Sitting type massage equipment

Abstract

The utility model relates to the technical field of massage, in particular to sitting type massage equipment, which comprises a seat, a massage device and a massage device, the first mechanical arm mechanism is mounted on the seat and is provided with a first mechanical arm capable of rotating around a first axis relative to the seat; the second mechanical arm mechanism is mounted on the first mechanical arm and is provided with a second mechanical arm capable of rotating around a second axis relative to the first mechanical arm; the third mechanical arm mechanism is mounted on the second mechanical arm and is provided with a third mechanical arm capable of rotating around a third axis relative to the second mechanical arm; the massage mechanism is installed on the third mechanical arm and provided with a massage head used for massaging the back of the human body; the first axis and the second axis are arranged at an angle, and the second axis is parallel to the third axis. According to the sitting type massage equipment, when a user sits on the seat, the massage heads in the massage mechanism can be used for massaging, pounding the back and other actions on different areas of the back of the human body, and the back muscle health problem of the user is relieved.

Description

Technical Field

[0001] The utility model relates to the technical field of massage, in particular to a sitting massage device. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] As a convenient home massage device, massage robots have been widely welcomed by consumers. They can not only relieve people's physical fatigue and pain, but also improve the quality of life.

[0004] Currently, more and more people are demanding back massages. For example, white-collar workers, due to prolonged tension in their back muscles and a lack of proper rest and relaxation, are prone to back muscle health problems, including muscle fatigue and stiffness, pain and discomfort, and muscle imbalances. Therefore, the development of equipment for back massage is a topic worthy of current research. Utility Model Content

[0005] The purpose of this utility model is to provide a seated massage device that can be used for back massage. This purpose is achieved through the following technical solutions:

[0006] The utility model proposes a seated massage device, which includes: a seat; a first mechanical arm mechanism, which is installed on the seat and has a first mechanical arm that can rotate relative to the seat around a first axis; a second mechanical arm mechanism, which is installed on the first mechanical arm and has a second mechanical arm that can rotate relative to the first mechanical arm around a second axis; a third mechanical arm mechanism, which is installed on the second mechanical arm and has a third mechanical arm that can rotate relative to the second mechanical arm around a third axis; a massage mechanism, which is installed on the third mechanical arm, and the massage mechanism has a massage head for massaging the back of a human body; the first axis and the second axis are set at an angle, and the second axis is parallel to the third axis.

[0007] According to the seated massage device of the present invention, a multi-degree-of-freedom robotic arm is arranged on the seat, and the activities of the first robotic arm, the second robotic arm and the third robotic arm are coordinated to enable the massage mechanism to move freely in the up and down, left and right, and front and back directions under the drive of the third robotic arm. When the user sits on the seat, the massage head in the massage mechanism can be used to perform massage, back beating and other actions on different areas of the human back, thereby alleviating the user's back muscle health problems.

[0008] In addition, the sitting massage device according to the present invention may also have the following additional technical features:

[0009] In some embodiments of the present invention, the first robotic arm mechanism also includes a fixed base plate, a rotating shaft sleeve, a first transmission assembly and a first motor, the fixed base plate is connected to the seat, the rotating shaft sleeve and the first motor are installed on the fixed base plate, the first robotic arm is rotatably provided on the rotating shaft sleeve and is rotatably connected to the drive shaft of the first motor through the first transmission assembly, and the first axis coincides with the axis of the first robotic arm.

[0010] In some embodiments of the present invention, the first transmission assembly includes a first gear and a second gear that are meshed with each other, the first gear is connected to the drive shaft of the first motor, the second gear is sleeved outside the first robotic arm, and the diameter of the first gear is smaller than the diameter of the second gear.

[0011] In some embodiments of the present invention, the second robotic arm mechanism also includes a first joint frame, a first connecting clamp, a second motor, a first worm and a first worm wheel, the first joint frame is connected to the first robotic arm, the first worm wheel is rotatably disposed in the first joint frame and engages with the first worm, the second motor is installed in the first joint frame, and the drive shaft of the second motor is connected to the first worm, the first connecting clamp is installed on the first worm wheel and connected to the second robotic arm, the second motor is used to drive the second robotic arm to rotate, and the second axis coincides with the axis of the first worm wheel.

[0012] In some embodiments of the present invention, the third robotic arm mechanism also includes a second joint frame, a second connecting clamp, a third motor, a second worm and a second worm wheel. The second joint frame is connected to the end of the second robotic arm away from the first robotic arm. The second worm wheel is rotatably arranged in the second joint frame and engages with the second worm. The third motor is installed in the second joint frame, and the drive shaft of the third motor is transmission-connected to the second worm. The second connecting clamp is installed on the second worm wheel and connected to the third robotic arm. The third motor is used to drive the third robotic arm to rotate, and the third axis coincides with the axis of the second worm wheel.

[0013] In some embodiments of the present invention, the massage mechanism includes a connecting plate, a servo, a second transmission assembly, a rotating member and a massage assembly, the massage assembly includes the massage head, the connecting plate is connected to the end of the third mechanical arm away from the second mechanical arm, the servo is installed on the connecting plate, the rotating member is rotatably provided on the connecting plate and is connected to the drive shaft of the servo through the second transmission assembly, the rotating member is also connected to the massage assembly, and the servo is used to drive the massage assembly to rotate around a fourth axis, the fourth axis coincides with the rotation axis of the rotating member and is parallel to the third axis.

[0014] In some embodiments of the present invention, the rotating member includes a connected rotating shaft portion and a connecting portion, the connecting plate is provided with an axial hole, the rotating shaft portion is rotatably inserted into the axial hole, and the connecting portion is connected to the massage component; the second transmission component includes a first synchronous wheel connected to the drive shaft of the servo, a second synchronous wheel connected to the rotating shaft portion, and a synchronous belt respectively connected to the first synchronous wheel and the second synchronous wheel.

[0015] In some embodiments of the present invention, the massage component also includes a support frame, a fourth motor, a crank, a connecting rod and a sliding member, the support frame includes a support body and a sliding part connected to the support body, the support body defines a cavity, the sliding part is provided with a sliding hole communicating with the cavity, the crank is arranged in the cavity, the fourth motor is installed on the support body, the drive shaft of the fourth motor extends into the cavity and is connected to the crank, the sliding member can be slidably passed through the sliding hole, the two ends of the connecting rod are respectively hinged to the crank and the sliding member, and the massage head is located outside the cavity and connected to the sliding member.

[0016] In some embodiments of the present invention, the chair includes a seat and chair legs connected to the seat, the first robotic arm mechanism is installed at the bottom of the seat, and one end of the first robotic arm connected to the second robotic arm mechanism extends out of the seat.

[0017] In some embodiments of the present invention, the chair further includes an armrest connected to the seat, and the armrest and the chair legs are an integrated structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference numerals are used throughout the accompanying drawings to denote the same components. In the accompanying drawings:

[0019] Figure 1 The following schematically shows a structural diagram of a sitting massage device according to an embodiment of the present utility model;

[0020] Figure 2 for Figure 1 Schematic diagram of the structure of the seated massage device shown in another perspective;

[0021] Figure 3 for Figure 1 An exploded schematic diagram of parts of a seated massage device shown in FIG.

[0022] Figure 4 for Figure 1 Schematic diagram of the exploded parts of the first robotic arm mechanism shown in FIG;

[0023] Figure 5 for Figure 1 Schematic diagram of the exploded parts of the second robotic arm mechanism shown in FIG;

[0024] Figure 6 for Figure 1 Schematic diagram of the exploded parts of the third robotic arm mechanism shown in FIG;

[0025] Figure 7 for Figure 1 Exploded view of the parts of the massage mechanism shown in .

[0026] The reference numerals are as follows:

[0027] 100. Seated massage equipment;

[0028] 10. Chair; 11. Seat; 12. Legs; 13. Armrests;

[0029] 20. First robotic arm mechanism; 21. First robotic arm; 22. Fixed base plate; 221. Base plate; 2211. First plate; 2212. Second plate; 2213. First rib; 2214. Second rib; 222. Mounting seat; 23. Rotating shaft sleeve; 24. First transmission assembly; 241. First gear; 242. Second gear; 25. First bearing; 26. Second bearing; 27. First motor; 28. Stop ring;

[0030] 30. Second robotic arm mechanism; 31. Second robotic arm; 32. First joint frame; 321. First frame body; 322. First clamping structure; 3221. First clamping arm; 3222. Second clamping arm; 33. First connecting clamp; 34. Second motor; 35. First worm; 36. First worm gear;

[0031] 40. Third robotic arm mechanism; 41. Third robotic arm; 42. Second joint frame; 421. Second frame body; 422. Second clamping structure; 4221. Third clamping arm; 4222. Fourth clamping arm; 43. Second connecting clamp; 431. Second plug hole; 44. Third motor; 45. Second worm; 46. Second worm gear;

[0032] 50. Massage mechanism; 51. Connecting plate; 511. Shaft hole; 512. Through hole; 52. Servo; 53. Second transmission assembly; 531. First synchronous wheel; 532. Second synchronous wheel; 533. Synchronous belt; 534. Pressure roller; 54. Rotating member; 541. Rotating shaft; 542. Connecting member; 55. Massage assembly; 551. Massage head; 552. Support frame; 5521. Support body; 55211. Receiving cavity; 5522. Sliding portion; 55221. Sliding hole; 553. Fourth motor; 554. Crank; 555. Connecting rod; 556. Sliding member.

[0033] X-first axis; Y-second axis; Z-third axis. DETAILED DESCRIPTION

[0034] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0036] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0037] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," and the like. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is flipped over, an element described as "below" or "beneath" another element or feature would then be oriented "above" or "above" the other element or feature. Thus, the example term "below" can encompass both above and below orientations.

[0038] The utility model proposes a sitting massage device 100, please combine Figure 1 、 Figure 2 and Figure 3 As shown, the seated massage device 100 includes a seat 10 , a first robotic arm mechanism 20 , a second robotic arm mechanism 30 , a third robotic arm mechanism 40 and a massage mechanism 50 .

[0039] Specifically, the chair 10 includes a seat 11 and legs 12 supporting the seat 11. The seat 11 is a horizontally arranged plate-like structure and is used to provide a comfortable support position. A user can sit on the seat 10 and maintain a sitting posture.

[0040] The first robotic arm mechanism 20 is securely mounted to the bottom of the seat 11. The first robotic arm mechanism 20 includes a first robotic arm 21 that is rotatable relative to the seat 10 about a first axis. The first axis is parallel to the horizontal direction, and the first robotic arm 21 is cylindrical. The first axis coincides with the axis of the first robotic arm 21. A second robotic arm mechanism 30 is mounted at the end of the first robotic arm 21. The second robotic arm mechanism 30 is mounted to the first robotic arm 21 and includes a second robotic arm 31 that is rotatable relative to the first robotic arm 21 about a second axis. A third robotic arm mechanism 40 is mounted to the second robotic arm 31 and includes a third robotic arm that is rotatable relative to the second robotic arm 31 about a third axis. A massage mechanism 50 is mounted to the third robotic arm and is rotatable relative to the third robotic arm about a fourth axis M. The fourth axis M is parallel to the third axis Z, thereby adjusting the massage angle of the massage mechanism.

[0041] The massage mechanism 50 includes a massage head 551 for massaging the back of a person. A first axis X is perpendicular to a second axis Y, and the second axis Y is parallel to a third axis Z. When the first robotic arm 21 rotates relative to the seat 11 about the first axis, the first robotic arm 21 drives the second robotic arm mechanism 30, the third robotic arm mechanism 40, and the massage mechanism 50 to rotate together about the first axis. Because the first axis is parallel to the horizontal direction, the first robotic arm 21, through the second robotic arm mechanism 30 and the third robotic arm mechanism 40, drives the massage mechanism 50 to perform a circular motion in the vertical direction about the first axis. Furthermore, when the second robotic arm 31 and the third robotic arm rotate about the second axis and the third axis, respectively, the distance between the massage mechanism 50 and the first axis can be adjusted, thereby adjusting the radius of the circular motion of the massage mechanism 50. It is understood that since the user is seated on the seat 11 with the first axis located at the bottom of the seat 11, the massage mechanism 50 can cover different areas of the user's back when the radius of the circular motion varies. For example, when the radius of the circular motion of the massage mechanism 50 is larger, the massage mechanism 50 can cover the user's upper back area. Conversely, when the radius of the circular motion of the massage mechanism 50 is smaller, the massage mechanism 50 can cover the user's lower back area. For example, when the user desires an upper back massage, the second robotic arm 31 can rotate about the second axis toward the seat 10, and the third robotic arm can move about the third axis toward the seat 10, thereby driving the massage mechanism 50 to the upper back area.

[0042] Furthermore, after the second robotic arm 31 is fixed in its approximate position, the third robotic arm can rotate relative to the second robotic arm 31 around the third axis to further fine-tune the angle so that the massage mechanism 50 fits the curve of the human back better.

[0043] The massage mechanism 50 is mounted at the end of the third robotic arm. The massage heads 551 in the massage mechanism 50 are designed in a variety of shapes and materials to provide massage effects of different strengths and methods. For example, there are round massage heads 551 for soothing and relaxation, and there are also protruding finger-shaped massage heads 551 for deep massage. The massage heads 551 can be driven electrically or pneumatically to simulate the massage movements of human hands and perform massage operations such as kneading, tapping, and pushing on the back of the human body. It should also be noted that during the specific use of the seated massage device 100, the three sequentially articulated robotic arm mechanisms can drive the massage mechanism 50 to gradually move downward from the neck to perform a comprehensive massage on the entire back.

[0044] In this embodiment, please combine Figure 2 and Figure 4As shown, the first robotic arm mechanism 20 includes a first robotic arm 21, a fixed base plate 22, a rotating shaft sleeve 23, a first transmission assembly 24, a first bearing 25, a second bearing 26, and a first motor 27. The fixed base plate 22 includes a base plate 221 and a mounting seat 222. The fixed base plate 22 is made of a high-strength metal material, such as stainless steel or aluminum alloy, to ensure its durability. The base plate 221 includes a horizontally arranged first plate body 2211, a second plate body 2212 connected to the first plate body 2211 and vertically arranged, a first rib 2213 and a second rib 2214 respectively connecting the first plate body 2211 and the second plate body 2212, and the mounting seat 222 is a vertically arranged plate-like member connected to the second plate body 2212. The first plate body 2211 is tightly connected to the seat 11 by a plurality of fastening screws. The base plate 221 is a one-piece structural component. It can be integrally cast, or the first plate 2211, second plate 2212, first rib 2213, and second rib 2214 can be welded together to form a one-piece structure, thereby providing the base plate 221 with strong structural strength. The rotating shaft sleeve 23 is a cylindrical structure and is bolted to the mounting base 222. The axis of the rotating shaft sleeve 23 coincides with the first axis and is perpendicular to the surface of the second plate 2212. The rotating shaft sleeve 23 is embedded with a first bearing 25 and a second bearing 26. The first robotic arm 21 is sequentially inserted into the inner races of the first and second bearings 25, 26 and forms an interference fit with the inner races of the second bearing 26, 26, to reduce friction during rotation of the first robotic arm 21.

[0045] The first robotic arm 21 is provided with an external thread at one end facing the fixed base plate 22, and the first robotic arm mechanism 20 also includes a stop ring 28, which is provided with an internal thread that cooperates with the external thread on the first robotic arm. The first robotic arm 21 extends from one end facing the fixed base plate 22 to between the second bearing 26 and the fixed base plate 22, and the stop ring 28 is fixedly sleeved on the outside of the first robotic arm 21 and is located between the second bearing 26 and the fixed base plate 22, and the stop ring 28 can be abutted against the end of the inner ring of the second bearing 26 facing the fixed base plate 22 to prevent the first robotic arm 21 from falling out of the first bearing 25 and the second bearing 26.

[0046] The mounting position of the rotating shaft sleeve 23 has been precisely calculated to ensure that the first robotic arm 21 can rotate smoothly about the first axis. The motor is mounted on the mounting base 222, and the motor's drive shaft is connected to the first robotic arm 21 through the first transmission assembly 24. The first transmission assembly 24 can be a transmission system consisting of a belt and pulley, or a gear transmission system. For example, if a belt drive is used, the belt should be made of a wear-resistant and tensile-resistant rubber material, and the pulley should be made of high-precision metal to ensure the accuracy and stability of the transmission. When the first motor 27 is started, its drive shaft, the first transmission assembly 24, drives the first robotic arm 21 to rotate.

[0047] In this embodiment, please combine Figure 2 and Figure 4 As shown, the first transmission assembly 24 includes a first gear 241 and a second gear 242 that mesh with each other. The first gear 241 is connected to the drive shaft of the first motor 27, while the second gear 242 is mounted on the outside of the first robotic arm 21. The diameter of the first gear 241 is smaller than that of the second gear 242. Because the diameter of the first gear 241 is smaller than that of the second gear 242, this design creates a reduction gear transmission effect. During operation, the first motor 27 is activated, and its drive shaft drives the first gear 241 to rotate at high speed. The rotation of the first gear 241 is transmitted to the second gear 242 through the meshing teeth. Due to the larger diameter of the second gear 242, its speed is relatively slow, but the torque is increased. This reduction-torque-increasing design ensures smoother and more powerful rotation of the first robotic arm 21. For example, when the massage device needs to apply a strong massage force to the user's back, the higher torque ensures that the first robotic arm 21 rotates stably to the desired position without any stalling or positional deviation due to resistance. For another example, when fine-tuning the massage position, the smaller first gear 241 can provide more precise transmission control, so that the second gear 242 drives the first mechanical arm 21 to rotate at a small angle, thereby achieving precise massage positioning.

[0048] In some embodiments of the present invention, please combine Figure 2 and Figure 5 As shown, the second robotic arm mechanism 30 includes a second robotic arm 31, a first joint frame 32, a first connecting clamp 33, a second motor 34, a first worm 35, and a first worm gear 36. Specifically, the first joint frame 32 includes a first frame body 321 and a first clamping structure 322 provided on the first frame body 321. The first frame body 321 is generally box-shaped and defines an installation space for accommodating the second motor 34 and the worm gear. The first worm gear 36 is installed with a ball bearing and is rotatably installed in the installation space by the ball bearing. The ball bearing is used to reduce the friction resistance of the first worm gear 36 when rotating relative to the first frame body 321, thereby improving the flexibility and accuracy of the rotation of the first worm gear 36. The second motor 34 is mounted within the mounting space of the first joint frame 32, and the drive shaft of the second motor 34 is connected to the first worm 35, which meshes with the first worm gear 36. Thus, the second motor 34 can drive the first worm gear 36 to rotate. The first connecting clamp 33 is tightly connected to the first worm gear 36 via a plurality of fastening screws. The first connecting clamp 33 also has a first insertion hole (not shown in the figure). The second robotic arm 31 is inserted into the first insertion hole and fixedly connected to the first connecting clamp 33. Therefore, the second robotic arm 31 can be driven to rotate relative to the first robotic arm 21 by the second motor 34.

[0049] The connection method between the second mechanical arm 31 and the first plug hole includes but is not limited to bonding, welding, clamping, and bolting.

[0050] Furthermore, please combine Figure 2 and Figure 5 As shown, the first clamping structure 322 includes a first clamping arm 3221 and a second clamping arm 3222, one end of the first clamping arm 3221 and the second clamping arm 3222 are connected, and the other ends of the first clamping arm 3221 and the second clamping arm 3222 are spaced apart, and a cylindrical accommodating space is defined between the first clamping arm 3221 and the second clamping arm 3222, and the end of the first robotic arm 21 is inserted into the accommodating space between the first clamping arm 3221 and the second clamping arm 3222, and the first clamping arm 3221 and the second clamping arm 3222 are respectively provided with a first fastening hole and a second fastening hole that are relatively set, and the diameter of the accommodating space can be reduced by using bolts to pass through the first fastening hole and the second fastening hole in sequence and fastening with nuts, so that the first robotic arm 21 is clamped and fixed by using the first clamping arm 3221 and the second clamping arm 3222, so that the first joint frame 32 is tightly connected to the first robotic arm 21.

[0051] In some embodiments of the present invention, please combine Figure 2 and Figure 6 As shown, the third robotic arm mechanism 40 includes a third robotic arm 41, a second joint frame 42, a second connecting clamp 43, a third motor 44, a second worm 45, and a second worm gear 46. Specifically, the second joint frame 42 includes a second frame body 421 and a second clamping structure 422 provided on the second frame body 421. The second frame body 421 is generally box-shaped. The second frame body 421 defines an installation space for accommodating the third motor 44 and the worm gear. The second worm gear 46 is installed with a ball bearing and is rotatably installed in the installation space by the ball bearing. The ball bearing is used to reduce the friction resistance of the second worm gear 46 when rotating relative to the second frame body 421, thereby improving the flexibility and accuracy of the rotation of the second worm gear 46. The third motor 44 is mounted within the second joint frame 42, and its drive shaft is connected to the second worm 45, which meshes with the second worm gear 46. The third motor 44 drives the second worm gear 46 to rotate. The second connecting clamp 43 is tightly connected to the second worm gear 46 via a plurality of fastening screws. The second connecting clamp 43 also has a second insertion hole 431. The third robotic arm is inserted into the second insertion hole 431 and is fixedly connected to the second connecting clamp 43. Therefore, the third motor 44 can drive the third robotic arm 41 to rotate relative to the second robotic arm 31.

[0052] The connection method between the third robotic arm and the second plug hole 431 includes but is not limited to bonding, welding, clamping, and bolting.

[0053] Furthermore, please combine Figure 2 and Figure 6 As shown, the second clamping structure 422 includes a third clamping arm 4221 and a fourth clamping arm 4222, and one end of the third clamping arm 4221 and the fourth clamping arm 4222 are connected, and the other ends of the third clamping arm 4221 and the fourth clamping arm 4222 are spaced apart, and a cylindrical accommodating space is defined between the third clamping arm 4221 and the fourth clamping arm 4222, and the end of the second robotic arm 31 is inserted into the accommodating space between the third clamping arm 4221 and the fourth clamping arm 4222, and the third clamping arm 4221 and the fourth clamping arm 4222 are respectively provided with a third fastening hole and a fourth fastening hole that are relatively set, and the diameter of the accommodating space can be reduced by using bolts to pass through the third fastening hole and the fourth fastening hole in sequence and fasten them with nuts, so that the second robotic arm 31 is clamped and fixed by the third clamping arm 4221 and the fourth clamping arm 4222, so that the second joint frame 42 is tightly connected to the second robotic arm 31.

[0054] In some embodiments of the present invention, please combine Figure 2 and Figure 7 As shown, the massage mechanism 50 includes a connecting plate 51, a steering gear 52, a second transmission assembly 53, a rotating member 54, and a massage assembly 55. The massage assembly 55 includes a massage head 551. Specifically, the connecting plate 51 can be made of a relatively thick steel plate and formed through a cutting process to ensure the accuracy of its shape and size. The connecting plate 51 is firmly connected to the end of the third robotic arm facing away from the second robotic arm 31. The connection between the connecting plate 51 and the third robotic arm includes, but is not limited to, bonding, welding, clamping, and bolting.

[0055] The servo 52 features fast response and high-precision angle control. It is screwed into a specially designed mounting slot on the connecting plate 51. The slot's dimensions match the servo 52's profile, ensuring secure and accurate positioning. The servo 52 and massage assembly 55 are located on the same side of the connecting plate 51. The second transmission assembly 53 and servo 52 are located on either side of the connecting plate 51. The connecting plate 51 is provided with an axial hole 511 and a through hole 512 spaced apart. The servo 52's drive shaft extends through the through hole 512 to the other end of the connecting plate 51, placing the free end of the servo 52's drive shaft on the same side of the connecting plate 51 as the second rotating assembly. A rotating member 54 is rotatably disposed within the axial hole 511. One end of the rotating member 54 is connected to the servo 52's drive shaft via the second transmission assembly 53, while the other end is connected to the massage assembly 55. The second transmission assembly 53 can be a belt and pulley transmission system or a gear transmission system. For example, if a belt drive is used, the belt is made of a wear-resistant and tensile-resistant rubber material, and the pulley is made of high-precision metal to ensure the accuracy and stability of the transmission. When the steering engine 52 is started, its drive shaft second transmission assembly 53 drives the rotating member 54 and the massage assembly 55 to rotate.

[0056] In this embodiment, please combine Figure 2 and Figure 7 As shown, the rotating member 54 includes a connected rotating shaft portion 541 and a connecting portion 542. The rotating shaft portion 541 is rotatably inserted into the shaft hole 511, and the connecting portion 542 is fixedly connected to the massage assembly 55 via screws to ensure the secure connection. The second transmission assembly 53 includes a first synchronous pulley 531 connected to the drive shaft of the servo 52, a second synchronous pulley 532 connected to the rotating shaft portion 541, and a synchronous belt 533 respectively connected to the first synchronous pulley 531 and the second synchronous pulley 532. The massage mechanism 50 further includes a belt pressure roller 534, which is disposed on the connecting plate 51 and is used to tension the synchronous belt 533, so that the synchronous belt 533 is tightly engaged with the first synchronous pulley 531 and the second synchronous pulley 532.

[0057] In this embodiment, during operation, the servo 52 receives a control signal and begins to operate. The drive shaft of the servo 52 drives the rotating member 54 to rotate on the connecting plate 51 through the second transmission assembly 53. The rotation of the rotating member 54 in turn drives the massage assembly 55 to adjust its angle, so that the massage head 551 can better fit the curve of the human back, providing a more comfortable and effective massage experience. For example, when the massage device massages different parts of the human back, the servo 52 can accurately adjust the angle of the rotating member 54 and the massage assembly 55 according to a preset program or real-time control instructions, so that the massage head 551 can accurately act on the part that needs to be massaged. For example, during the massage process, if the user's body posture changes, the massage mechanism 50 can adjust the angle and position of the massage head 551 in real time through the coordinated work of the servo 52 and the transmission assembly to maintain a good massage effect.

[0058] In some embodiments of the present invention, please combine Figure 2 and Figure 7 As shown, the massage assembly 55 includes a massage head 551, a support frame 552, a fourth motor 553, a crank 554, a connecting rod 555, and a sliding member 556. The support frame 552 includes a support body 5521 and a sliding portion 5522 connected to the support body 5521. The support body 5521 and the sliding portion 5522 are an integrated structure. The connecting portion 542 is fixedly connected to the support body 5521 by screws. The support body 5521 defines a cavity 55211. The sliding portion 5522 is provided with a sliding hole 55221 that communicates with the cavity 55211. The sliding hole 55221 on the sliding portion 5522 is finely bored to make its inner wall smooth, thereby reducing the resistance of the sliding member during sliding. The fourth motor 553 is mounted to the support body 5521 via multiple screws. The drive shaft of the fourth motor 553 extends into the cavity 55211 and is connected to the crank 554. A slider slidably extends through the slide hole 55221. The ends of the connecting rod 555 are hingedly connected to the crank 554 and the slider, respectively. The massage head 551 is located outside the cavity 55211 and is connected to the slider. The massage head 551 is made of soft and flexible silicone. Its shape and size can be designed to suit different massage needs, such as round, oval, or finger-shaped. The massage head 551 is secured to the slider 556 with screws or clips, making it easy to replace and maintain.

[0059] In actual operation, please combine Figure 2 and Figure 7As shown, when the fourth motor 553 is started, its drive shaft drives the crank 554 to rotate at a constant speed within the cavity 55211. The rotation of the crank 554, via the connecting rod 555, pushes the slider to perform smooth reciprocating linear motion within the slide hole 55221. For example, in a high-intensity massage mode, the fourth motor 553 operates at a higher speed, causing the slider to quickly extend and retract, and the massage head 551 to apply strong pressure to the user's back, achieving a deep massage effect. For another example, in a soothing massage mode, the fourth motor 553 operates at a lower speed, and the extension and retraction of the slider becomes gentle and slow, providing the user with a relaxing and comfortable massage experience. Because the massage head 551 is located outside the cavity 55211 and is closely connected to the slider, the reciprocating motion of the slider directly drives the massage head 551 to rhythmically massage the user's back, effectively relieving muscle fatigue and tension.

[0060] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the chair 10 also includes armrests 13 connected to the seat 11. The armrests 13 and legs 12 form an integral structure. Because the armrests 13 and legs 12 are integrally formed during manufacturing, the entire structure is die-cast in one go. This integrated structure enhances the overall stability and strength of the chair 10, allowing it to withstand significant pressure and weight. When using the massage device, the user's arms can rest naturally on the armrests 13, providing effective support, without any instability affecting the massage experience.

[0061] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A sitting massage device, characterized in that: The seated massage device comprises: seats; a first mechanical arm mechanism, mounted on the seat and having a first mechanical arm rotatable relative to the seat about a first axis; a second robotic arm mechanism, mounted on the first robotic arm and comprising a second robotic arm rotatable about a second axis relative to the first robotic arm; a third robotic arm mechanism, mounted on the second robotic arm and comprising a third robotic arm rotatable about a third axis relative to the second robotic arm; a massage mechanism, mounted on the third robotic arm, the massage mechanism having a massage head for massaging a human back; The first axis is arranged at an angle to the second axis, and the second axis is parallel to the third axis.

2. The seated massage device according to claim 1, characterized in that The first robotic arm mechanism also includes a fixed base plate, a rotating shaft sleeve, a first transmission assembly and a first motor. The fixed base plate is connected to the seat, the rotating shaft sleeve and the first motor are installed on the fixed base plate, the first robotic arm is rotatably provided on the rotating shaft sleeve and is rotatably connected to the drive shaft of the first motor through the first transmission assembly, and the first axis coincides with the axis of the first robotic arm.

3. The seated massage device according to claim 2, characterized in that: The first transmission assembly includes a first gear and a second gear that mesh with each other. The first gear is connected to the drive shaft of the first motor, and the second gear is sleeved outside the first robotic arm. The diameter of the first gear is smaller than that of the second gear.

4. The seated massage device according to claim 1, characterized in that The second robotic arm mechanism also includes a first joint frame, a first connecting clamp, a second motor, a first worm and a first worm wheel. The first joint frame is connected to the first robotic arm. The first worm wheel is rotatably disposed in the first joint frame and engages with the first worm. The second motor is installed in the first joint frame, and the drive shaft of the second motor is transmission-connected to the first worm. The first connecting clamp is installed on the first worm wheel and connected to the second robotic arm. The second motor is used to drive the second robotic arm to rotate, and the second axis coincides with the axis of the first worm wheel.

5. The seated massage device according to claim 1, characterized in that The third robotic arm mechanism also includes a second joint frame, a second connecting clamp, a third motor, a second worm and a second worm wheel. The second joint frame is connected to the end of the second robotic arm away from the first robotic arm. The second worm wheel is rotatably arranged in the second joint frame and engages with the second worm. The third motor is installed in the second joint frame, and the drive shaft of the third motor is transmission-connected to the second worm. The second connecting clamp is installed on the second worm wheel and connected to the third robotic arm. The third motor is used to drive the third robotic arm to rotate, and the third axis coincides with the axis of the second worm wheel.

6. The seated massage device according to claim 1, characterized in that The massage mechanism includes a connecting plate, a servo, a second transmission assembly, a rotating member and a massage assembly, the massage assembly including the massage head, the connecting plate is connected to the end of the third mechanical arm away from the second mechanical arm, the servo is installed on the connecting plate, the rotating member is rotatably provided on the connecting plate and is connected to the drive shaft of the servo through the second transmission assembly, the rotating member is also connected to the massage assembly, the servo is used to drive the massage assembly to rotate around a fourth axis, the fourth axis coincides with the rotation axis of the rotating member and is parallel to the third axis.

7. The seated massage device according to claim 6, characterized in that The rotating member includes a connected rotating shaft portion and a connecting portion, the connecting plate is provided with a shaft hole, the rotating shaft portion is rotatably inserted into the shaft hole, and the connecting portion is connected to the massage component; The second transmission assembly includes a first synchronous wheel connected to the driving shaft of the steering gear, a second synchronous wheel connected to the rotating shaft, and a synchronous belt respectively connected to the first synchronous wheel and the second synchronous wheel.

8. The seated massage device according to claim 6, characterized in that The massage assembly also includes a support frame, a fourth motor, a crank, a connecting rod and a sliding member. The support frame includes a support body and a sliding portion connected to the support body. The support body defines a cavity. The sliding portion is provided with a sliding hole communicating with the cavity. The crank is arranged in the cavity. The fourth motor is installed on the support body. The drive shaft of the fourth motor extends into the cavity and is connected to the crank. The sliding member is slidably provided in the sliding hole. The two ends of the connecting rod are respectively hinged to the crank and the sliding member. The massage head is located outside the cavity and is connected to the sliding member.

9. The seated massage device according to any one of claims 1 to 8, characterized in that: The chair includes a seat and chair legs connected to the seat, the first mechanical arm mechanism is installed at the bottom of the seat, and one end of the first mechanical arm connected to the second mechanical arm mechanism extends out of the seat.

10. The seated massage device according to claim 9, characterized in that: The chair further comprises an armrest connected to the seat, and the armrest and the chair legs are an integrated structure.

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