diagram of the massage device shown.

[0050] Fig.16 for Fig.15 The massage device shown is a cross-sectional view along line AA.

[0051] Fig.17 for Fig.15 The massage device shown is a cross-sectional view along line BB.

[0052] Description of Figure Numbers:

[0053] Massage device 100; grasping and kneading mechanism 10; waist belt 20; support plate 30; connecting member 40; driving body 110; transmission rod 120; grasping and kneading group 130; inner layer 210; outer layer 220; power input gear group 111; power output gear group 112; power introduction member 113; driver 114; housing 115; grasping and kneading head 131; input gear 1111; output gear 1121; first grasping and kneading head 1311; second grasping and kneading head 1312; first end D1 ; second end D2; through hole K1; avoidance hole K2; upper edge S1; lower edge S2; convex portion Y1; embedded portion Y2; first grasping and kneading area A1; second grasping and kneading area A2; first axis Z1; second axis Z2; third axis Z3; extension direction F1; width direction F2; belt length direction F3; belt width direction F4; first plane M1; second plane M2; upper end surface M3; lower end surface M4; waist X; left side of waist X1; middle of waist X2; right side of waist X3. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] Reference to "embodiment" or "implementation" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment or implementation may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0056] Please refer to Figures 1 to 4 The present application provides a grasping and kneading mechanism 10, which may also be referred to as a movement, etc. The grasping and kneading mechanism 10 is used to grasp and knead a part to be massaged. The part to be massaged may be, but is not limited to, the waist, legs, etc. The present application embodiment only takes the waist as an example. The grasping and kneading mechanism 10 includes: a driving body 110, a transmission rod 120, and two grasping and kneading groups 130.

[0057] The transmission rod 120 is connected to the driving body 110. The driving body 110 is used to drive the two grasping and kneading groups 130 to move through the transmission rod 120 to form a grasping and kneading massage action. The transmission rod 120 can be made of hard materials, such as metal, hard plastic, etc., so as to ensure that the transmission rod 120 can output sufficient massage force.

[0058] The two grabbing and kneading groups 130 are arranged at intervals along the extension direction F1 of the driving body 110. Each of the grabbing and kneading groups 130 includes a plurality of grabbing and kneading heads 131 (such as Figure 3 , Figure 4 As shown), the grabbing and kneading head 131 can also be called a massage head. The number of the grabbing and kneading heads 131 can be but not limited to 2, 3, 4, 5, etc. The material of the grabbing and kneading head 131 can be but not limited to silicone, rubber, etc. Optionally, the elastic modulus of the grabbing and kneading head 131 is smaller than the elastic modulus of the transmission rod 120. Since the smaller the elastic modulus, the weaker the material's resistance to external forces, the greater the degree of elastic deformation. Therefore, the smaller the elastic modulus of the grabbing and kneading head 131 is than the elastic modulus of the transmission rod 120, which means that the grabbing and kneading head 131 is more likely to deform under the same external force. This can avoid the grabbing and kneading head 131 from contacting the part to be massaged too stiffly, thereby increasing the comfort during the grabbing and kneading massage, and ensuring that the grabbing and kneading head 131 can output sufficient massage force to the part to be massaged.

[0059] The grabbing and kneading heads 131 are connected to the driving body 110 through the transmission rod 120, so that the driving body 110 can drive the grabbing and kneading heads 131 to perform oscillatory motion, such as cone pendulum motion, through the transmission rod 120. Since the transmission rod 120 drives the grabbing and kneading heads 131 to perform oscillatory motion, two adjacent grabbing and kneading heads 131 sometimes approach and sometimes move away. All the grabbing and kneading heads 131 are arranged at intervals, so that sufficient movement space can be provided for each grabbing and kneading head 131 to avoid collision between two adjacent grabbing and kneading heads 131 when they approach each other.

[0060] Please refer to Figure 3 and Figure 4 , all the grabbing and kneading heads 131 in each of the grabbing and kneading groups 130 together form a first grabbing and kneading area A1. The grabbing and kneading heads 131 adjacent to each other in the two grabbing and kneading groups 130 together form a second grabbing and kneading area A2. The second grabbing and kneading area A2 is located between the two first grabbing and kneading areas A1. The following explanation is given by naming the two grabbing and kneading groups 130 as the first grabbing and kneading group and the second grabbing and kneading group, respectively. Please refer to this for the subsequent description of the first grabbing and kneading group and the second grabbing and kneading group: all the grabbing and kneading heads 131 in the first grabbing and kneading group together constitute the first grabbing and kneading area A1, and similarly, all the grabbing and kneading heads 131 in the second grabbing and kneading group also together constitute the first grabbing and kneading area A1, and the first grabbing and kneading area A1 formed by the first grabbing and kneading group is separated from the first grabbing and kneading area A1 formed by the second grabbing and kneading group. In the first grasping and kneading group, a part of the grasping and kneading heads 131 is adjacent to the second grasping and kneading group and another part of the grasping and kneading heads 131 is far away from the second grasping and kneading group. In the second grasping and kneading group, a part of the grasping and kneading heads 131 is adjacent to the first grasping and kneading group and another part of the grasping and kneading heads 131 is far away from the first grasping and kneading group. The grasping and kneading heads 131 adjacent to each other in the first grasping and kneading group and the second grasping and kneading group constitute a second grasping and kneading area A2, which is located between the two first grasping and kneading areas A1.

[0061] Please refer to Figure 3 When all the grabbing and kneading heads 131 in each grabbing and kneading group 130 are close to each other, all the grabbing and kneading heads 131 constituting the first grabbing and kneading area A1 perform grabbing and kneading massage on the part to be massaged. That is, when all the grabbing and kneading heads 131 in the first grabbing and kneading group are close to each other, the first grabbing and kneading area A1 constituted by the first grabbing and kneading group is reduced, and all the grabbing and kneading heads 131 constituting the first grabbing and kneading area A1 perform grabbing and kneading massage on the part to be massaged. When all the grabbing and kneading heads 131 in the second grabbing and kneading group are close to each other, the first grabbing and kneading area A1 constituted by the second grabbing and kneading group is reduced, and all the grabbing and kneading heads 131 constituting the first grabbing and kneading area A1 perform grabbing and kneading massage on the part to be massaged.

[0062] Please refer to Figure 4When the grasping and kneading heads 131 adjacent to each other in the two grasping and kneading groups 130 are brought closer to each other, all the grasping and kneading heads 131 constituting the second grasping and kneading area A2 grasp and knead the area to be massaged. In other words, when the grasping and kneading heads 131 adjacent to each other in the first grasping and kneading group and the second grasping and kneading group are brought closer to each other, the second grasping and kneading area A2 is reduced, and the grasping and kneading heads 131 constituting the second grasping and kneading area A2 grasp and knead the area to be massaged.

[0063] It should be noted that in order to facilitate the understanding of the drawings, Figure 3 and Figure 4 The grasping and kneading mechanism 10 shown has some structural lines hidden.

[0064] Please refer to further Figure 5 , if the part to be massaged is the waist X, the two first grasping and kneading areas A1 correspond to the left side of the waist X1 and the right side of the waist X3 respectively, and the second grasping and kneading area A2 corresponds to the middle part of the waist X2. Therefore, the first grasping and kneading group can grasp and knead the left side of the waist X1, the second grasping and kneading group can grasp and knead the right side of the waist X3, and the first grasping and kneading group and the second grasping and kneading group can also massage the middle part of the waist X2 together.

[0065] In summary, the grabbing and kneading mechanism 10 provided in the present application is provided with a driving body 110, a transmission rod 120, and two grabbing and kneading groups 130. Among them, the driving body 110 can drive the grabbing and kneading heads 131 to perform yaw motion through the transmission rod 120, and all the grabbing and kneading heads 131 in each grabbing and kneading group 130 jointly form a first grabbing and kneading area A1, and the grabbing and kneading heads 131 adjacent to each other in the two grabbing and kneading groups 130 jointly form a second grabbing and kneading area A2. Through the yaw motion, the grabbing and kneading heads 131 in each grabbing and kneading group 130 can be brought closer to each other. When all the grabbing and kneading heads 131 in each grabbing and kneading group 130 are brought closer to each other, all the grabbing and kneading heads 131 constituting the first grabbing and kneading area A1 perform grabbing and kneading massage on the massaged part; through the yaw motion, the grabbing and kneading heads 131 adjacent to each other in the two grabbing and kneading groups 130 can also be brought closer to each other. When the grabbing and kneading heads 131 adjacent to each other in the two grabbing and kneading groups 130 are brought closer to each other, all the grabbing and kneading heads 131 constituting the second grabbing and kneading area A2 perform grabbing and kneading massage on the massaged part. If the grabbing and kneading mechanism 10 is used to massage the waist, the grabbing and kneading heads 131 constituting the first grabbing and kneading area A1 can massage the left and right sides of the waist, and the grabbing and kneading heads 131 constituting the second grabbing and kneading area A2 can massage the middle position of the waist. Therefore, the grabbing and kneading mechanism 10 provided in the present application can massage a larger area.

[0066] Please refer to Figure 3 and Figure 4, when the driving body 110 drives the grasping and kneading group 130 to perform grasping and kneading massage, the first grasping and kneading area A1 and the second grasping and kneading area A2 are alternately reduced and alternately increased. That is to say, when the first grasping and kneading area A1 is reduced, the second grasping and kneading area A2 is increased; when the first grasping and kneading area A1 is increased, the second grasping and kneading area A2 is reduced. Among them, the reduction of the first grasping and kneading area A1 means that the spacing between the various grasping and kneading heads 131 constituting the first grasping and kneading area A1 is reduced and they are close to each other, and the increase of the first grasping and kneading area A1 means that the spacing between the various grasping and kneading heads 131 constituting the first grasping and kneading area A1 is increased and they are away from each other. Similarly, the reduction of the second grasping and kneading area A2 means that the spacing between the various grasping and kneading heads 131 constituting the second grasping and kneading area A2 is reduced and they are close to each other, and the increase of the second grasping and kneading area A2 means that the spacing between the various grasping and kneading heads 131 constituting the second grasping and kneading area A2 is increased and they are away from each other.

[0067] In this embodiment, the first grasping and kneading area A1 and the second grasping and kneading area A2 are set to be alternately reduced, so that the first grasping and kneading area A1 and the second grasping and kneading area A2 can alternately grasp and knead the waist. That is to say, when the left side X1 and the right side X3 of the waist are grasped and kneaded by the two first grasping and kneading areas A1 respectively, the middle part X2 of the waist is not grasped and kneaded by the second grasping and kneading area A2; when the middle part X2 of the waist is grasped and kneaded by the second grasping and kneading area A2, the left side X1 and the right side X3 of the waist are not grasped and kneaded by the first grasping and kneading area A1. It can be understood that when the two first grasping and kneading areas A1 grasp and knead the left side X1 and the right side X3 of the waist respectively, the skin of the middle part X2 of the waist is relaxed, and the relaxed middle part X2 of the waist can be pulled toward the left side X1 and the right side X3 of the waist, which is beneficial to grasp and knead the left side X1 and the right side X3 of the waist to avoid discomfort; similarly, when the second grasping and kneading area A2 grasps and kneads the middle part X2 of the waist, the skin of the left side X1 and the right side X3 of the waist is relaxed, and the relaxed left side X1 and the right side X3 of the waist can be pulled toward the middle part X2 of the waist, which is beneficial to grasp and knead the middle part X2 of the waist to avoid discomfort.

[0068] Please refer to Figure 3 and Figure 4 , each of the grabbing and kneading groups 130 includes a first grabbing and kneading head 1311 and a second grabbing and kneading head 1312. In each grabbing and kneading group 130, the number of the first grabbing and kneading heads 1311 can be 1, 2, 3, etc.; similarly, in each grabbing and kneading group 130, the number of the second grabbing and kneading heads 1312 can be 1, 2, 3, etc. The first grabbing and kneading heads 1311 in the two grabbing and kneading groups 130 are arranged adjacent to each other. The second grabbing and kneading head 1312 in any one of the grabbing and kneading groups 130 is arranged on the side of the first grabbing and kneading head 1311 away from the other grabbing and kneading group 130. Figure 3 and Figure 4In the figure, the four grabbing and kneading heads 131 arranged in the middle are the first grabbing and kneading heads 1311, and the four grabbing and kneading heads 131 arranged at both ends of the extending direction F1 are the second grabbing and kneading heads 1312.

[0069] Furthermore, the first grabbing and kneading head 1311 and the second grabbing and kneading head 1312 in each grabbing and kneading group 130 jointly form the first grabbing and kneading area A1, and the first grabbing and kneading head 1311 and the second grabbing and kneading head 1312 in each grabbing and kneading group 130 have opposite deflection directions, that is, opposite yaw directions. Therefore, the distance between the first grabbing and kneading head 1311 and the second grabbing and kneading head 1312 will sometimes increase and sometimes decrease, that is, the first grabbing and kneading area A1 will sometimes increase and sometimes decrease.

[0070] Furthermore, the first grabbing and kneading heads 1311 adjacent to each other in the two grabbing and kneading groups 130 jointly form the second grabbing and kneading area A2, and the first grabbing and kneading heads 1311 adjacent to each other in the two grabbing and kneading groups 130 have opposite deflection directions, that is, opposite swing directions. Therefore, the distance between the first grabbing and kneading heads 1311 adjacent to each other in the two grabbing and kneading groups 130 will sometimes increase and sometimes decrease, that is, the second grabbing and kneading area A2 will sometimes increase and sometimes decrease.

[0071] It can be seen that when the first grasping and kneading head 1311 and the second grasping and kneading head 1312 in each grasping and kneading group 130 are close to each other, the adjacent first grasping and kneading heads 1311 in the two grasping and kneading groups 130 are away from each other. In other words, when the first grasping and kneading area A1 is reduced, the second grasping and kneading area A2 is increased; when the first grasping and kneading head 1311 and the second grasping and kneading head 1312 in each grasping and kneading group 130 are away from each other, the adjacent first grasping and kneading heads 1311 in the two grasping and kneading groups 130 are close to each other. In other words, when the first grasping and kneading area A1 is increased, the second grasping and kneading area A2 is reduced. Therefore, by adopting the setting form of this embodiment, the first grasping and kneading area A1 and the second grasping and kneading area A2 can achieve alternating reduction and increase, so that the first grasping and kneading area A1 and the second grasping and kneading area A2 can alternately grasp and knead the waist.

[0072] Similarly, when the distance between the first grasping and kneading head 1311 and the second grasping and kneading head 1312 in each grasping and kneading group 130 is the smallest, the distance between the adjacent first grasping and kneading heads 1311 in the two grasping and kneading groups 130 is the largest, and at this time, the first grasping and kneading area A1 outputs the maximum grasping and kneading force; when the distance between the first grasping and kneading head 1311 and the second grasping and kneading head 1312 in each grasping and kneading group 130 is the largest, the distance between the adjacent first grasping and kneading heads 1311 in the two grasping and kneading groups 130 is the smallest, and at this time, the second grasping and kneading area A2 outputs the maximum grasping and kneading force. Therefore, by adopting the setting form of this embodiment, the first grasping and kneading area A1 and the second grasping and kneading area A2 can alternately achieve the maximum grasping and kneading force.

[0073] Please refer to Figure 6 and Figure 7 The driving body 110 includes: a power input gear set 111, two power output gear sets 112, a power introduction member 113, and a driver 114.

[0074] The power input gear set 111 includes two input gears 1111, and the two input gears 1111 are arranged opposite to each other at intervals along the extension direction F1 of the driving body 110. The two power output gear sets 112 are respectively connected to different input gears 1111. Each power output gear set 112 includes a plurality of output gears 1121. Each output gear 1121 is connected to the grasping and kneading head 131 through the transmission rod 120. The plurality of output gears 1121 of the same group are all connected to the same input gear 1111. The power introduction member 113 is arranged between the two input gears 1111 and is connected to the two input gears 1111. The driver 114 is connected to the power introduction member 113 and is used to drive the power introduction member 113 to rotate. The transmission process of the driving body 110 is as follows: the driver 114 provides power to drive the power introduction member 113 to rotate, the power introduction member 113 then drives the two input gears 1111 to rotate, the input gears 1111 then drive the output gears 1121 to rotate, and the output gears 1121 finally drive the transmission rod 120 to perform a yaw motion.

[0075] In this embodiment, the driver 114 can be, but is not limited to, a motor that can output rotational motion. The input gear 1111 and the output gear 1121 can be, but are not limited to, bevel gears, spur gears, helical gears, etc. Optionally, the power introduction member 113 is a worm, the input gear 1111 is a worm wheel, and the worm-wheel combination has the characteristics of compact structure, which is conducive to reducing the volume and weight of the drive body 110, and the worm-wheel combination also has a self-locking function, which can avoid the waist pressing the transmission rod 120 and causing the worm to reverse. One or more gears can also be set between the input gear 1111 and the output gear 1121 so that the grabbing and kneading head 131 can output appropriate force or speed. It can be understood that the setting form of this embodiment can enable the two input gears 1111 to obtain the same power, and then make the output effect of each grabbing and kneading head 131 the same, so as to ensure that the force of the grabbing and kneading head 131 acting on the waist is basically the same.

[0076] Please refer to Figure 8Optionally, the input gear 1111 is a turbine, and the power introduction member 113 is a worm. The turbine includes an upper end surface M3 and a lower end surface M4. The worm has a first axis Z1, and the first axis Z1 is the central axis of rotation of the worm, that is, when the driver 114 outputs power, the worm rotates around the first axis Z1. Furthermore, the first axis Z1 is located in the area between the planes where the upper end surface M3 and the lower end surface M4 are located. Such a configuration can ensure that the turbine and the worm have more meshing area, so that the worm can output greater and smoother power to the turbine.

[0077] Please refer to Figure 8 Optionally, the input gear 1111 is a turbine, and the power introduction member 113 is a worm. The turbine includes an upper end face M3 and a lower end face M4, and a first plane M1 is provided between the upper end face M3 and the lower end face M4. The first plane M1 is parallel to the upper end face M3 and the lower end face M4, and the first plane M1 is equidistant from the upper end face M3 and the lower end face M4, respectively, and the center of the worm is located on the first plane M1. With such a configuration, the turbine and the worm can be better meshed, the force on the turbine is more evenly applied, and the service life of the turbine can be longer.

[0078] Please refer to Fig. 9 , the driving body 110 includes an output gear 1121, the output gear 1121 has a second axis Z2, and the output gear 1121 can rotate around the second axis Z2. The transmission rod 120 has a first end D1 and a second end D2 that are separated from each other. The output gear 1121 is fixedly connected to the first end D1. The grabbing and kneading head 131 is rotatably mounted on the outer periphery of the second end D2. The transmission rod 120 has a third axis Z3, and the third axis Z3 is a line connecting the first end D1 and the second end D2. The third axis Z3 is tilted relative to the second axis Z2, so that the transmission rod 120 can perform a conical pendulum motion around the second axis Z2 driven by the output wheel.

[0079] Specifically, the transmission rod 120 is in the shape of a rod, which has a fixed end and a free end. The fixed end of the transmission rod 120 is fixedly connected to the output gear 1121. The fixed connection mentioned here means that the transmission rod 120 and the output gear 1121 move synchronously but cannot move relative to each other. The connection between the two can be a detachable connection or a non-detachable connection. The free end of the transmission rod 120 is non-fixedly connected to the grabbing and kneading head 131, that is, the grabbing and kneading head 131 can move relative to the transmission rod 120. Since the third axis Z3 of the transmission rod 120 is inclined relative to the second axis Z2, when the output gear 1121 rotates, the trajectory of the transmission rod 120 is conical, so the pendulum motion of the transmission rod 120 is a conical pendulum motion. If the grabbing and kneading head 131 is regarded as a point mass with mass but no volume or shape, then the motion trajectory of the grabbing and kneading head 131 is a circle, such as Fig.10 and Fig.11 As shown. Fig.10 and Fig.11 In the figure, the dotted circle represents the movement trajectory of the grabbing and kneading head 131, and the direction indicated by the arrow is the movement direction of the grabbing and kneading head 131. It can be understood that in the process of grabbing and kneading the waist, the grabbing and kneading head 131 may wrap around the clothes on the waist, which will cause discomfort to the user and is not conducive to the conical pendulum movement of the transmission rod 120. In this embodiment, since the grabbing and kneading head 131 is rotatably mounted on the transmission rod 120, when the transmission rod 120 drives the grabbing and kneading head 131 to perform a conical pendulum movement, the grabbing and kneading head 131 can rotate relative to the transmission rod 120, so that the grabbing and kneading head 131 rolls on the part to be massaged, thereby avoiding the grabbing and kneading head 131 from wrapping around the clothes or reducing the probability of wrapping.

[0080] Please refer to Figure 3 and Figure 4 , the driving body 110 has an extension direction F1 and a width direction F2, and some of the grabbing and kneading heads 131 in each of the grabbing and kneading groups 130 are arranged at intervals along the extension direction F1, and some of the grabbing and kneading heads 131 in each of the grabbing and kneading groups 130 are arranged at intervals along the width direction F2. It can be understood that the grabbing and kneading heads 131 are arranged at intervals in the extension direction F1 and the width direction F2, so that a larger first grabbing and kneading area A1 and a second grabbing and kneading area A2 can be formed, so that the grabbing and kneading mechanism 10 forms a stable support and grabbing and kneading effect when grabbing and kneading the waist, and the interval arrangement can also reduce the probability of the grabbing and kneading heads 131 winding around clothes during movement.

[0081] Please combine Figure 5 Reference Fig. 9, the driving body 110 includes two power output gear sets 112 arranged along the extension direction F1, and a second plane M2 is provided between the two power output gear sets 112. The two power output gear sets 112 are symmetrically arranged about the second plane M2. The two power output gear sets 112 are respectively connected to different grasping and kneading groups 130. It can be understood that the symmetrical arrangement of the two power output gear sets 112 can ensure that the output effects of each grasping and kneading head 131 are the same, so that the force exerted by the grasping and kneading head 131 on the waist is basically the same. Secondly, it can also balance the weight of the driving body 110 in the extension direction F1, avoiding the skewing of the driving body 110 due to the uneven weight during the grasping and kneading massage.

[0082] Further, each of the power output gear sets 112 includes a plurality of output gears 1121. Each of the output gears 1121 is connected to the grasping and kneading head 131 through the transmission rod 120. Each of the output gears 1121 has a second axis Z2, and each of the output gears 1121 can rotate around its own second axis Z2. The second axis Z2 is inclined relative to the second plane M2 and intersects so that the two grasping and kneading groups 130 are close to each other. It can be understood that when viewed from the left side of the human body to the right side (or from the right side to the left side), the waist of the human body is curved and undulating. When the grasping and kneading mechanism 10 is worn on the waist, in order to ensure that the grasping and kneading head 131 can grasp and knead the waist well, the grasping and kneading mechanism 10 should also be adapted to the curved and undulating waist. In this embodiment, the second axis Z2 of the output gear 1121 located on the left and right sides of the second plane M2 intersects with the second plane M2, which means that each output gear 1121 is inclined relative to the second plane M2, so that the two grasping and kneading groups 130 located on the left and right sides of the second plane M2 can be inclined toward the second plane M2 and approach each other. In this way, each grasping and kneading head 131 can be adapted to the human waist with a curved and undulating trend, so that the force of each grasping and kneading head 131 acting on the waist is basically the same.

[0083] Please refer to Fig.12 The present application also provides a massage device 100, which can also be called a massager, a grasping and kneading massage belt, etc. The massage device 100 includes: a belt 20 and the grasping and kneading mechanism 10 described in any of the above embodiments, and the grasping and kneading mechanism 10 is connected to the belt 20. For the specific details of the grasping and kneading mechanism, please refer to the introduction in the previous embodiments.

[0084] The belt 20 is a component that is worn on the waist of the user when using the massage device 100. The belt 20 is made of a flexible material so that it can bend to adapt to the user's body curve. The flexible material of the belt 20 can be understood as a material that can be bent or deformed. For example, the material of the belt 20 can include at least one of cloth and soft rubber material.

[0085] The waist belt 20 has a belt length direction F3 and a belt width direction F4. The extension direction F1 of the grasping and kneading mechanism 10 is consistent with the belt length direction F3 of the waist belt 20, and the width direction F2 of the grasping and kneading mechanism 10 is consistent with the belt width direction F4 of the waist belt 20. The grasping and kneading mechanism 10 can be arranged in the middle position of the waist belt 20 in the belt length direction F3, and can also be arranged at the end of the waist belt 20 in the belt length direction F3.

[0086] The massage device 100 has a non-use state, in which the belt 20 can be flattened and stretched to form a strip of a certain length, such as Fig.12 The massage device 100 also has a state in which it can be worn on the waist. In this state, the belt 20 is wound into a substantially closed ring structure, which defines a wearing space for accommodating the waist. That is, the user can wear the belt 20 around his or her waist. Fig.13 shown.

[0087] Please refer to Figure 7 and Fig.12 The waist belt 20 includes an upper edge S1 and a lower edge S2, both of which extend along the belt length direction F3 of the waist belt 20, and the relative direction of the upper edge S1 and the lower edge S2 is the belt width direction F4 of the waist belt 20. The driving body 110 also includes a driver 114, which is used to provide power to the grasping and kneading head 131 of the grasping and kneading mechanism 10, and the driver 114 is disposed adjacent to the lower edge S2 of the waist belt 20.

[0088] When the user wears the massage device 100, the upper edge S1 of the waist belt 20 is located at the top and the lower edge S2 is located at the bottom, that is, the upper edge S1 is closer to the head and the lower edge S2 is closer to the legs. If the center of gravity of the driving body 110 is closer to the upper edge S1, then the driving body 110 is equivalent to being "top-heavy" and easily tilted backwards, causing the grasping and kneading heads 131 closer to the human head to be away from the waist or have a low contact with the waist, and finally causing the force of each grasping and kneading head 131 acting on the waist to be inconsistent. In this embodiment, the driving member is arranged at a position of the waist belt 20 close to the lower edge S2, so that the center of gravity of the driving body 110 moves downward, so that the driving body 110 is not easy to tilt backward and fall or fall backward, thereby preventing the grabbing and kneading heads 131 closer to the human head from leaving the waist or having a low contact with the waist, thereby ensuring that the force of each grabbing and kneading head 131 acting on the waist is basically the same, that is, the grabbing and kneading heads 131 closer to the human head and the grabbing and kneading heads 131 closer to the human legs act on the waist with basically the same force.

[0089] Please refer to Fig.14 The waist belt 20 includes an inner layer 210 and an outer layer 220. When the waist belt 20 is worn on the part to be massaged, the inner layer 210 faces the part to be massaged, and the outer layer 220 faces away from the part to be massaged. The driving body 110 of the grabbing and kneading mechanism 10 is arranged between the inner layer 210 and the outer layer 220. The multiple grabbing and kneading heads 131 in each grabbing and kneading group 130 of the grabbing and kneading mechanism 10 are arranged on the side of the inner layer 210 away from the outer layer 220. In other words, the driving body 110 is hidden inside the waist belt 20, and the grabbing and kneading heads 131 are arranged outside the waist belt 20. In this way, the waist belt 20 is used as a carrier to carry the driving body 110, which is conducive to realizing the lightweight of the massage device 100. Moreover, hiding the driving body 110 inside the waist belt 20 can make the massage device 100 more beautiful and is also conducive to protecting the driving body 110.

[0090] The inner layer 210 is provided with a through hole K1, which penetrates the inner layer 210, and the shape of the through hole K1 can be but not limited to circular, elliptical, rectangular, etc. The massage device 100 also includes a support plate 30, and the support plate 30 is provided with an avoidance hole K2. The avoidance hole K2 penetrates the support plate 30, and the shape of the avoidance hole K2 can be but not limited to circular, elliptical, rectangular, etc. The material of the support plate 30 can be but not limited to plastic, metal, silicone, rubber, etc. The avoidance hole K2 is arranged opposite to the through hole K1. The through hole K1 and the avoidance hole K2 are used for the transmission rod 120 to pass through, so that the opposite ends of the transmission rod 120 are respectively connected to the driving body 110 and the grasping and kneading head 131. The support plate 30 is attached to the inner layer 210, and the support plate 30 can be arranged between the inner layer 210 and the outer layer 220, and can also be arranged on the side of the inner layer 210 away from the outer layer 220. At least a portion of the support plate 30 is arranged to face the first grasping and kneading area A1 of the grasping and kneading mechanism 10, so that the portion of the inner layer 210 facing the first grasping and kneading area A1 is stretched, that is, the orthographic projection of the first grasping and kneading area A1 on the support plate 30 at least partially falls within the range of the support plate 30. With such a configuration, the area of ​​the inner layer 210 corresponding to the support plate 30 can be tensioned, and the inner layer 210 corresponding to the first grasping and kneading area A1 is not easy to bulge, thereby avoiding the situation where the inner layer 210 bulges and hinders the movement of the grasping and kneading head 131.

[0091] Please refer to Fig.15 and Fig.16 Optionally, the driving body 110 includes a housing 115, which is used to accommodate the input gear 1111, the output gear 1121, the power introduction member 113, the driver 114, etc. The housing 115 is disposed between the inner layer 210 and the outer layer 220. The support plate 30 is disposed on a side of the inner layer 210 away from the housing 115. The massage device 100 also includes a connecting member 40, which can be, but is not limited to, a bolt, a screw, etc. The support plate 30 and the housing 115 are connected together through the connecting member 40, so that the inner layer 210 is sandwiched between the support plate 30 and the housing 115. In this embodiment, the support plate 30 is connected to the shell 115 through the connector 40, and the two can clamp the inner layer 210, thereby preventing the inner layer 210 from moving relative to the support plate 30 and the shell 115, preventing the inner layer 210 from bulging, and thus fixing the driving body 110 on the inner layer 210. After the massage device 100 is worn on the waist, the grasping and kneading mechanism 10 is not easy to deviate during massage, effectively ensuring the stability of the massage after wearing. In this embodiment, the number of connectors 40 can be multiple, and the multiple connectors 40 are arranged in sequence along the circumference of the support plate 30, so that the support plate 30 is stably connected to the shell 115 in the circumferential direction.

[0092] Please refer to Fig.15 and Fig.17 Optionally, the driving body 110 includes a housing 115, which is used to accommodate the input gear 1111, the output gear 1121, the power introduction member 113, the driver 114, etc. The housing 115 is disposed between the inner layer 210 and the outer layer 220, and the support plate 30 is disposed on the side of the inner layer 210 away from the housing 115. Either the support plate 30 or the housing 115 is provided with a convex portion Y1, and the other is provided with an embedded portion Y2, that is, if the support plate 30 is provided with a convex portion Y1, the housing 115 is provided with an embedded portion Y2; if the housing 115 is provided with a convex portion Y1, the support plate 30 is provided with an embedded portion Y2. The convex portion Y1 is matched and connected with the embedded portion Y2, so that the inner layer 210 is embedded between the convex portion Y1 and the embedded portion Y2. Among them, the convex part Y1 is a convex structure, and the embedded part Y2 can be a through hole or a groove. The convex part Y1 can be embedded in the through hole or the groove in a matching manner. In this way, the inner layer 210 between the support plate 30 and the shell 115 can be in a tightened state, thereby preventing the inner layer 210 from bulging. Moreover, this also achieves the fixing of the driving body 110 on the inner layer 210. After the massage device 100 is worn on the waist, the grasping and kneading mechanism 10 is not easy to deviate during massage, effectively ensuring the stability of the massage after wearing. In this embodiment, the convex part Y1 and the embedded part Y2 are arranged in pairs, which can be but not limited to 1 pair, 2 pairs, 3 pairs, etc. It can be understood that the greater the number, the better the tightening effect of the inner layer 210.

[0093] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A grasping and kneading mechanism, characterized in that: Used for grasping and kneading massage of the massaged part, the grasping and kneading mechanism comprises: Driving body; a transmission rod connected to the driving body; and Two grasping and kneading groups, the two grasping and kneading groups are arranged at intervals along the extension direction of the driving body, each of the grasping and kneading groups includes a plurality of grasping and kneading heads, the grasping and kneading heads are connected to the driving body through a transmission rod, so that the driving body can drive the grasping and kneading heads to perform oscillating motion through the transmission rod, all the grasping and kneading heads in each of the grasping and kneading groups jointly form a first grasping and kneading area, the grasping and kneading heads adjacent to each other in the two grasping and kneading groups jointly form a second grasping and kneading area, and the second grasping and kneading area is located between the two first grasping and kneading areas; when all the grasping and kneading heads in each of the grasping and kneading groups are close to each other, all the grasping and kneading heads constituting the first grasping and kneading area grasp and knead the part to be massaged; when the grasping and kneading heads adjacent to each other in the two grasping and kneading groups are close to each other, all the grasping and kneading heads constituting the second grasping and kneading area grasp and knead the part to be massaged.

2. The grasping and kneading mechanism according to claim 1, characterized in that: When the driving body drives the grasping and kneading group to perform grasping and kneading massage, the first grasping and kneading area and the second grasping and kneading area are alternately reduced.

3. The grasping and kneading mechanism according to claim 1, characterized in that: Each of the grabbing and kneading groups comprises a first grabbing and kneading head and a second grabbing and kneading head, the first grabbing and kneading heads in the two grabbing and kneading groups are arranged adjacent to each other, and the second grabbing and kneading head in any one of the grabbing and kneading groups is arranged on a side of the first grabbing and kneading head away from the other grabbing and kneading group; The first grasping and kneading head and the second grasping and kneading head in each of the grasping and kneading groups jointly form the first grasping and kneading area, and the deflection directions of the first grasping and kneading head and the second grasping and kneading head in each of the grasping and kneading groups are opposite; the first grasping and kneading heads adjacent to each other in the two grasping and kneading groups jointly form the second grasping and kneading area, and the deflection directions of the first grasping and kneading heads adjacent to each other in the two grasping and kneading groups are opposite.

4. The grasping and kneading mechanism according to claim 1, characterized in that: The driving body comprises: A power input gear set, the power input gear set comprising two input gears, the two input gears being arranged opposite to each other at intervals along the extending direction of the driving body; Two power output gear sets, the two power output gear sets are respectively connected to different input gears, each power output gear set includes a plurality of output gears, each output gear is connected to the grasping and kneading head through the transmission rod, and the plurality of output gears in the same set are all connected to the same input gear; a power introduction member, the power introduction member being disposed between the two input gears and being transmission-connected to the two input gears; and A driver is connected to the power introduction member and is used to drive the power introduction member to rotate.

5. The grasping and kneading mechanism according to claim 4, characterized in that: The input gear is a turbine, the power introduction member is a worm, the turbine includes an upper end face and a lower end face, the worm has a first axis, the first axis is the central axis of rotation of the worm, and the first axis is located in the area between the planes where the upper end face and the lower end face are located.

6. The grasping and kneading mechanism according to claim 4, characterized in that: The input gear is a turbine, the power introduction member is a worm, the turbine includes an upper end face and a lower end face, a first plane is provided between the upper end face and the lower end face, the first plane is parallel to the upper end face and the lower end face, and the first plane is equidistant from the upper end face and the lower end face, respectively, and the center of the worm is located on the first plane.

7. The grasping and kneading mechanism according to claim 1, characterized in that: The driving body comprises an output gear, the output gear has a second axis, and the output gear is rotatable about the second axis; The transmission rod has a first end and a second end that are opposite to each other, the output gear is fixedly connected to the first end, the grabbing and kneading head is rotatably mounted on the outer periphery of the second end, the transmission rod has a third axis, and the third axis is a line connecting the first end and the second end. The third axis is inclined relative to the second axis so that the transmission rod can perform a conical pendulum motion around the second axis driven by the output gear.

8. The grasping and kneading mechanism according to claim 1, characterized in that: The driving body has an extension direction and a width direction, and some of the grabbing and kneading heads in each of the grabbing and kneading groups are arranged at intervals along the extension direction, and some of the grabbing and kneading heads in each of the grabbing and kneading groups are arranged at intervals along the width direction.

9. The grasping and kneading mechanism according to claim 1, characterized in that: The driving body comprises two power output gear sets, a second plane is provided between the two power output gear sets, the two power output gear sets are symmetrically arranged about the second plane, and the two power output gear sets are respectively connected to different grasping and kneading groups; Each of the power output gear sets includes a plurality of output gears, each of the output gears is connected to the grasping and kneading head via the transmission rod, each of the output gears has a second axis, each of the output gears can rotate around its own second axis, and the second axis is inclined relative to the second plane and intersects so that the two grasping and kneading groups are close to each other.

10. A massage device, characterized in that: The massage device comprises: a waist belt and a grasping and kneading mechanism as claimed in any one of claims 1 to 9, wherein the grasping and kneading mechanism is connected to the waist belt.

11. The massage device according to claim 10, characterized in that The waistband has a belt length direction and a belt width direction, the waistband includes an upper edge and a lower edge, the upper edge and the lower edge both extend along the belt length direction of the waistband, and the relative direction of the upper edge and the lower edge is the belt width direction of the waistband; The driving body also includes a driver, which is used to provide power to the grabbing and kneading head of the grabbing and kneading mechanism, and the driver is arranged adjacent to the lower edge of the waist belt.

12. The massage device according to claim 10, characterized in that The waistband comprises an inner layer and an outer layer, the inner layer is provided with a through hole, and the through hole penetrates the inner layer; The driving body of the grabbing and kneading mechanism is arranged between the inner layer and the outer layer, and the multiple grabbing and kneading heads in each grabbing and kneading group of the grabbing and kneading mechanism are arranged on a side of the inner layer away from the outer layer; The massage device also includes a support plate, which is provided with an avoidance hole, and the avoidance hole is arranged opposite to the through hole. The through hole and the avoidance hole are used for the transmission rod to pass through, so that the opposite ends of the transmission rod are respectively connected to the driving body and the grasping and kneading head. The support plate is attached to the inner layer, and at least a part of the support plate is arranged facing the first grasping and kneading area of ​​the grasping and kneading mechanism, so that the part of the inner layer facing the first grasping and kneading area is tightened.

13. The massage device according to claim 12, characterized in that The driving body comprises a shell, the shell is arranged between the inner layer and the outer layer, and the support plate is arranged on a side of the inner layer away from the shell; The massage device further comprises a connecting piece, and the supporting plate and the shell are connected together through the connecting piece, so that the inner layer is sandwiched between the supporting plate and the shell.

14. The massage device according to claim 12, characterized in that The driving body comprises a shell, the shell is arranged between the inner layer and the outer layer, and the support plate is arranged on a side of the inner layer away from the shell; Either one of the support plate and the shell is provided with a convex portion, and the other is provided with an embedded portion, and the convex portion is cooperatively connected with the embedded portion so that the inner layer is embedded between the convex portion and the embedded portion.

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